CN111976410A - Vehicle suspension control method and device, vehicle and storage medium - Google Patents
Vehicle suspension control method and device, vehicle and storage medium Download PDFInfo
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- CN111976410A CN111976410A CN202010866361.XA CN202010866361A CN111976410A CN 111976410 A CN111976410 A CN 111976410A CN 202010866361 A CN202010866361 A CN 202010866361A CN 111976410 A CN111976410 A CN 111976410A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
- B60G2400/822—Road friction coefficient determination affecting wheel traction
- B60G2400/8222—Hydroplaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/91—Suspension Control
- B60G2800/914—Height Control System
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a vehicle suspension control method, a device, a vehicle and a storage medium, wherein the method comprises the following steps: when vehicle unlocking information is detected, a vehicle suspension and an obstacle detection module are awakened; controlling the obstacle detection module to detect a suspension obstacle around the vehicle, which hinders the vehicle suspension from descending; controlling the vehicle suspension to descend when the suspension obstacle is determined to be absent. The embodiment of the invention controls the descending of the vehicle suspension through the vehicle unlocking information, provides a safe and rapid vehicle loading and unloading environment for a driver, enhances the intelligent degree of the vehicle suspension, and can improve the convenience of vehicle use.
Description
Technical Field
The embodiment of the invention relates to the technical field of automatic control, in particular to a vehicle suspension control method, device, equipment and storage medium.
Background
With the improvement of the intelligent level of the vehicle, the automobile is not only a traditional passive mechanical system, but also develops towards a more intelligent and anthropomorphic active interactive system, and the comprehensive use performance of the vehicle is greatly improved. However, with the popularity of large SUV vehicles, the higher suspension in the vehicle makes it difficult for the driver and passengers to get on or off the vehicle, resulting in a poor driving experience.
However, most of the suspension control systems in the prior art are semi-active suspensions, the suspensions can only be controlled by a driver through a control command, and a convenient and intelligent suspension control method actively adapting to getting-on of the driver is lacked when the driver does not enter the vehicle.
Disclosure of Invention
The invention provides a vehicle suspension control method, a vehicle suspension control device, a vehicle and a storage medium, so that intelligent control of a suspension is realized, the obstruction of getting on and off processes is reduced, and the use convenience of the vehicle can be improved.
In a first aspect, an embodiment of the present invention provides a vehicle suspension control method, including:
when vehicle unlocking information is detected, a vehicle suspension and an obstacle detection module are awakened;
controlling the obstacle detection module to detect a suspension obstacle around the vehicle, which hinders the vehicle suspension from descending;
controlling the vehicle suspension to descend when the suspension obstacle is determined to be absent.
In a second aspect, an embodiment of the present invention provides a vehicle suspension control apparatus, including:
the initialization module is used for awakening the vehicle suspension and the obstacle detection module when the vehicle unlocking information is detected;
the environment detection module is used for controlling the obstacle detection module to detect a suspension obstacle which is around the vehicle and prevents the suspension of the vehicle from descending;
a suspension control module to control the vehicle suspension to descend when the suspension obstruction is determined to be absent.
In a third aspect, an embodiment of the present invention provides a vehicle including:
one or more controllers;
a memory for storing one or more programs,
when the one or more programs are executed by the one or more controllers, the one or more controllers are caused to implement the vehicle suspension control method according to any one of the embodiments of the invention.
In a fourth aspect, the embodiments of the present invention also provide a computer-readable storage medium, on which a computer program is stored, which when executed by a controller implements the vehicle suspension control method according to any one of the embodiments of the present invention.
According to the embodiment of the invention, when the vehicle unlocking information is detected, the vehicle suspension and the obstacle detection module are awakened, the suspension obstacles which obstruct the descending of the vehicle suspension around the vehicle are detected according to the obstacle detection module, and the vehicle suspension is controlled to descend under the condition that no suspension obstacle exists, so that the automatic descending of the vehicle suspension is realized, a driver can get on or off the vehicle quickly and safely, and the intelligence and convenience degree of the vehicle is enhanced.
Drawings
FIG. 1 is a flow chart of a method for controlling a vehicle suspension according to an embodiment of the present invention;
FIG. 2 is a flow chart of another method for controlling a vehicle suspension according to a second embodiment of the present invention;
fig. 3 is an exemplary diagram of a vehicle suspension control method according to a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of a vehicle suspension control device according to a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only a part of the structures related to the present invention, not all of the structures, are shown in the drawings, and furthermore, embodiments of the present invention and features of the embodiments may be combined with each other without conflict.
Example one
Fig. 1 is a flowchart of a vehicle suspension control method according to an embodiment of the present invention, where the embodiment is applicable to a situation where a vehicle suspension in a vehicle is controlled to descend to facilitate a driver to get on or off the vehicle, and the method may be executed by a vehicle suspension control apparatus, where the apparatus may be implemented in a hardware and/or software manner, and referring to fig. 1, the method according to the embodiment of the present invention specifically includes the following steps:
and 110, awakening a vehicle suspension and an obstacle detection module when vehicle unlocking information is detected.
The vehicle unlocking information can be instruction information which is sent by a user and used for unlocking the vehicle, can comprise a signal for unlocking a vehicle door by a mechanical key, and can also comprise a signal for unlocking the vehicle door by an intelligent key or mobile phone application software. The vehicle suspension can be a general name of all force transmission connecting devices between a frame and wheels of an automobile, the force between the wheels and the frame is transmitted to buffer the impact on the automobile, the vibration is reduced, and the height of the suspension can be adjusted through a control command. The obstacle detection module may be a module for detecting a periodic environment of the vehicle, and may include a laser radar, a millimeter wave radar, and the like.
Specifically, the vehicle may continuously monitor the vehicle unlocking information, for example, when the mechanical key opens the door, it may be determined that the vehicle unlocking information is detected, and the method may further include receiving an unlocking signal of the remote control key, receiving an unlocking signal of the application software, and the like. The vehicle suspension and the obstacle in the vehicle can be in a dormant state when the vehicle is locked, and the vehicle suspension and the obstacle detection module in the dormant state can be awakened after the vehicle unlocking information is determined to be detected.
And step 120, controlling the obstacle detection module to detect a suspension obstacle which is around the vehicle and prevents the suspension of the vehicle from descending.
The suspension obstacle may be an object in the vehicle surroundings, which may cause an obstacle to the descent of the vehicle suspension, for example, the suspension obstacle may be a stone, a tree, etc. under the vehicle.
In the embodiment of the invention, the obstacle detection module can be used for detecting an object around the vehicle, and when the object is located within a preset distance of the vehicle suspension, the object can be judged as a suspension obstacle blocking the vehicle suspension from descending.
Specifically, when it is determined that there is no suspension obstacle around the vehicle, the vehicle suspension may be lowered without being hindered by an object, at which time the vehicle suspension may be controlled to be lowered to the target suspension height.
According to the embodiment of the invention, when the vehicle unlocking information is detected, the vehicle suspension and the obstacle detection module are awakened, the suspension obstacles which obstruct the descending of the vehicle suspension around the vehicle are detected according to the obstacle detection module, and the vehicle suspension is controlled to descend under the condition that no suspension obstacle exists, so that the automatic descending of the vehicle suspension is realized, a driver can get on or off the vehicle quickly and safely, and the intelligence and convenience degree of the vehicle is enhanced.
Further, on the basis of the above embodiment of the present invention, the vehicle unlocking information includes at least one of an unlocking signal transmitted by a remote control key and an unlocking signal transmitted by application software.
In the embodiment of the invention, the remote control key or the application software can be used for unlocking the vehicle, and correspondingly, the unlocking signal sent by the remote control key can be used as the vehicle unlocking information, or the unlocking signal sent by the application software can also be used as the vehicle unlocking information.
Further, on the basis of the above embodiment of the present invention, the obstacle detection module includes at least one of a laser radar, a millimeter wave radar, and an ultrasonic ranging sensor.
Specifically, one or more of a laser radar, a millimeter wave radar, and an ultrasonic ranging sensor may be provided in the vehicle as an obstacle detection module, and it is detected by the obstacle detection module that an object that can hinder the suspension of the vehicle from descending exists around the vehicle.
Example two
Fig. 2 is a flowchart of another vehicle suspension control method according to a second embodiment of the present invention, which is embodied based on the second embodiment of the present invention, and referring to fig. 2, the vehicle suspension control method according to the second embodiment of the present invention includes the following steps:
and step 210, awakening the vehicle suspension and the obstacle detection module when the vehicle unlocking information is detected.
And step 230, controlling an air bag solenoid valve of the vehicle suspension to open so as to enable the vehicle suspension to descend, and monitoring the suspension height of the vehicle suspension in the descending process.
The air bag can be a device for realizing ascending and descending of the vehicle suspension through inflation and deflation, the air bag electromagnetic valve can be a valve for controlling inflation and deflation of the air bag, and the opening and closing of the air bag electromagnetic valve can be realized through control signaling. The suspension height may be the height of the vehicle suspension from the ground.
Specifically, after determining that no suspension obstacle obstructing the descending of the vehicle suspension is present, the airbag electromagnetic valve of the vehicle suspension can be opened, so that the airbag of the vehicle suspension is deflated, the suspension height of the vehicle suspension is reduced, and the suspension height from the vehicle suspension to the ground can be monitored by using devices such as a millimeter wave radar or a laser radar in the descending process of the vehicle suspension.
And step 240, adjusting the closing degree of the air bag electromagnetic valve by using the suspension height as a feedback signal until the suspension height of the vehicle suspension reaches a target height.
The feedback signal can be used for signaling the reverse adjustment of the air bag solenoid valve, for example, when the height of the suspension drops too fast, the closing degree of the air bag solenoid valve can be reduced, and the dropping speed of the height of the suspension is reduced. The target height may be a height to which a suspension of the vehicle is lowered, and the target height may correspond to biological information of the driver or may be associated with an environment around the vehicle.
In the embodiment of the invention, the suspension height is continuously acquired during the descending process of the aerial vehicle suspension, and the suspension height is taken as the control condition of the closing degree of the air bag solenoid valve, for example, when the suspension height is smaller than the threshold height, the air bag solenoid valve can be controlled to be closed. And the airbag electromagnetic valve is opened to control the vehicle suspension to descend, the height of the suspension is continuously acquired in the descending process, the opening degree of the airbag electromagnetic valve is controlled according to the suspension reselection, and the process is repeatedly executed until the vehicle suspension descends to reach the target height.
And step 250, controlling a welcome lamp of the vehicle to be turned on in the descending process of the vehicle suspension.
In the embodiment of the invention, the on state of the welcome lamp can be always included in the descending process of the vehicle suspension, for example, the double flashing lamp is continuously turned on in the descending process of the vehicle suspension until the vehicle suspension stops descending.
Further, on the basis of the embodiment of the invention, the welcome lamp comprises at least one of a double flashing lamp, an atmosphere lamp and a vehicle headlight.
Specifically, the vehicle lamp of the light that the usher lamp can show to the user can include one or more of a double flashing light, an atmosphere lamp and a vehicle headlight in the vehicle.
According to the embodiment of the invention, when the vehicle scanning unlocking information is detected, the vehicle suspension and the obstacle detection module are awakened, the obstacle detection module detects suspension obstacles existing around the vehicle, the airbag electromagnetic valve is opened to control the vehicle suspension to descend when the situation that no suspension obstacle obstructing the descending of the vehicle suspension exists around the vehicle is determined, the suspension height is detected when the vehicle is descended, the suspension height is used as a feedback signal to adjust the closing degree of the airbag electromagnetic valve, the welcome lamp of the vehicle is controlled to be kept in the opening state in the descending process of the vehicle suspension, the automatic descending of the vehicle suspension is realized, the rapid and safe getting-on and getting-off of a driver are facilitated, the vehicle-machine interaction degree is improved, and the use experience of the user is.
Further, on the basis of the above embodiment of the invention, the method further includes: unlocking the vehicle door according to the vehicle unlocking information; and displaying the welcome information after detecting the opening action of the vehicle door.
In the embodiment of the invention, when the vehicle unlocking information is detected, the door of the vehicle can be unlocked, the door is monitored, and the welcome information is displayed after the door is opened, wherein the welcome information comprises welcome information in at least one of a text mode, a language mode and an image mode. For example, a welcome animation is presented at the vehicle's human-machine interface after the doors are opened.
In an exemplary implementation manner, fig. 3 is an exemplary diagram of a vehicle suspension control method provided by a second embodiment of the present invention, and referring to fig. 3, the method provided by the second embodiment of the present invention may include: when the whole vehicle is in a locking state, other controllers are in a sleep non-working state, and the remote control key detection module is in a working state only to detect the unlocking action of a driver in real time. When the fact that a driver is unlocked through a remote control key or a mobile phone APP is detected, other relevant controllers or control units are awakened through an entire car awakening module, and the awakened controllers and control units mainly comprise a car door detection unit, a welcome control unit, an air suspension control module, a light control module, an HMI (Human Machine Interface) control module and a millimeter wave radar and other obstacle detection units. Secondly, the welcome control unit sends light control command for the light control module, and this light control command controls the welcome lamp module on the one hand and lights the welcome lamp around the automobile body, can build an intelligent mutual atmosphere for the driver, and on the other hand controls two flashing modules to light two flashing lights, can remind the driver that the automobile body height is adjusting this moment, and two flashing lights are continuously in the state of lighting until the automobile body process of descending is accomplished. And then, the welcome control unit sends an HMI display instruction to the HMI control module, and the HMI control module displays a welcome animation on an HMI interface after receiving a vehicle door opening action by combining the instruction sent by the vehicle door detection unit so as to provide interactive feedback for a driver. And finally, the welcome control unit sends a suspension control instruction to the air suspension control module, and the electromagnetic valve control module is made to open the valve port to reduce the pressure of the air bag, so that the height of the vehicle body is reduced. During the descending of the vehicle body, whether obstacles block the descending of the vehicle body or not is detected through a millimeter wave radar of the obstacle detection module, and on the other hand, a feedback signal of the height of the suspension is given through the suspension height detection module, so that the air suspension control module performs closed-loop control on the descending process of the height of the vehicle body. The suspension height detection module also provides a signal of the vehicle body descending process for the double-flash module to judge whether the vehicle body descending process is finished.
EXAMPLE III
Fig. 4 is a schematic structural diagram of a vehicle suspension control device provided in a third embodiment of the present invention, which is capable of executing a vehicle suspension control method provided in any embodiment of the present invention, and has functional modules and beneficial effects of the execution method. The device can be implemented by software and/or hardware, and specifically comprises: an initialization module 301, an environment detection module 302, and a suspension control module 303.
The initialization module 301 is configured to wake up the vehicle suspension and the obstacle detection module when vehicle unlocking information is detected.
An environment detection module 302 for controlling the obstacle detection module to detect a suspension obstacle around the vehicle that hinders the descent of the vehicle suspension.
A suspension control module 303 to control the vehicle suspension to descend when the suspension obstacle is determined to be absent.
According to the embodiment of the invention, when the initialization module detects the unlocking information of the vehicle, the vehicle suspension and the obstacle detection module are awakened, the environment detection module detects the suspension obstacles which obstruct the descending of the vehicle suspension around the vehicle according to the obstacle detection module, and the suspension control module controls the descending of the vehicle suspension under the condition that no suspension obstacle exists, so that the automatic descending of the vehicle suspension is realized, a driver can get on or off the vehicle quickly and safely, and the intelligence and convenience degree of the vehicle are enhanced.
Further, on the basis of the above embodiment of the present invention, the vehicle unlocking information in the initialization module 301 includes at least one of an unlocking signal sent by a key fob and an unlocking signal sent by application software.
Further, on the basis of the above embodiment of the present invention, the obstacle detection module in the environment detection module 302 includes at least one of a laser radar, a millimeter wave radar, and an ultrasonic ranging sensor.
Further, on the basis of the above embodiment of the invention, the suspension control module 303 includes:
and the air bag control unit is used for controlling an air bag electromagnetic valve of the vehicle suspension to be opened so as to enable the vehicle suspension to descend, and monitoring the suspension height of the vehicle suspension during descending.
And the feedback adjusting module is used for adjusting the closing degree of the air bag electromagnetic valve by taking the suspension height as a feedback signal until the suspension height of the vehicle suspension reaches a target height.
Further, on the basis of the above embodiment of the invention, the method further includes:
and the welcome lamp module is used for controlling the welcome lamp of the vehicle to be turned on in the descending process of the vehicle suspension.
Further, on the basis of the embodiment of the invention, the welcome lamp in the welcome lamp module comprises at least one of a double flashing lamp, an atmosphere lamp and a vehicle headlight.
Further, on the basis of the above embodiment of the invention, the method further includes:
and the unlocking module is used for unlocking the vehicle door according to the vehicle unlocking information.
And the information display module is used for displaying the welcome information after detecting the opening action of the vehicle door.
Example four
Fig. 5 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention, and as shown in fig. 5, the vehicle includes a controller 40, a memory 41, an input device 42, and an output device 43; the number of controllers 70 in the vehicle may be one or more, and one controller 40 is illustrated in fig. 5; the controller 40, the memory 41, the input device 42, and the output device 43 in the vehicle may be connected by a bus or other means, and the bus connection is exemplified in fig. 5.
The memory 41, as a computer-readable storage medium, may be used to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the vehicle suspension control method in the embodiment of the present invention (for example, the initialization module 301, the environment detection module 302, and the suspension control module 303 in the vehicle suspension control apparatus). The controller 40 executes various functional applications and data processing of the vehicle by executing software programs, instructions, and modules stored in the memory 41, that is, implements the vehicle suspension control method described above.
The memory 41 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 41 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 41 may further include memory located remotely from controller 40, which may be connected to the vehicle over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 42 is operable to receive input numeric or character information and to generate key signal inputs relating to user settings and function controls of the vehicle. The output device 43 may include a display device such as a display screen.
EXAMPLE five
Embodiments of the present invention also provide a storage medium containing computer-executable instructions, which when executed by a computer controller, perform a method for controlling a vehicle suspension, the method comprising:
when vehicle unlocking information is detected, a vehicle suspension and an obstacle detection module are awakened;
controlling the obstacle detection module to detect a suspension obstacle around the vehicle, which hinders the vehicle suspension from descending;
controlling the vehicle suspension to descend when the suspension obstacle is determined to be absent.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the vehicle suspension control method provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the vehicle suspension control device, the included units and modules are only divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A vehicle suspension control method, characterized in that the method comprises:
when vehicle unlocking information is detected, a vehicle suspension and an obstacle detection module are awakened;
controlling the obstacle detection module to detect a suspension obstacle around the vehicle, which hinders the vehicle suspension from descending;
controlling the vehicle suspension to descend when the suspension obstacle is determined to be absent.
2. The method of claim 1, wherein the vehicle unlock information comprises at least one of an unlock signal transmitted by a key fob and an unlock signal transmitted by application software.
3. The method of claim 1, wherein the obstacle detection module comprises at least one of a lidar, a millimeter-wave radar, and an ultrasonic ranging sensor.
4. The method of claim 1, wherein said determining that the suspension obstacle is not present controls the vehicle suspension to descend comprises:
controlling an airbag solenoid valve of the vehicle suspension to open to lower the vehicle suspension and monitoring the suspension height of the vehicle suspension during the lowering;
and adjusting the closing degree of the air bag solenoid valve by using the suspension height as a feedback signal until the suspension height of the vehicle suspension reaches a target height.
5. The method of claim 4, further comprising:
and controlling a welcome lamp of the vehicle to be turned on in the descending process of the vehicle suspension.
6. The method of claim 5, wherein the welcome light includes at least one of a double flashing light, an atmosphere light, and a vehicle headlight.
7. The method of claim 1, further comprising:
unlocking the vehicle door according to the vehicle unlocking information;
and displaying the welcome information after detecting the opening action of the vehicle door.
8. A vehicle suspension control apparatus, characterized by comprising:
the initialization module is used for awakening the vehicle suspension and the obstacle detection module when the vehicle unlocking information is detected;
the environment detection module is used for controlling the obstacle detection module to detect a suspension obstacle which is around the vehicle and prevents the suspension of the vehicle from descending;
a suspension control module to control the vehicle suspension to descend when the suspension obstruction is determined to be absent.
9. A vehicle, characterized in that the vehicle comprises:
one or more controllers;
a memory for storing one or more programs,
when executed by the one or more controllers, cause the one or more controllers to implement the vehicle suspension control method of any one of claims 1-7.
10. A computer-readable storage medium on which a computer program is stored, characterized in that the program, when executed by a controller, implements a vehicle suspension control method according to any one of claims 1-7.
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| CN202010866361.XA CN111976410A (en) | 2020-08-25 | 2020-08-25 | Vehicle suspension control method and device, vehicle and storage medium |
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| CN202010866361.XA CN111976410A (en) | 2020-08-25 | 2020-08-25 | Vehicle suspension control method and device, vehicle and storage medium |
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| CN114083950B (en) * | 2021-10-14 | 2024-06-07 | 的卢技术有限公司 | Human-vehicle interaction mode, system and storage medium for getting on and off vehicles |
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