CN116852931A - Active suspension control method and device, electronic equipment and readable storage medium - Google Patents

Active suspension control method and device, electronic equipment and readable storage medium Download PDF

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Publication number
CN116852931A
CN116852931A CN202210313363.5A CN202210313363A CN116852931A CN 116852931 A CN116852931 A CN 116852931A CN 202210313363 A CN202210313363 A CN 202210313363A CN 116852931 A CN116852931 A CN 116852931A
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CN
China
Prior art keywords
height
active suspension
height adjustment
change rate
threshold value
Prior art date
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Pending
Application number
CN202210313363.5A
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Chinese (zh)
Inventor
廉玉波
曾彬
张宏洲
廖银生
王晨曦
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BYD Co Ltd
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BYD Co Ltd
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Priority to CN202210313363.5A priority Critical patent/CN116852931A/en
Publication of CN116852931A publication Critical patent/CN116852931A/en
Pending legal-status Critical Current

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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
    • B60G17/0185—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 for failure detection
    • 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

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

The invention provides an active suspension control method, an active suspension control device, electronic equipment and a readable storage medium, wherein the active suspension control method comprises the following steps: detecting state information related to the height adjustment of the active suspension in the absence of faults in the sensors and actuators of the active suspension; and under the condition that the height adjusting system is determined to have faults according to the state information, controlling the height adjusting system not to adjust the height. According to the invention, under the condition that the sensor and the actuator of the active suspension have no faults, various state information related to the height adjustment of the active suspension is continuously detected, and then whether the height adjustment system has faults such as abnormal control or unexpected faults or not is judged according to the state information, and under the condition that the faults exist, the height adjustment system is intervened in time to control the height not to be adjusted, so that safety accidents are avoided.

Description

Active suspension control method and device, electronic equipment and readable storage medium
Technical Field
The present invention relates to the field of intelligent automobiles, and in particular, to an active suspension control method, an active suspension control device, an electronic device, and a readable storage medium.
Background
Currently, with the development of automobile intellectualization, people put forward higher demands on the good experience of automobiles, so that the active suspension of the automobile can be rapidly developed.
In the prior art, the protection related to active suspension height control mainly depends on diagnosing sensors and actuators related to a suspension height adjusting system, and performing fault grading control according to diagnosis results. In the diagnosis mode, under the condition that the sensor and the actuator have no faults, the faults of the suspension height adjusting system cannot be accurately identified, so that when abnormal control or non-predictive faults occur in the system, corresponding control cannot be performed, and safety accidents are easy to occur.
Disclosure of Invention
The embodiment of the invention provides an active suspension control method, an active suspension control device, electronic equipment and a readable storage medium, which are used for solving the problems that other faults of a suspension height adjusting system cannot be effectively identified and safety accidents are easy to cause under the condition that a sensor and an actuator are not faulty in the prior art.
In a first aspect, an embodiment of the present invention provides an active suspension control method, including:
detecting state information related to the height adjustment of the active suspension in the absence of faults in the sensors and actuators of the active suspension;
And under the condition that the height adjusting system is determined to have faults according to the state information, controlling the height adjusting system not to adjust the height.
Optionally, in the active suspension control method, the state information includes at least one of a height adjustment working mode, pump motor temperature information of the active suspension, a first duration of continuous operation of the pump motor of the active suspension, pipe pressure information of the active suspension, height information of the active suspension, valve train driving duty ratio of the active suspension, and vehicle state.
Optionally, in the active suspension control method, when determining that the height adjustment system has a fault according to the state information, the controlling the height adjustment system not to adjust the height includes:
when the overheat or overheat hidden trouble of the pump motor is determined according to the temperature information of the pump motor and the height adjustment working mode,
and/or
When the pump motor is determined to have the hidden danger of overheat according to the first time length and the height adjustment working mode,
and/or
When the pipeline overpressure or underpressure is determined according to the pipeline pressure information and the height adjustment working mode,
and/or
When it is determined that altitude adjustment is required according to the altitude information and the altitude adjustment operation mode, and altitude change is too slow or the altitude change is opposite to the altitude adjustment enabling direction,
And/or
When the valve system of the active suspension is determined to have hidden danger of damage according to the valve system driving duty ratio,
and/or
And when the vehicle state is determined that the vehicle door is not closed, the vehicle body is unbalanced or the acceleration of the vehicle is larger than the acceleration threshold value, controlling the height adjusting system not to adjust the height.
Optionally, in the active suspension control method, when determining that the height change is too slow or the height change is opposite to the height adjustment enabling direction according to the height information and the height adjustment working mode, the controlling the height adjustment system not to adjust the height specifically includes:
when the active suspension is in a working mode of system pressure relief to reduce the suspension, if any leveling valve of the height adjusting system works and the height change rate detected by a height sensor corresponding to the leveling valve is larger than a first height change rate threshold value and the height is not adjusted by the height adjusting system under the condition of continuously controlling the first time length threshold value;
when the active suspension is in a working mode that the air storage tank is deflated to raise the suspension, or in a working mode that the pump motor is pressurized to raise the suspension, if any leveling valve works, and the height change rate detected by the height sensor corresponding to the leveling valve is smaller than a second height change rate threshold value, and the height is not adjusted by the height adjusting system under the condition that the second time duration threshold value is continuously maintained.
Optionally, in the active suspension control method, before the step of controlling the height adjusting system not to adjust the height if it is determined that the height adjusting system has a fault according to the state information, the method further includes:
calculating a height difference between a current suspension height and an initial suspension height of the height sensor when a load balancing system of the active suspension is started;
determining a height adjustment coefficient for correcting a height change rate threshold according to the height difference and the height adjustment enabling direction; the altitude change rate threshold comprises the first altitude change rate threshold and the second altitude change rate threshold;
and determining the first height change rate threshold and the second height change rate threshold according to the height adjustment coefficient, the first height change rate standard threshold and the second height change rate standard threshold.
Optionally, the method further comprises:
and controlling the height adjusting system to adjust the height under the condition that the height adjusting system is determined to be not faulty according to the state information, or under the condition that a height adjusting control instruction of a user is received, or under the condition that the vehicle speed is greater than a vehicle speed threshold value and a third duration threshold value is continued.
Optionally, the method further comprises:
in the event of a failure of the sensor and/or actuator, the height adjustment system is controlled to adjust the height.
In a second aspect, an embodiment of the present invention provides an active suspension control device, including:
the detection module is used for detecting state information when the vehicle is in a power-on state, and the first information is state information related to the height adjustment of the active suspension;
and the first control module is used for controlling the height adjusting system not to adjust the height under the condition that the fault exists in the height adjusting system according to the state information.
In a third aspect, an embodiment of the present invention provides an electronic device, including: a processor, a communication interface, a memory, and a communication bus; the processor, the communication interface and the memory complete communication with each other through a communication bus;
a memory for storing a computer program;
and a processor, configured to implement the steps in the active suspension control method according to the first aspect when executing the program stored in the memory.
In a fourth aspect, an embodiment of the present invention provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the active suspension control method described in the first aspect above.
In a fifth aspect, an embodiment of the present invention provides a vehicle, including an active suspension, and further including an active suspension control device as described in the second aspect above.
Aiming at the prior art, the invention has the following advantages:
in the embodiment of the invention, when a vehicle is in a power-on state, under the condition that a sensor and an actuator of an active suspension are not in fault, state information is detected, and the first information is state information related to the height adjustment of the active suspension; and under the condition that the height adjusting system is determined to have faults according to the state information, controlling the height adjusting system not to adjust the height. When the vehicle is in a power-on state, and under the condition that the sensor and the actuator of the active suspension are not faulty, various state information related to the height adjustment of the active suspension is continuously detected, whether the height adjustment system has faults such as abnormal control or unexpected faults or not is further pre-judged through the state information, and under the condition that the faults exist, the height adjustment system is timely intervened to control the height without adjusting the height, so that safety accidents are avoided.
The foregoing description is only an overview of the present invention, and is intended to be implemented in accordance with the teachings of the present invention in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present invention more readily apparent.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments will be briefly described below.
FIG. 1 is a schematic diagram of an active suspension control method according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating an active suspension control process according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an active suspension control device according to an embodiment of the present invention;
fig. 4 is a block diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Fig. 1 is a schematic diagram of an active suspension control method according to an embodiment of the present invention, including:
step 101, detecting state information related to the height adjustment of the active suspension in the case that the sensor and the actuator of the active suspension are not faulty.
The active suspension control method provided by the embodiment of the invention is applied to an active suspension system. The active suspension system may automatically activate and acquire status information related to the height adjustment of the active suspension when the vehicle is powered up. The state information is related to the height adjustment of the active suspension and can reflect the working states of the actuators and sensors in the height adjustment process of the active suspension.
In this step, the state information may include at least one of a height adjustment operation mode, pump motor temperature information of the active suspension, a first duration of continuous operation of the active suspension pump motor, a pipe pressure of the active suspension, height information of the active suspension, a valve train driving duty ratio of the active suspension, and a vehicle state. The pump motor temperature includes a temperature value and a temperature change rate, the pipe pressure information includes a pipe pressure value and a pipe pressure change rate, the altitude information includes an altitude value and an altitude change rate, and the vehicle state includes a vehicle body state and an acceleration state of the vehicle.
The height adjusting working mode refers to a working state of the active suspension when the active suspension is at a height, and specifically can comprise working modes of keeping the suspension height, deflating the air storage tank to raise the suspension, pressurizing the pump motor to raise the suspension, decompressing the system to lower the suspension, inflating the air storage tank and the like.
And 102, under the condition that the height adjusting system is determined to have faults according to the state information, controlling the height adjusting system not to adjust the height.
In this step, since the above state can reflect the state information of the working states of each actuator and each sensor in the height adjustment process of the active suspension, after the state information is obtained, it can be determined whether the whole height adjustment system of the active suspension has faults such as overheating of the actuator, about to overheat of the actuator, suspension clamping stagnation, abnormal control signals, leakage of the pipeline, and failure of the pressure sensor, so that the "closing height adjustment" enable can be controlled under the condition of the above faults, that is, the height adjustment system is controlled not to adjust the height, thereby avoiding causing significant loss.
In the implementation process, when the vehicle is in a power-on state, under the condition that the sensor and the actuator of the active suspension are not in fault, state information related to the height adjustment of the active suspension is detected; and under the condition that the height adjusting system is determined to have faults according to the state information, controlling the height adjusting system not to adjust the height. When the vehicle is in a power-on state, various state information related to the height adjustment of the active suspension is continuously detected, whether the height adjustment system has faults such as abnormal control or unexpected faults or not is further judged according to the state information, and under the condition that the faults exist, the height adjustment system is intervened in time to control the height not to be adjusted, so that safety accidents are avoided.
Optionally, the method provided by the embodiment of the invention is suitable for being executed when the height adjusting system has no fault, namely, under the condition that the actuator and the sensor of the active suspension have no self fault, the method provided by the embodiment of the invention is executed to identify the fault condition of the height adjusting system; otherwise, the height adjusting system fails to control the height adjusting system directly without adjusting the height.
Optionally, in an embodiment of the present invention, the step 102 includes:
when the pump motor is determined to have overheat hidden trouble according to the temperature information of the pump motor and the height adjustment working mode,
and/or
When the pump motor is determined to have the hidden danger of overheat according to the first time length and the height adjustment working mode,
and/or
When the pipeline overpressure or underpressure is determined according to the pipeline pressure and the height adjustment working mode,
and/or
When it is determined that altitude adjustment is required according to the altitude information and the altitude adjustment operation mode, and altitude change is too slow or the altitude change is opposite to the altitude adjustment enabling direction,
and/or
When the valve system of the active suspension is determined to have hidden danger of damage according to the valve system driving duty ratio and the height adjusting working mode,
And/or
And when the vehicle state is determined that the vehicle door is not closed, the vehicle body is unbalanced or the acceleration of the vehicle is larger than the acceleration threshold value, controlling the height adjusting system not to adjust the height.
In this embodiment, that is, according to the working mode of the active suspension, it is determined that the pump motor has overheat hidden trouble, the pipeline is over-pressurized or under-pressurized, the height adjustment is required and the height change is too slow, the height adjustment is required and the height change is opposite to the height adjustment enabling direction, and when any condition of the leveling valve of the active suspension, the gas storage tank valve or the pump motor has damage hidden trouble, the vehicle door is not closed, the vehicle body is unbalanced, and the acceleration of the vehicle is greater than the acceleration threshold is met, the height adjustment system is controlled not to adjust the height, that is, the active suspension is controlled not to adjust the height, so that the safety accident is avoided.
Because the load intensity of the pump motor is different and the sensitivity degree to temperature change is also different under different height adjustment working modes, the pump motor temperature information and the height adjustment working modes are combined to determine whether the pump motor has overheat hidden trouble or not, and when the overheat hidden trouble exists, the height adjustment system is controlled not to adjust the height.
Because the load intensity of the pump motor is different in different height adjustment working modes, the sensitivity degree of the pump motor to overheat hidden danger formed by the continuous operation time length is also different, so that the continuous operation time length of the pump motor and the height adjustment working mode can be combined to determine whether the pump motor has overheat hidden danger or not, and when the overheat hidden danger exists, the height adjustment system is controlled not to adjust the height.
The pipeline pressure and the height adjusting working mode can be combined to determine the hidden danger of pipeline overpressure or underpressure, and when the hidden danger of overpressure or underpressure exists, the height adjusting system is controlled to not adjust the height.
In the height adjustment working mode, the height adjustment speed is different from the height adjustment enabling direction, so that the height information and the height adjustment working mode are combined to determine whether the height adjustment is needed, and whether the height adjustment is too slow or the height change is opposite to the height adjustment enabling direction is caused, and when the height adjustment is too slow or the height change is opposite to the height adjustment enabling direction is caused, the height adjustment system is controlled not to adjust the height.
The driving duty ratio of the valve system directly determines the working strength of the valve system, so that whether the leveling valve, the gas storage tank valve or the pump motor of the active suspension has damage hidden danger or not can be determined according to the driving duty ratio of the valve system, and when the damage hidden danger exists, the control of the 'closing height adjustment' enable, namely the control of the height adjustment system not to adjust the height, is performed.
In the embodiment of the invention, because the adjusting suspension height has a fault when the vehicle door is not closed and the vehicle body is unbalanced, and the adjusting effect of the suspension height is not good and the safety problem is easy to occur when the acceleration is overlarge, when the vehicle door is not closed, the vehicle body is unbalanced or the acceleration of the vehicle is larger than the acceleration threshold value according to the vehicle state, the control of the 'closing height adjustment' enable, namely the control of the height adjustment system, is not performed.
Optionally, in an embodiment, when determining that there is a hidden danger of overheating of the pump motor according to the temperature information of the pump motor and the height adjustment working mode, controlling the height adjustment system to not adjust the height includes:
when the air storage tank is in the air charging working mode, if the temperature of the pump motor is greater than a first temperature threshold value and the duration time is greater than or equal to a fourth time threshold value, controlling the height adjusting system not to adjust the height;
when the pump motor is in a working mode of pressurizing to raise the suspension, if the temperature of the pump motor is greater than a third temperature threshold value and the duration time is greater than or equal to a sixth duration time threshold value, controlling the height adjusting system not to adjust the height; wherein the third temperature threshold is greater than the first temperature threshold;
when the working mode is in the height maintaining working mode and the height adjusting enabling is in the height maintaining state, if the temperature change rate of the pump motor is larger than the first temperature change rate threshold value and the duration time is larger than or equal to the eighth duration time threshold value, the height adjusting system is controlled not to adjust the height.
In this embodiment, the third temperature threshold is set to be greater than the first temperature threshold because the load to which the pump motor is subjected is large in the operation mode in which the pump motor is pressurized to raise the suspension, and the load to which the pump motor is subjected is small in the operation mode in which the air tank is inflated.
Optionally, in a specific implementation manner, the method provided by the embodiment of the present invention further includes:
when the air storage tank is in the air charging working mode, if the temperature of the pump motor is smaller than a second temperature threshold value and the duration time is longer than or equal to a fifth duration time threshold value, determining that the pump motor has no overheating hidden trouble; wherein the second temperature threshold is less than the first temperature threshold;
when the pump motor is in a working mode of pressurizing to raise the suspension, if the temperature of the pump motor is smaller than a fourth temperature threshold and the duration time is longer than or equal to a seventh duration time threshold, determining that the pump motor has no overheat hidden trouble; wherein the fourth temperature threshold is less than the third temperature threshold;
when the pump motor is in a working mode of a maintaining height and the height adjustment enabling is in a state of the maintaining height, if the temperature change rate of the pump motor is smaller than a second temperature change rate threshold value and the duration time is larger than or equal to a ninth duration time threshold value, determining that the pump motor has no overheat hidden trouble; wherein the first temperature change rate threshold is greater than the second temperature change rate threshold.
Specifically, the temperature threshold, the temperature change rate threshold, and the time period threshold may be calibrated according to actual conditions, for example, the first temperature threshold may be set to 100 ℃, the second temperature threshold may be set to 80 ℃, the third temperature threshold may be set to 110 ℃, the fourth temperature threshold may be set to 105 ℃, the fourth time period threshold may be set to 2s, the fifth time period threshold may be set to 2s, the sixth time period threshold may be set to 2s, the seventh time period threshold may be set to 2s, the eighth time period threshold may be set to 3s, the ninth time period threshold may be set to 3s, the first temperature change rate threshold may be set to 0.5 ℃/s, and the second temperature change rate threshold may be set to 0.01 ℃/s.
Optionally, in an embodiment, when it is determined that there is a hidden danger of overheating of the pump motor according to the first duration, the controlling the height adjusting system to not adjust the height includes:
and under the condition that the first time length is greater than a tenth time length threshold value, controlling the height adjusting system not to adjust the height.
In the embodiment, after the pump motor continuously works and exceeds a tenth time threshold value, enabling the 'closing height adjustment', and controlling a height adjustment system of the active suspension to be not fair; and in combination with the specific working mode of the active suspension, the 'closing height adjustment' out-of-enable is controlled after the pump motor stops running for a certain period of time, namely the height adjustment system is started again, so that the pump motor is protected from being damaged due to overtime work.
Optionally, in a specific implementation manner, the method provided by the embodiment of the present invention further includes:
when the pump motor is in a working mode of pressurizing to raise the suspension, after stopping running of the pump motor and an eleventh time period threshold value, determining that the pump motor has no overheat hidden trouble;
when the pump motor is in a working mode of inflating the air storage tank, after stopping running a twelfth time threshold, determining that the pump motor has no overheating hidden trouble; wherein the twelfth duration threshold is greater than the eleventh duration threshold.
In the specific embodiment, different time thresholds for setting the pump motor are set according to different working modes of the active suspension, and when the pump motor is judged to have overheat hidden danger, the overheat hidden danger can be judged to be eliminated when the stop operation time reaches the corresponding time threshold.
The time length threshold can be calibrated according to actual conditions. Specifically, the tenth time period threshold may be set to 200s, the eleventh time period threshold may be set to 25s, and the twelfth time period threshold may be set to 200s.
Optionally, in an embodiment, when the pipe overpressure or the pipe underpressure is determined according to the pipe pressure and the height adjustment working mode, the height adjustment system is controlled to not adjust the height, including:
when the air storage tank is in the air charging working mode, if the pressure change rate of the pipeline is smaller than the first pressure change rate threshold value and the duration time is longer than or equal to the thirteenth duration time threshold value, controlling the height adjusting system not to adjust the height;
when the air storage tank is deflated to raise the working mode of the suspension, if the pressure change rate of the pipeline is larger than the third pressure change rate threshold value and the duration time is larger than or equal to the fifteenth duration time threshold value, the height adjusting system is controlled not to adjust the height; wherein the third pressure rate of change threshold is greater than the first pressure rate of change threshold;
When the working mode is in the height maintaining working mode and the height adjusting enabling is in the height maintaining state, if the absolute value of the pressure change rate of the pipeline is larger than the fifth pressure change rate threshold value and the duration time is larger than or equal to the seventeenth time period threshold value, the height adjusting system is controlled to not adjust the height.
Wherein, because the pipeline pressure should be increased continuously in theory when in the working mode when the gas storage tank is inflated, if the pipeline pressure change rate is smaller than the first pressure change rate threshold value, it is likely that there is leakage risk, so that the height adjusting system is controlled not to adjust the height when the duration of the state is longer than or equal to the thirteenth duration threshold value;
in the working mode when the air storage tank is deflated to raise the working mode of the suspension, the pipeline pressure should be reduced continuously in theory, and if the pipeline pressure change rate is larger than the third pressure change rate threshold value, it is indicated that the risk of unsmooth deflation and blockage is likely to exist, so that the height adjusting system is controlled not to adjust the height under the condition that the duration of the state is longer than or equal to the fifteenth duration threshold value;
in the high-hold mode of operation, and with the high-hold enabled, the line pressure should theoretically remain unchanged, where if the absolute value of the line pressure rate of change is greater than the fifth pressure rate threshold, this indicates that there is a leak or failure pressurization problem, and thus the high-hold system is controlled not to adjust the high-hold.
Optionally, in a specific implementation manner, the method provided by the embodiment of the present invention further includes:
when the air storage tank is in the air charging working mode, if the pressure change rate of the pipeline is larger than a second pressure change rate threshold value and the duration time is longer than or equal to a fourteenth duration time threshold value, determining that the pipeline has no potential hazards of overpressure and undervoltage; wherein the second pressure change rate threshold is greater than the first pressure change rate threshold;
when the air storage tank is in a working mode of deflating to raise the suspension, if the pressure change rate of the pipeline is smaller than a fourth pressure change rate threshold value and the duration time is longer than or equal to a sixteenth duration time threshold value, determining that the pipeline has no potential hazards of overpressure and undervoltage; wherein the fourth pressure change rate threshold is less than the third pressure change rate threshold;
when the pipeline is in a working mode of maintaining the height and the height adjustment enabling is in a state of maintaining the height, if the absolute value of the pressure change rate of the pipeline is smaller than a sixth pressure change rate threshold value and the duration time is longer than or equal to an eighteenth duration time threshold value, determining that the pipeline has no potential hazards of overpressure and underpressure; wherein the sixth pressure change rate threshold is less than the fifth pressure change rate threshold.
In the specific embodiment, because the pipeline pressure change rates are different in different height adjustment working modes, the pipeline pressure change rate and the height adjustment working mode can be combined to determine that the pipeline is free of overpressure and underpressure.
Specifically, the pressure change rate threshold and the duration threshold may be calibrated according to actual conditions, for example, the first pressure change rate threshold may be set to 0.01Mpa/s, the second pressure change rate may be set to 0.1Mpa/s, the third pressure change rate may be set to-0.01 Mpa/s, the fourth pressure change rate may be set to-0.1 Mpa/s, the fifth pressure change rate may be set to 0.5Mpa/s, the sixth pressure change rate may be set to 0.01Mpa/s, the thirteenth duration threshold may be set to 3s, the fourteenth duration threshold may be set to 3s, the fifteenth duration threshold may be set to 5s, the sixteenth duration threshold may be set to 5s, the seventeenth duration threshold may be set to 3s, and the eighteenth duration threshold may be set to 3s.
Optionally, in an embodiment, when it is determined that the height adjustment is required and the height change is too slow or the height change is opposite to the height adjustment enabling direction according to the height information and the height adjustment working mode, the controlling the height adjustment system to not adjust the height includes:
when the active suspension is in a working mode of system pressure relief to reduce the suspension, if any leveling valve of the height adjusting system works and the height change rate detected by a height sensor corresponding to the leveling valve is larger than a first height change rate threshold value and the height is not adjusted by the height adjusting system under the condition of continuously controlling the first time length threshold value;
When the active suspension is in a working mode that the air storage tank is deflated to raise the suspension, or in a working mode that the pump motor is pressurized to raise the suspension, if any leveling valve works, and the height change rate detected by the height sensor corresponding to the leveling valve is smaller than a second height change rate threshold value, and the height is not adjusted by the height adjusting system under the condition that the second time duration threshold value is continuously maintained.
In this embodiment, when the system is in the operation mode of releasing pressure to lower the suspension, the suspension should be reduced continuously in theory, so when the leveling valve works and the height change rate detected by the height sensor corresponding to the leveling valve is greater than the first height change rate threshold value, the problem that the suspension drops too slowly or rises is described, and thus when the state continues to the first time length threshold value, the "closing height adjustment" is enabled, that is, the height adjustment system is controlled not to adjust the height;
when the active suspension is in the working mode that the air storage tank is deflated to lift the suspension, or in the working mode that the pump motor is pressurized to lift the suspension, the suspension is supposed to lift continuously in theory, so when the leveling valve works and the height change rate detected by the height sensor corresponding to the leveling valve is smaller than the second height change rate threshold value, the suspension lifting is excessively slow, and therefore under the condition that the state lasts for the second time period threshold value, the height adjustment is enabled to be turned off, namely the height adjustment system is controlled not to adjust the height.
Specifically, the height change rate threshold and the duration threshold may be calibrated according to actual conditions, for example, the first height change rate threshold may be set to-20 mm/s, the second height change rate threshold may be set to 2mm/s, the first duration threshold may be set to 3s, and the second duration threshold may be set to 5s.
Optionally, in a specific implementation manner, the method provided in this embodiment, before the step of controlling the height adjustment system to not adjust the height if it is determined that there is a fault in the height adjustment system according to the status information, further includes steps 201 to 203:
step 201, calculating the height difference between the current suspension height and the initial suspension height detected by the height sensor when the load balancing system of the active suspension is started.
In the step, when the load balancing system of the active suspension is started, each height sensor calculates the difference between the detected current suspension height and the initial suspension height, and the height difference is determined.
Step 202, determining a height adjustment coefficient for correcting a height change rate threshold according to the height difference and the height adjustment enabling direction; the altitude change rate threshold includes the first altitude change rate threshold and the second altitude change rate threshold.
In this step, the height adjustment parameter is a parameter for correcting a height change rate threshold, and the height change rate threshold is a criterion for determining a height adjustment speed. The height adjustment speed is related to the height adjustment operation mode of the active suspension, and is also related to the vehicle load and the height adjustment enabling direction, that is, the vehicle load and the height adjustment enabling direction are the influencing factors of the height adjustment speed, so that the judgment standard of the height adjustment speed needs to be adjusted according to the vehicle load and the height adjustment enabling direction, and therefore the height adjustment coefficient can be determined through the vehicle load and the height adjustment enabling direction. It will be appreciated that the greater the vehicle load, the slower the altitude adjustment, with the same altitude adjustment mode of operation.
Optionally, the direction signal value when the height adjustment enabling direction rises is defined as 1, the direction signal value when the height adjustment enabling direction falls is defined as-1, and the direction signal value when the height adjustment enabling direction is maintained is defined as 0, and the height adjustment coefficient= |height difference|the direction signal value of the height adjustment enabling direction.
Step 203, determining the first altitude change rate threshold according to the altitude adjustment coefficient and a first altitude change rate standard threshold, and determining the second altitude change rate threshold according to the altitude adjustment coefficient and a second altitude change rate standard threshold.
In the step, a first height change rate standard threshold value is a height change rate standard threshold value when an active suspension is in a system pressure relief mode to reduce the working mode of the suspension, and the first height change rate standard threshold value is multiplied by a (1+ height adjustment coefficient) to determine the first height change rate threshold value;
in the step, the second height change rate standard threshold value is a height change rate standard threshold value when the active suspension is in an operating mode that the air storage tank is deflated to raise the suspension, and the second height change rate threshold value is determined by multiplying the second height change rate standard threshold value by (1+ height adjustment coefficient).
Wherein, when the load balance is started twice or more, repeating the operation and accumulating and storing the height adjustment coefficient; when load balance is not started all the time from the power-on to the running of the vehicle, the latest height adjustment coefficient stored before the power-on is read; if no height adjustment coefficients are stored, a default height adjustment coefficient is read, the default height adjustment coefficient being 0.
In this embodiment, the height change rate threshold value of each height adjustment operation mode of the active suspension is dynamically adjusted according to the suspension height difference and the height enabling direction detected by each height sensor, so that it is possible to more precisely and accurately determine whether or not there is a fault in which the height change is too slow or the height change is opposite to the height adjustment enabling direction of the active suspension.
Optionally, in an embodiment, when it is determined that there is a damage risk to the valve system of the active suspension according to the valve system driving duty ratio, the control adjustment system is not operated, including:
and under the condition that the driving duty ratio of any leveling valve or gas storage tank valve is larger than a first duty ratio threshold and the duration time is larger than or equal to a nineteenth duration threshold, or the driving duty ratio of the pump motor is larger than a second duty ratio threshold and the duration time is larger than or equal to a twentieth duration threshold, determining that the valve system of the active suspension has hidden danger of damage, and controlling the regulating system to work.
The duty ratio threshold and the time length threshold may be calibrated according to practical situations, for example, the first duty ratio threshold may be set to be 35%, the second duty ratio threshold may be set to be 70%, the nineteenth time length threshold may be set to be 10s, and the twentieth time length threshold may be set to be 10s.
Optionally, in a specific implementation manner, the method provided by the embodiment of the present invention further includes:
and under the condition that the driving duty ratio of each leveling valve and each gas storage tank valve is larger than a third duty ratio threshold and the duration time is larger than or equal to a twenty-first duration threshold, and the driving duty ratio of the pump motor is larger than a fourth duty ratio threshold and the duration time is larger than or equal to a twenty-second duration threshold, determining that the valve system of the active suspension has no hidden trouble of damage.
In the specific embodiment, different duty ratio thresholds and time length thresholds for safe operation are set for the valve system according to different valve systems, and when the valve system is judged to have damage hidden danger, the valve system can be judged to eliminate the damage hidden danger when the driving duty ratio is restored to the driving duty ratio for safe operation and the duration reaches the corresponding duration threshold.
The duty ratio threshold and the time length threshold may be calibrated according to practical situations, for example, the third duty ratio threshold may be set to 30%, the fourth duty ratio threshold may be set to 55%, the twenty-first time length threshold may be set to 5s, and the twenty-second time length threshold may be set to 5s.
Optionally, in an embodiment, when it is determined that the vehicle door is not closed, the vehicle body is unbalanced, or the acceleration of the vehicle is greater than the acceleration threshold according to the vehicle state, the controlling the height adjusting system does not adjust the height includes:
in the case of determining that any one of the door, the front cover, and the rear cover is open according to the vehicle state, or
In the case where the absolute value of the lateral acceleration of the vehicle is greater than the first acceleration threshold value and the duration is greater than the twenty-third duration threshold value, or
In the case where the absolute value of the longitudinal-lateral acceleration of the vehicle is greater than the second acceleration threshold value and the duration is greater than the twenty-fourth time threshold value, or
In the case where the absolute value of the difference between the suspension heights detected by the height sensors on the same side of the vehicle is greater than a first height difference threshold value, or
And when the difference between the suspension height detected by each height sensor and the standard height is larger than a second height difference threshold value, controlling the height adjusting system not to adjust the height.
The acceleration threshold value, the altitude difference threshold value and the time length threshold value can be calibrated according to practical situations, for example, the first acceleration threshold value can be set to be 0.25g, the second acceleration threshold value can be set to be 0.25g, the first altitude difference threshold value is 400mm, the second altitude difference threshold value is 350mm, the twenty-third time length threshold value is 1s, and the twenty-fourth time length threshold value is 1s.
Optionally, in one implementation manner, the method provided by the embodiment of the present invention further includes step 103:
and controlling the height adjusting system to adjust the height under the condition that the height adjusting system is determined to be not faulty according to the state information, or under the condition that a height adjusting control instruction of a user is received, or under the condition that the vehicle speed is greater than a vehicle speed threshold value and a third duration threshold value is continued.
Wherein, the condition that high governing system does not have the trouble includes: the pump motor does not have overheat hidden trouble, and does not have pipeline excessive pressure and undervoltage, and does not have the condition that the altitude variation is too slow and altitude variation and altitude adjustment enable opposite direction when need carrying out altitude adjustment, and the valve system of initiative suspension does not have damage hidden trouble, and the door is all closed, the automobile body is balanced and the acceleration of vehicle is less than or equal to acceleration threshold value. Under the condition that the height adjusting system does not have a fault, the active suspension can normally adjust the height according to the actual condition, so that the off height adjustment is controlled to be out of the enabling state, namely the height adjusting system is controlled to adjust the height.
Wherein, in the case of receiving the height adjustment control instruction of the user, it is explained that the user is likely attempting to reset the adjustment active suspension, thus controlling the off height adjustment disable, i.e. controlling the height adjustment system to adjust the height.
The user is indicated to be temporarily not hoped to start the height adjustment protection under the condition that the vehicle speed is greater than the vehicle speed threshold value and the third duration threshold value is continued because whether the active suspension works directly influences the driving experience of the user, so that the control of closing the height adjustment is performed, namely the height adjustment system is controlled to adjust the height.
Optionally, in one implementation manner, the method provided by the embodiment of the present invention further includes step 104:
in the event of a failure of the sensor and/or actuator, the height adjustment system is controlled to adjust the height.
In this embodiment, under the condition that any one of the sensor and the actuator of the active suspension fails, the height adjustment cannot be completed, so that the off height adjustment is directly controlled to be off, that is, the height adjustment system is controlled to adjust the height, so that potential safety hazards are avoided.
The following describes an active suspension control process according to an embodiment of the present invention with a specific implementation procedure, as shown in fig. 2, including steps 211 to 218.
In step 211, after the vehicle is powered on, it is determined whether the height adjustment system has a failure by detecting whether the height sensor, the height adjustment actuator, the temperature sensor, and the pressure sensor have a failure, and if yes, the routine proceeds to step 219, otherwise, the steps 212 to 216 are executed. Specifically, in the case where the height sensor, the height adjustment actuator, the temperature sensor, and the pressure sensor are all fault-free, it is determined that the height adjustment system is fault-free.
In step 212 to step 216, state information such as the system temperature, pressure, height adjustment state, valve train driving duty ratio, vehicle state, etc. of the active suspension is detected, and then step 217 is entered;
in step 217, according to the status information detected in steps 212 to 216, it is determined whether the height adjusting function can be turned on, that is, whether the height adjusting system can work normally; if the height adjustment function can be turned on, go to step 218; if the height adjustment function cannot be turned on, step 219 is entered.
In step 218, the height adjustment function is turned on, and the height adjustment system of the active suspension can normally adjust the suspension height;
in step 219, the height adjustment function is turned off and the height adjustment system of the active suspension is unable to adjust the suspension height.
According to the active suspension control method provided by the embodiment of the invention, when the vehicle is in the power-on state, the state information is detected, and the first information is the state information related to the height adjustment of the active suspension; and under the condition that the height adjusting system is determined to have faults according to the state information, controlling the height adjusting system not to adjust the height. When the vehicle is in a power-on state, various state information related to the height adjustment of the active suspension is continuously detected, whether the height adjustment system has faults such as abnormal control or unexpected faults or not is further judged according to the state information, and under the condition that the faults exist, the height adjustment system is intervened in time to control the height not to be adjusted, so that safety accidents are avoided.
Fig. 3 is a schematic diagram of an active suspension control device according to an embodiment of the present invention, including:
a detection module 301, configured to detect status information related to height adjustment of the active suspension in a case where there is no failure in a sensor and an actuator of the active suspension;
the first control module 302 is configured to control the height adjustment system not to adjust the height if it is determined that the height adjustment system has a fault according to the status information.
Optionally, the first control module 302 is further configured to:
when the pump motor is determined to have overheat hidden trouble according to the temperature information of the pump motor and the height adjustment working mode,
and/or
When the pump motor is determined to have the hidden danger of overheat according to the first time length and the height adjustment working mode,
and/or
When the pipeline overpressure or underpressure is determined according to the pipeline pressure information and the height adjustment working mode,
and/or
When it is determined that altitude adjustment is required and altitude change is too slow or altitude change is opposite to altitude adjustment enabling direction according to the altitude information and the altitude adjustment operation mode,
and/or
When the valve system of the active suspension is determined to have hidden danger of damage according to the valve system driving duty ratio,
and/or
And when the vehicle state is determined that the vehicle door is not closed, the vehicle body is unbalanced or the acceleration of the vehicle is larger than the acceleration threshold value, controlling the height adjusting system not to adjust the height.
Optionally, the first control module includes:
the first control unit is used for controlling the height adjusting system not to adjust the height under the condition that when the active suspension is in a working mode of system pressure relief to reduce the suspension, if any leveling valve of the height adjusting system works and the height change rate detected by the height sensor corresponding to the leveling valve is larger than a first height change rate threshold value and the first time length threshold value is continuous;
And the second control unit is used for controlling the height adjusting system not to adjust the height under the condition that any leveling valve works and the height change rate detected by the height sensor corresponding to the leveling valve is smaller than a second height change rate threshold value and the second duration threshold value is continued when the active suspension is in the working mode that the air storage tank is deflated to lift the suspension or in the working mode that the pump motor is pressurized to lift the suspension.
Optionally, the apparatus further includes:
the calculation module is used for calculating the height difference between the current suspension height and the initial suspension height detected by the height sensor when the load balancing system of the active suspension is started before the height adjusting system is controlled to not adjust the height under the condition that the height adjusting system is determined to have faults according to the state information;
the first determining module is used for determining a height adjusting coefficient according to the height difference and the height adjusting enabling direction;
the second determining module is configured to determine the first altitude change rate threshold according to the altitude adjustment coefficient and a first altitude change rate standard threshold, and determine the second altitude change rate threshold according to the altitude adjustment coefficient and a second altitude change rate standard threshold.
Optionally, the apparatus further includes:
and the second control module is used for controlling the height adjusting system to adjust the height under the condition that the height adjusting system is determined to be not faulty according to the state information, or under the condition that a height adjusting control instruction of a user is received, or under the condition that the vehicle speed is greater than a vehicle speed threshold value and the third duration threshold value is continuous.
The embodiment of the invention also provides a vehicle which comprises the active suspension and the active suspension control device.
For the above-described apparatus and vehicle embodiments, reference is made to the description of the method embodiments for the reason that they are substantially similar to the active suspension control method embodiments.
According to the active suspension control device and the vehicle, the state information related to the height adjustment of the active suspension is detected under the condition that the sensor and the actuator of the active suspension are not faulty; and under the condition that the height adjusting system is determined to have faults according to the state information, controlling the height adjusting system not to adjust the height. When the vehicle is in a power-on state, various state information related to the height adjustment of the active suspension is continuously detected, whether the height adjustment system has faults such as abnormal control or unexpected faults or not is further judged according to the state information, and under the condition that the faults exist, the height adjustment system is intervened in time to control the height not to be adjusted, so that safety accidents are avoided.
The embodiment of the invention also provides an electronic device, as shown in fig. 4, which comprises a processor 401, a communication interface 402, a memory 403 and a communication bus 404, wherein the processor 401, the communication interface 402 and the memory 403 complete communication with each other through the communication bus 404.
Memory 403 for storing a computer program.
The processor 401 is configured to execute a program stored in the memory 403, and implement the following steps: detecting state information related to the height adjustment of the active suspension in the absence of faults in the sensors and actuators of the active suspension;
and under the condition that the height adjusting system is determined to have faults according to the state information, controlling the height adjusting system not to adjust the height.
The processor 401 may also implement other steps in the active suspension control method, which are not described herein.
The communication bus mentioned by the above electronic device may be a peripheral component interconnect standard (Peripheral Component Interconnect, abbreviated as PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated as EISA) bus, or the like. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus.
The communication interface is used for communication between the electronic device and other devices.
The memory may include random access memory (Random Access Memory, RAM) or non-volatile memory (non-volatile memory), such as at least one disk memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.
The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but also digital signal processors (Digital Signal Processing, DSP for short), application specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), field-programmable gate arrays (Field-Programmable Gate Array, FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
In yet another embodiment of the present invention, a computer readable storage medium is provided, in which instructions are stored, which when run on a computer, cause the computer to perform the active suspension control method described in the above embodiment.
In yet another embodiment of the present invention, a computer program product containing instructions that, when run on a computer, cause the computer to perform the driver identification method described in the above embodiments is also provided.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present invention, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another, for example, by wired (e.g., coaxial cable, optical fiber, digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), etc.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. For embodiments of an apparatus, an electronic device, a computer-readable storage medium, and a computer program product containing instructions, the description is relatively simple, as it is substantially similar to method embodiments, with reference to the section of the method embodiments being relevant.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims (11)

1. An active suspension control method, comprising:
detecting state information related to the height adjustment of the active suspension in the absence of faults in the sensors and actuators of the active suspension;
and under the condition that the height adjusting system is determined to have faults according to the state information, controlling the height adjusting system not to adjust the height.
2. The active suspension control method of claim 1, wherein the status information includes a height adjustment operating mode, pump motor temperature information of the active suspension, a first duration of continuous operation of the active suspension pump motor, pipe pressure information of the active suspension, height information of the active suspension, a valve train drive duty cycle of the active suspension, and a vehicle status.
3. The active suspension control method according to claim 2, wherein said controlling the height adjustment system to not adjust the height in the case where it is determined that the height adjustment system has a failure based on the state information comprises:
When the pump motor is determined to have overheat hidden trouble according to the temperature information of the pump motor and the height adjustment working mode,
and/or
When the pump motor is determined to have the hidden danger of overheat according to the first time length and the height adjustment working mode,
and/or
When the pipeline overpressure or underpressure is determined according to the pipeline pressure information and the height adjustment working mode,
and/or
When it is determined that altitude adjustment is required and altitude change is too slow or altitude change is opposite to altitude adjustment enabling direction according to the altitude information and the altitude adjustment operation mode,
and/or
When the valve system of the active suspension is determined to have hidden danger of damage according to the valve system driving duty ratio,
and/or
And when the vehicle state is determined that the vehicle door is not closed, the vehicle body is unbalanced or the acceleration of the vehicle is larger than the acceleration threshold value, controlling the height adjusting system not to adjust the height.
4. The active suspension control method according to claim 3, wherein when it is determined that the height change is too slow or the height change is opposite to the height adjustment enabling direction according to the height information and the height adjustment operation mode, the height adjustment system is controlled not to adjust the height, specifically comprising:
When the active suspension is in a working mode of system pressure relief to reduce the suspension, if any leveling valve of the height adjusting system works and the height change rate detected by a height sensor corresponding to the leveling valve is larger than a first height change rate threshold value and the height is not adjusted by the height adjusting system under the condition of continuously controlling the first time length threshold value;
when the active suspension is in a working mode that the air storage tank is deflated to raise the suspension, or in a working mode that the pump motor is pressurized to raise the suspension, if any leveling valve works, and the height change rate detected by the height sensor corresponding to the leveling valve is smaller than a second height change rate threshold value, and the height is not adjusted by the height adjusting system under the condition that the second time duration threshold value is continuously maintained.
5. The active suspension control method according to claim 4 wherein, before the step of controlling the height adjustment system not to adjust the height in the event of determining that there is a failure of the height adjustment system based on the state information, the method further comprises:
when the load balancing system of the active suspension is started, calculating the height difference between the current suspension height and the initial suspension height detected by the height sensor;
Determining a height adjustment coefficient for correcting a height change rate threshold according to the height difference and the height adjustment enabling direction; the altitude change rate threshold comprises the first altitude change rate threshold and the second altitude change rate threshold;
determining a first height change rate threshold according to the height adjustment coefficient and a first height change rate standard threshold, and determining a second height change rate threshold according to the height adjustment coefficient and a second height change rate standard threshold.
6. The active suspension control method according to claim 1, wherein the method further comprises:
and controlling the height adjusting system to adjust the height under the condition that the height adjusting system is determined to be not faulty according to the state information, or under the condition that a height adjusting control instruction of a user is received, or under the condition that the vehicle speed is greater than a vehicle speed threshold value and a third duration threshold value is continued.
7. The active suspension control method according to claim 1, wherein the method further comprises:
in the event of a failure of the sensor and/or actuator, the height adjustment system is controlled to adjust the height.
8. An active suspension control device characterized by comprising:
The detection module is used for detecting state information related to the height adjustment of the active suspension when the sensor and the actuator of the active suspension are not in fault;
and the first control module is used for controlling the height adjusting system not to adjust the height under the condition that the fault exists in the height adjusting system according to the state information.
9. An electronic device, comprising: a processor, a communication interface, a memory, and a communication bus; the processor, the communication interface and the memory complete communication with each other through a communication bus;
a memory for storing a computer program;
a processor for implementing the steps in the active suspension control method according to any one of claims 1 to 6 when executing a program stored on a memory.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the steps in the active suspension control method according to any one of claims 1 to 6.
11. A vehicle comprising an active suspension, the vehicle further comprising the active suspension control device of claim 8.
CN202210313363.5A 2022-03-28 2022-03-28 Active suspension control method and device, electronic equipment and readable storage medium Pending CN116852931A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210313363.5A CN116852931A (en) 2022-03-28 2022-03-28 Active suspension control method and device, electronic equipment and readable storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210313363.5A CN116852931A (en) 2022-03-28 2022-03-28 Active suspension control method and device, electronic equipment and readable storage medium

Publications (1)

Publication Number Publication Date
CN116852931A true CN116852931A (en) 2023-10-10

Family

ID=88220364

Family Applications (1)

Application Number Title Priority Date Filing Date
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Country Status (1)

Country Link
CN (1) CN116852931A (en)

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