CN117656743A - Vehicle attitude control method, controller and vehicle - Google Patents
Vehicle attitude control method, controller and vehicle Download PDFInfo
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- CN117656743A CN117656743A CN202310419542.1A CN202310419542A CN117656743A CN 117656743 A CN117656743 A CN 117656743A CN 202310419542 A CN202310419542 A CN 202310419542A CN 117656743 A CN117656743 A CN 117656743A
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 239000000725 suspension Substances 0.000 claims abstract description 123
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- 230000006835 compression Effects 0.000 claims description 4
- 238000007906 compression Methods 0.000 claims description 4
- 230000036544 posture Effects 0.000 description 20
- 230000007246 mechanism Effects 0.000 description 14
- 230000006870 function Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
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- 238000012544 monitoring process Methods 0.000 description 2
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- 230000003139 buffering effect Effects 0.000 description 1
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- 238000004146 energy storage Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
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Classifications
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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
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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
- B60G17/016—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 their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0162—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 their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during a motion involving steering operation, e.g. cornering, overtaking
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- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a vehicle attitude control method, a controller and a vehicle, wherein the vehicle attitude control method comprises the following steps: when the vehicle is determined to enter the turning working mode according to the acquired gesture information, an active suspension system of the vehicle is controlled according to the gesture information, so that the difference value between the inner side height and the outer side height of the vehicle is within a target range until the vehicle exits the turning working mode. According to the vehicle attitude control method, the turning attitude of the vehicle is adjusted by controlling the active suspension system, so that the height difference between the inner side height and the outer side height of the vehicle is within the target range, the magnitude difference between the inner wheel load and the outer wheel load of the vehicle is within the target range, and the magnitude difference between the inner side offset force and the outer side offset force is within the target range, so that the ground grabbing force of the vehicle is ensured, and the vehicle can stably turn and run. Further, when the height difference between the inside height and the outside height of the vehicle is within the target range, the comfort of the driver is improved.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a vehicle attitude control method, a controller and a vehicle.
Background
When the vehicle passes through a curve, the vehicle is influenced by centrifugal force, as shown in fig. 1, according to the formulaThe vehicle cabin will roll (roll angle Φ) such that the sum of the inboard tire side bias force f2 and the outboard tire side bias force f1 becomes smaller. As f1+f2 is smaller, the tire gripping force is smaller, and the phenomena of sideslip, tail flick and the like of the vehicle are easy to occur. Therefore, ensuring smooth running of the vehicle during turning is a technical problem to be solved currently.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems in the related art to some extent. Therefore, the invention aims to provide a vehicle attitude control method, a controller and a vehicle, so as to prevent sideslip from occurring when the vehicle turns and ensure stable running of the vehicle.
To achieve the above object, an embodiment of a first aspect of the present invention provides a method for controlling a vehicle posture, including: when the vehicle is determined to enter a turning working mode according to the acquired gesture information, an active suspension system of the vehicle is controlled according to the gesture information, so that the difference value between the inner side height and the outer side height of the vehicle is within a target range until the vehicle exits the turning working mode.
In addition, the method for controlling the vehicle posture according to the embodiment of the invention may further have the following additional technical features:
according to an embodiment of the present invention, before the step of controlling the active suspension system of the vehicle according to the attitude information, the method further includes: acquiring attitude information of the vehicle; and judging whether the vehicle enters the turning working mode according to the posture information.
According to one embodiment of the invention, the gesture information includes: one of steering wheel angle, vehicle body height difference, and lateral acceleration, and combinations thereof, wherein the vehicle body height difference= |the inner side height-the outer side height|.
According to one embodiment of the present invention, the step of determining whether the vehicle enters the turning operation mode according to the posture information includes: and if the steering wheel angle is larger than a first target angle threshold, the vehicle body height difference is larger than a first target height difference threshold, and the lateral acceleration is larger than a first target acceleration threshold, judging that the vehicle enters the turning working mode.
According to an embodiment of the present invention, the step of controlling the active suspension system of the vehicle according to the attitude information such that a difference between an inside height and an outside height of the vehicle is within a target range includes: and controlling an inner active suspension and an outer active suspension according to the attitude information so that a difference between an inner height and an outer height of the vehicle is within the target range, wherein the active suspension system comprises the inner active suspension and the outer active suspension.
According to an embodiment of the present invention, the step of controlling the inside active suspension and the outside active suspension according to the attitude information such that a difference between the inside height and the outside height of the vehicle is within the target range includes: determining a first adjustment height of the inner active suspension and a second adjustment height of the outer active suspension according to the vehicle body height difference and the lateral acceleration; determining a first control signal according to the first adjustment height, and determining a second control signal according to the second adjustment height; and controlling the inner active suspension according to the first control signal and controlling the outer active suspension according to the second control signal so that the difference between the inner height and the outer height of the vehicle is within the target range.
According to one embodiment of the invention, the inboard active suspension and the outboard active suspension each comprise: the step of controlling the inner active suspension according to the first control signal and controlling the outer active suspension according to the second control signal so that a difference between an inner height and an outer height of the vehicle is within the target range, comprises the following steps: and increasing the stretching thrust of the linear motor in the outer active suspension according to the first control signal to stretch the spring assembly in the outer active suspension, and increasing the compression pulling force of the linear motor in the inner active suspension according to the second control signal to compress the spring assembly in the inner active suspension, so that the difference value between the inner height and the outer height of the vehicle is within the target range.
According to one embodiment of the invention, the step of determining that the vehicle exits the turning operation mode includes: and after the difference value between the inside height and the outside height of the vehicle is within the target range, if the steering wheel turning angle is smaller than a second target turning angle threshold value and the lateral acceleration is smaller than a second target acceleration threshold value, judging that the vehicle exits the turning working mode, wherein the second target turning angle threshold value is smaller than or equal to the first target turning angle threshold value, and the second target acceleration threshold value is smaller than or equal to the first target acceleration threshold value.
According to one embodiment of the invention, the number of the inner active suspensions and the outer active suspensions is two, the two inner active suspensions are respectively corresponding to the front and rear steering inner wheels of the vehicle, and the two outer active suspensions are respectively corresponding to the front and rear steering outer wheels of the vehicle; the vehicle body height difference comprises a first height difference corresponding to two front steering wheels and/or a second height difference corresponding to two rear steering wheels.
To achieve the above object, a second aspect of the present invention provides a controller including a memory, a processor, and a computer program stored on the memory, which when executed by the processor, implements the above-mentioned vehicle posture control method.
To achieve the above object, an embodiment of a third aspect of the present invention provides a vehicle, including: an active suspension system and a controller as described above.
According to the vehicle attitude control method, the controller and the vehicle, the turning attitude of the vehicle is adjusted by controlling the active suspension system, so that the height difference between the inner side height and the outer side height of the vehicle is within the target range, therefore, the magnitude difference between the inner wheel load and the outer wheel load of the vehicle is within the target range, and the magnitude difference between the inner side offset force and the outer side offset force is within the target range, thereby ensuring the ground grabbing force of the vehicle, and further enabling the vehicle to stably turn and run. Further, when the height difference between the inside height and the outside height of the vehicle is within the target range, the comfort of the driver is improved.
Drawings
FIG. 1 is a schematic illustration of the force applied to a vehicle body while the vehicle is cornering;
FIG. 2 is a flow chart of a method of controlling vehicle attitude in accordance with an embodiment of the present invention;
FIG. 3 is a schematic flow diagram of controlling an inboard active suspension and an outboard active suspension according to attitude information according to an embodiment of the present invention;
FIG. 4 is a schematic illustration of a vehicle with an adjusted vehicle attitude in accordance with an embodiment of the present invention;
FIG. 5 is a block diagram of a controller according to an embodiment of the present invention;
FIG. 6 is a schematic view of a vehicle according to an embodiment of the invention;
fig. 7 is a schematic structural diagram of an active suspension according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
A control method of a vehicle posture, a controller, and a vehicle according to an embodiment of the present invention are described below with reference to the drawings.
The invention provides a control method of vehicle posture, as shown in fig. 2, comprising the following steps:
s1, when the vehicle is determined to enter a turning working mode according to the acquired gesture information, controlling an active suspension system of the vehicle according to the gesture information so that the difference value between the inner side height and the outer side height of the vehicle is within a target range until the vehicle exits the turning working mode.
The sensor for measuring the height of the vehicle body can be arranged corresponding to two front wheels, two rear wheels and four wheels. The control of the active suspension system to adjust the attitude of the vehicle according to the attitude information may be to adjust the height difference between the left and right sides of the vehicle body, for example, to adjust the height difference between the vehicle bodies corresponding to the two front wheels, or, for example, to adjust the height difference between the vehicle bodies corresponding to the two rear wheels, or, for example, to adjust the height differences between the two vehicle bodies at the same time.
According to the vehicle attitude control method, the turning attitude of the vehicle is adjusted by controlling the active suspension system, so that the height difference between the inner side height and the outer side height of the vehicle is within the target range, the magnitude difference between the inner wheel load and the outer wheel load of the vehicle is within the target range, and the magnitude difference between the inner side offset force and the outer side offset force is within the target range, so that the ground grabbing force of the vehicle is ensured, and the vehicle can smoothly turn and run. Further, when the height difference between the inside height and the outside height of the vehicle is within the target range, the comfort of the driver is improved.
It should be noted that, the target range in this embodiment may be defined and set before the vehicle leaves the factory, or may be set by the user in real time. Furthermore, the target range characterizes the medial height and the lateral height, which are not quite as different.
In some embodiments of the present invention, before the step of controlling the active suspension system of the vehicle according to the attitude information, further comprising: acquiring attitude information of a vehicle; and judging whether the vehicle enters a turning working mode according to the posture information.
Specifically, the posture information includes: one of steering wheel angle, vehicle body height difference, and lateral acceleration, and a combination thereof, wherein the vehicle body height difference= |inside height-outside height|. Further, whether the vehicle enters the turning operation mode may be identified based on one or more of a vehicle body height difference, a lateral acceleration, a steering wheel angle, and the like. The steering wheel rotation angle, the vehicle body height difference and the lateral acceleration of the vehicle can be acquired in real time through corresponding sensors.
In the embodiment, whether the vehicle enters a turning working mode or not is determined by comprehensively judging the steering wheel angle, the vehicle body height difference and the lateral acceleration of the vehicle, so that the accuracy of monitoring the vehicle working mode is improved, and misjudgment of the vehicle working mode possibly caused by monitoring single posture information of the vehicle is prevented.
In some embodiments of the present invention, the step of determining whether the vehicle enters a turning operation mode according to the posture information includes: if the steering wheel angle is larger than the first target angle threshold, the vehicle body height difference is larger than the first target height difference threshold, and the lateral acceleration is larger than the first target acceleration threshold, the vehicle is judged to enter a turning working mode.
If one of the steering wheel angle, the vehicle body height difference and the lateral acceleration is not larger than the corresponding threshold value, the vehicle is determined not to enter the turning working mode and is still in the straight running working mode.
Alternatively, the first target height difference threshold may be in the range of 8-12mm. For example, for SUV models, the first target height difference threshold may be set to 10mm; for a car sports car, the first target height difference threshold may be set to 8mm.
As an example, a steering wheel angle signal value when the vehicle is running may be obtained by an angle sensor, a body height signal value on both sides of the vehicle may be obtained by a displacement sensor, and a lateral acceleration signal value of the vehicle may be obtained by an acceleration sensor; and comparing the acquired signal values according to a preset threshold value, feeding back the comparison result to the vehicle in real time, and determining whether the vehicle enters a turning working mode.
In the embodiment, whether the vehicle enters the turning working mode or not is determined by judging whether the height difference of the vehicle body, the lateral acceleration and the steering wheel rotation angle are all larger than the corresponding target thresholds at the same time, so that frequent entry or exit of the turning working mode is avoided.
In some embodiments of the present invention, the step of controlling an active suspension system of a vehicle according to attitude information such that a difference between an inside height and an outside height of the vehicle is within a target range, includes: and controlling the inner active suspension and the outer active suspension according to the attitude information so that a difference between the inner height and the outer height of the vehicle is within a target range, wherein the active suspension system comprises the inner active suspension and the outer active suspension.
In this embodiment, when the vehicle is in the turning operation mode, by controlling the inside active suspension and the outside active suspension such that the difference between the inside height and the outside height of the vehicle is within the target range, the vehicle can be made to maintain a stable posture during turning, thereby improving the comfort of the driver and the passengers.
In some embodiments of the present invention, as shown in fig. 3, the step of controlling the inside active suspension and the outside active suspension according to the attitude information such that a difference between the inside height and the outside height of the vehicle is within a target range includes:
s31, determining a first adjustment height of the inner active suspension and a second adjustment height of the outer active suspension according to the vehicle height difference and the lateral acceleration.
S32, determining a first control signal according to the first adjustment height, and determining a second control signal according to the second adjustment height.
S33, controlling the inner active suspension according to the first control signal and controlling the outer active suspension according to the second control signal so that the difference between the inner height and the outer height of the vehicle is within a target range.
As one example, the inboard active suspension and the outboard active suspension may be electromagnetic suspensions, the first control signal may include a first current parameter, and the second control signal may include a second current parameter. The first current parameter and the second current parameter are respectively and correspondingly output to the inner active suspension and the outer active suspension, and then the inner active suspension and the outer active suspension are timely adjusted in response to the input current parameters.
In some embodiments of the invention, the inboard active suspension and the outboard active suspension each comprise: a linear motor and a spring assembly, wherein the step of controlling the inboard active suspension according to a first control signal and controlling the outboard active suspension according to a second control signal such that a difference between the inboard height and the outboard height of the vehicle is within a target range, comprises: and increasing the stretching thrust of the linear motor in the outer active suspension according to the first control signal so as to stretch the spring assembly in the outer active suspension, and increasing the compression pulling force of the linear motor in the inner active suspension according to the second control signal so as to compress the spring assembly in the inner active suspension, so that the difference value between the inner height and the outer height of the vehicle is within a target range.
In this embodiment, the vehicle is controlled in real time to maintain the initially set vehicle attitude by controlling the linear motor in the inboard active suspension and the linear motor in the outboard active suspension to generate different forces.
In some embodiments of the invention, the step of determining that the vehicle exits the cornering operation mode comprises: and after the difference value between the inner side height and the outer side height of the vehicle is within the target range, if the steering wheel turning angle is smaller than a second target turning angle threshold value and the lateral acceleration is smaller than a second target acceleration threshold value, judging that the vehicle exits the turning working mode, wherein the second target turning angle threshold value is smaller than or equal to the first target turning angle threshold value, and the second target acceleration threshold value is smaller than or equal to the first target acceleration threshold value.
It should be noted that, the first target height difference threshold, the first target rotation angle threshold, the second target rotation angle threshold, the first target acceleration threshold and the second target acceleration threshold can be calibrated through experiments, and all the calibrated thresholds meet the requirements of smooth turning of the vehicle and optimal comfort of drivers and passengers.
In this embodiment, as shown in fig. 4, the turning posture of the vehicle is actively adjusted by the inside active suspension and the outside active suspension so that the difference between the inside height and the outside height of the vehicle is within the target range, and the running stability of the vehicle can be improved by using the grip of the tire to the maximum extent.
As a possible embodiment, after the difference between the inside height and the outside height of the vehicle is within the target range, if the steering wheel angle is greater than or equal to the second preset steering angle threshold value, or the lateral acceleration is greater than or equal to the second preset acceleration threshold value, the process goes to determining the first adjustment height of the inside active suspension and the second adjustment height of the outside active suspension according to the vehicle body height difference and the lateral acceleration. After the difference value of the vehicle body height is judged to be within the target range, whether the steering wheel angle and the lateral acceleration are larger than the corresponding threshold values or not is judged, so that whether the turning working mode is released or not is judged, and the vehicle can be ensured to keep in a continuous and stable state when turning.
When all the three signal values are not greater than the threshold value, the steering wheel has no rotation angle, the vehicle has no rolling, the left and right heights of the vehicle body are stable, and the turning working mode can be relieved. If a signal is still greater than the threshold value to release the turning operation mode, a sudden roll phenomenon may occur, which is dangerous.
In some embodiments of the present invention, the number of the inner active suspension and the outer active suspension is two, the two inner active suspensions are respectively arranged corresponding to the front and rear steering inner wheels of the vehicle, and the two outer active suspensions are respectively arranged corresponding to the front and rear steering outer wheels of the vehicle. The vehicle body height difference comprises a first height difference corresponding to the two front steering wheels and/or a second height difference corresponding to the two rear steering wheels.
In this embodiment, by providing one active suspension for each wheel, the posture of the vehicle when turning can be adjusted more accurately based on the posture information. The inboard and outboard active suspensions described above are described in detail in the vehicle embodiments section below.
Corresponding to the embodiment, the invention also provides a controller.
Fig. 5 is a block diagram of a controller according to an embodiment of the present invention.
As shown in fig. 5, the controller 400 includes: memory 401, processor 402 and a computer program stored on memory 401. The memory 401 is connected to the processor 402, for example, via a bus 403. Optionally, the controller 400 may also include a transceiver 404. The computer programs, when executed by the processor 402, implement the vehicle attitude control method described above. It should be noted that, in practical applications, the transceiver 404 is not limited to one, and the structure of the controller 400 is not limited to the embodiment of the present invention.
The processor 402 may be a CPU (Central Processing Unit ), general purpose processor, DSP (Digital Signal Processor, data signal processor), ASIC (Application Specific Integrated Circuit ), FPGA (Field Programmable Gate Array, field programmable gate array) or other programmable logic device, transistor logic device, hardware components, or any combination thereof. Which may implement or perform the various exemplary logical blocks, modules, and circuits described in connection with the present disclosure. Processor 402 may also be a combination that implements computing functionality, e.g., comprising one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.
Bus 403 may include a path to transfer information between the components. Bus 403 may be a PCI (Peripheral Component Interconnect, peripheral component interconnect standard) bus or EISA (Extended Industry Standard Architecture ) bus, among others. The bus 403 may be classified into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in fig. 5, but not only one bus or one type of bus.
The memory 401 is used to store a computer program corresponding to the control method of the vehicle posture of the above-described embodiment of the present invention, which is controlled to be executed by the processor 402. The processor 402 is configured to execute a computer program stored in the memory 401 to implement what is shown in the foregoing method embodiment.
Among other things, the controller 400 includes, but is not limited to: a mobile terminal of a PDA (personal digital assistant), a PAD (tablet computer), or the like. The controller 400 shown in fig. 5 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.
According to the controller provided by the embodiment of the invention, the turning gesture of the vehicle is adjusted by controlling the active suspension system, so that the grip force of the inner and outer tires of the vehicle is improved, and the vehicle can stably run.
Corresponding to the embodiment, the invention also provides a vehicle.
Fig. 6 is a schematic structural view of a vehicle according to an embodiment of the present invention.
As shown in fig. 6, the vehicle 1000 includes: active suspension system 300 and controller 400 described above.
According to the vehicle disclosed by the embodiment of the invention, the turning gesture is adjusted by controlling the active suspension system, so that the grip force of the inner and outer tires is improved, the safety of drivers and passengers is ensured, and the comfort of the drivers and passengers is improved.
In some embodiments of the present invention, the active suspension system 300 includes an inboard active suspension and an outboard active suspension, the inboard active suspension and the outboard active suspension being identical in structure, each including: the linear motor 100 and the spring assembly 200, the linear motor comprises a stator mechanism 101 and a rotor mechanism 102, one end of the stator mechanism 101 is installed on the vehicle body, one end of the rotor mechanism 102 is arranged in the stator mechanism 101 in a penetrating mode, the other end of the rotor mechanism 102 is sleeved with the spring assembly 200 and is installed on the vehicle frame together with one end of the spring assembly 200, and the other end of the spring assembly 200 is connected with the other end of the stator mechanism 101; after the stator mechanism 101 inputs the current parameter, the mover mechanism 102 can reciprocate linearly along the stator mechanism 101.
The active suspension has the advantages of high response speed (the highest speed can reach 3 ms), accurate control, displacement error of 0.01 mu m level and the like, so that the posture of the vehicle can be timely adjusted according to the turning state of the vehicle. Compared with other passive suspensions, the vehicle can not be decelerated when being bent, and the rapid bending is realized.
In some embodiments of the present invention, the stator mechanism 101 comprises a housing and at least two stators 1011 disposed in the housing 1012 and leading out a terminal port 1013 at an outer wall of the housing 1012 to input current parameters, one end of the housing 1012 is provided with a first fixing member 1014 to mount the inner active suspension on the vehicle body, and the other end of the housing is connected with the spring assembly 200; the mover mechanism 102 includes a mover 1021 and a positioning structure 1022, one end of the mover 102 extends into the housing 1012 and is disposed between at least two stators 1011, the other end of the mover 102 extends out of the housing 1012 and is connected with one end of the positioning structure 1022, the other end of the positioning structure 1022 is provided with a second fixing member 1023 for mounting the inner active suspension on the frame, the mover 1021 can reciprocate linearly along at least two stators 1011, and the spring assembly 200 is sleeved on the portion of the mover mechanism 102 extending out of the housing.
In some embodiments of the present invention, the spring assembly 200 includes a coil spring 201, an upper fixing base 202 and a lower fixing base 203, two ends of the coil spring 201 are respectively connected to the upper fixing base 202 and the lower fixing base 203, and the coil spring 201, the upper fixing base 202 and the lower fixing base 203 are sleeved on a portion of the mover mechanism 102 extending out of the housing 1012, the upper fixing base 202 is connected to the other end of the housing 1012 to support the housing 1012, and the lower fixing base 203 is used to be fixed on the frame through a second fixing member 1023.
In this embodiment, the coil spring can function to support the vehicle, cushioning the ground impact when the vehicle is traveling normally. The linear motor can replace a shock absorber, play a role in damping vibration and meet the requirements of other active suspension functions.
In some embodiments of the present invention, as shown in fig. 7, the inboard and outboard active suspensions further comprise: an upper rubber pad 204 and a lower rubber pad 205, wherein the upper rubber pad 204 is arranged between the upper fixing seat 202 and the spiral spring 201, and the lower rubber pad 205 is arranged between the lower fixing seat 203 and the spiral spring 201.
In this embodiment, by using the upper rubber pad and the lower rubber pad, it is possible to play a role of buffering when the active suspension is operated.
The working principle of the active suspension is described as follows:
the linear motor 100 is supplied with electrical energy from the energy storage device of the vehicle 1000 through the connection port 1013, and the magnitude and direction of the current are controlled by the controller 400 of the vehicle 1000. The stator 1011 of the linear motor 100 generates a magnetic field by the current, the mover 1021 (permanent magnet) generates an electromagnetic force (i.e., a thrust or a compression force of the linear motor 100) by the magnetic field, the mover 1021 reciprocates linearly, and the acting force is consistent with the central axis of the coil spring 201, and the direction is controlled by the controller 400. The controller 400 changes the magnitude and direction of the assembly force of the spiral spring 201 and the linear motor 100 in a vibrating fit with the spiral spring 201 according to the requirements of posture adjustment of the vehicle 1000; when the direction of the assembly of the linear motor 100 is opposite to the vibration direction of the spiral spring 201, the damping effect of damping the vibration of the spring can be achieved; increasing or decreasing the thrust force can change the length of the coil spring 201 and the linear motor 100 assembly, i.e. the height of the electromagnetic suspension system can be adjusted, and the posture of the vehicle 1000 can be adjusted to meet the requirements of different postures. The thrust force can be supplemented to be matched with the rigidity change of the spiral spring 201 so as to achieve the effect of changing the rigidity of the suspension, meet the driving requirements of different working conditions, and simultaneously improve the comfort and the operability of the vehicle 1000 according to different control logics.
It will be appreciated that the logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
Meanwhile, the portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (11)
1. A method of controlling a vehicle posture, characterized by comprising:
when the vehicle is determined to enter a turning working mode according to the acquired gesture information, an active suspension system of the vehicle is controlled according to the gesture information, so that the difference value between the inner side height and the outer side height of the vehicle is within a target range until the vehicle exits the turning working mode.
2. The method of controlling the attitude of a vehicle according to claim 1, characterized by further comprising, before the step of controlling an active suspension system of the vehicle according to the attitude information:
acquiring attitude information of the vehicle;
and judging whether the vehicle enters the turning working mode according to the posture information.
3. The control method of the vehicle posture according to claim 2, characterized in that the posture information includes: one of steering wheel angle, vehicle body height difference, and lateral acceleration, and combinations thereof, wherein the vehicle body height difference= |the inner side height-the outer side height|.
4. The method according to claim 3, characterized in that the step of determining whether the vehicle enters the turning operation mode based on the posture information includes:
and if the steering wheel angle is larger than a first target angle threshold, the vehicle body height difference is larger than a first target height difference threshold, and the lateral acceleration is larger than a first target acceleration threshold, judging that the vehicle enters the turning working mode.
5. The method of controlling a posture of a vehicle according to claim 4, characterized in that the step of controlling an active suspension system of the vehicle such that a difference between an inside height and an outside height of the vehicle is within a target range, based on the posture information, includes:
and controlling an inner active suspension and an outer active suspension according to the attitude information so that a difference between an inner height and an outer height of the vehicle is within the target range, wherein the active suspension system comprises the inner active suspension and the outer active suspension.
6. The method of controlling a posture of a vehicle according to claim 5, characterized in that the step of controlling the inside active suspension and the outside active suspension in accordance with the posture information so that a difference between an inside height and an outside height of the vehicle is within the target range includes:
determining a first adjustment height of the inner active suspension and a second adjustment height of the outer active suspension according to the vehicle body height difference and the lateral acceleration;
determining a first control signal according to the first adjustment height, and determining a second control signal according to the second adjustment height;
and controlling the inner active suspension according to the first control signal and controlling the outer active suspension according to the second control signal so that the difference between the inner height and the outer height of the vehicle is within the target range.
7. The method of controlling a vehicle posture according to claim 6, characterized in that the inner active suspension and the outer active suspension each include: the step of controlling the inner active suspension according to the first control signal and controlling the outer active suspension according to the second control signal so that a difference between an inner height and an outer height of the vehicle is within the target range, comprises the following steps:
and increasing the stretching thrust of the linear motor in the outer active suspension according to the first control signal to stretch the spring assembly in the outer active suspension, and increasing the compression pulling force of the linear motor in the inner active suspension according to the second control signal to compress the spring assembly in the inner active suspension, so that the difference value between the inner height and the outer height of the vehicle is within the target range.
8. The control method of the vehicle posture according to any one of claims 4 to 7, characterized in that the step of determining that the vehicle exits the turning operation mode includes:
and after the difference value between the inside height and the outside height of the vehicle is within the target range, if the steering wheel turning angle is smaller than a second target turning angle threshold value and the lateral acceleration is smaller than a second target acceleration threshold value, judging that the vehicle exits the turning working mode, wherein the second target turning angle threshold value is smaller than or equal to the first target turning angle threshold value, and the second target acceleration threshold value is smaller than or equal to the first target acceleration threshold value.
9. The method according to claim 3 or 4, characterized in that the number of the inner active suspensions and the outer active suspensions is two, the two inner active suspensions are respectively provided corresponding to front and rear steering inner wheels of the vehicle, and the two outer active suspensions are respectively provided corresponding to front and rear steering outer wheels of the vehicle;
the vehicle body height difference comprises a first height difference corresponding to two front steering wheels and/or a second height difference corresponding to two rear steering wheels.
10. A controller comprising a memory, a processor and a computer program stored on the memory, which when executed by the processor, implements the method of controlling vehicle attitude according to any one of claims 1-9.
11. A vehicle, characterized by comprising: an active suspension system and a controller according to claim 10.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310419542.1A CN117656743A (en) | 2023-04-10 | 2023-04-10 | Vehicle attitude control method, controller and vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310419542.1A CN117656743A (en) | 2023-04-10 | 2023-04-10 | Vehicle attitude control method, controller and vehicle |
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| KR100757814B1 (en) * | 2006-10-24 | 2007-09-11 | 주식회사 만도 | Electronic controlled suspension apparatus and vehicle height control method thereof |
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| CN115214281A (en) * | 2021-11-12 | 2022-10-21 | 广州汽车集团股份有限公司 | Vehicle suspension adjusting method and device and storage medium |
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| KR100757814B1 (en) * | 2006-10-24 | 2007-09-11 | 주식회사 만도 | Electronic controlled suspension apparatus and vehicle height control method thereof |
| JP2009241726A (en) * | 2008-03-31 | 2009-10-22 | Mazda Motor Corp | Vehicle suspension device |
| JP2019182188A (en) * | 2018-04-10 | 2019-10-24 | アイシン精機株式会社 | Vehicle height adjustment system |
| CN115214281A (en) * | 2021-11-12 | 2022-10-21 | 广州汽车集团股份有限公司 | Vehicle suspension adjusting method and device and storage medium |
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