CN109733148A - Regulating device, method and the vehicle of vehicle suspension height - Google Patents
Regulating device, method and the vehicle of vehicle suspension height Download PDFInfo
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- CN109733148A CN109733148A CN201910047550.1A CN201910047550A CN109733148A CN 109733148 A CN109733148 A CN 109733148A CN 201910047550 A CN201910047550 A CN 201910047550A CN 109733148 A CN109733148 A CN 109733148A
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- 239000000725 suspension Substances 0.000 title claims abstract description 145
- 238000000034 method Methods 0.000 title claims abstract description 43
- 230000001105 regulatory effect Effects 0.000 title claims abstract description 30
- 238000009434 installation Methods 0.000 claims abstract description 5
- 238000013016 damping Methods 0.000 claims description 22
- 230000001133 acceleration Effects 0.000 claims description 15
- 238000004590 computer program Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 7
- 239000003381 stabilizer Substances 0.000 description 7
- 239000000463 material Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
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- 238000011217 control strategy Methods 0.000 description 1
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Abstract
The invention discloses a kind of regulating device of vehicle suspension height, method and vehicles, wherein the regulating device includes: gyro sensor, the adjusting component of installation on a vehicle suspension, and the controller being separately connected with gyro sensor and adjusting component；Gyro sensor, for detecting the first state data of vehicle in the process of moving；Controller, for obtaining first state data, and the second status data of vehicle is obtained by vehicle CAN bus, according to first state data and the second status data, it determines the current target travel state of vehicle, component is controlled to adjust according to target travel state and carries out stretching motion；Component is adjusted, for carrying out stretching motion under the control of the controller, to adjust the height of suspension.Regulating device according to the present invention can accurately and effectively be adjusted body gesture accordingly by the height of adjusting vehicle suspension, so that the stability and safety of vehicle are substantially increased, meanwhile, improve the comfort level of user.
Description
Technical field
The present invention relates to technical field of vehicle control, in particular to a kind of regulating device of vehicle suspension height, Yi Zhongche
And a kind of vehicle suspension height adjusting method.
Background technique
During vehicle driving, in order to obtain good ride comfort and comfort, soft vehicle can be suitably adjusted
Suspension.But if adjusting the suspension of soft vehicle, the stability of vehicle and safety can be made to reduce.
Therefore, in the related technology, increase stabilizer bar, on suspension to improve the stabilization of vehicle to a certain extent
Property.However, in some cases, for example, when the wheel of vehicle is by impact (e.g., by foreign object strike), the stabilization of vehicle
Property and safety still will receive influence, that is to say, that when being controlled using aforesaid way vehicle, the stability of vehicle and
Safety is still lower.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.For this purpose, of the invention
First purpose be to propose a kind of regulating device of vehicle suspension height, can be accurate by adjusting the height of vehicle suspension
Effectively body gesture is adjusted accordingly, so that the stability and safety of vehicle are substantially increased, meanwhile, it improves
The comfort level of user.
Second object of the present invention is to propose a kind of vehicle.
Third object of the present invention is to propose a kind of adjusting method of vehicle suspension height.
Fourth object of the present invention is to propose a kind of electronic equipment.
5th purpose of the invention is to propose a kind of non-transitorycomputer readable storage medium.
To achieve the above object, first aspect present invention embodiment proposes a kind of regulating device of vehicle suspension height,
Include: gyro sensor, installation adjusting component on a vehicle suspension, and with the gyro sensor and the adjusting
The controller that component is separately connected；The gyro sensor, for detecting the first state of the vehicle in the process of moving
Data；The controller obtains the of the vehicle for obtaining the first state data, and by vehicle CAN bus
Two-state data determine the current target travel of the vehicle according to the first state data and second status data
State controls the adjusting component according to the target travel state and carries out stretching motion；The adjusting component, for described
Stretching motion is carried out under the control of controller, to adjust the height of the suspension.
The regulating device of vehicle suspension height according to an embodiment of the present invention detects vehicle by gyro sensor and is expert at
First state data during sailing, and first state data are obtained by controller, and vehicle is obtained by vehicle CAN bus
The second status data determine the current target travel state of vehicle, root according to first state data and the second status data
Component is controlled to adjust according to target travel state and carries out stretching motion, and is stretched under the control of the controller by adjusting component
Contracting movement, to adjust the height of suspension.It, can be accurately and effectively to body gesture as a result, by adjusting the height of vehicle suspension
It is adjusted accordingly, so that the stability and safety of vehicle are substantially increased, meanwhile, improve the comfort level of user.
In addition, the regulating device of vehicle suspension height according to the above embodiment of the present invention can also have it is following additional
Technical characteristic:
According to one embodiment of present invention, the adjusting component, comprising: extensible member and driving part；Wherein, described
The first end of extensible member is connect with the driving part, and the second end of the extensible member is fixed on the bottom of the suspension,
The driving part is connect with the controller；The driving part, for being stretched described in driving under the control of the controller
Contracting component carries out stretching motion, to drive the suspension to go up and down；The extensible member, for increasing the suspension when stretching out
Highly, the height of the suspension is reduced when shrinking.
According to one embodiment of present invention, the adjusting component, further includes: damping part；The damping part setting
In the extensible member and the suspension joining place.The damping part, for reducing the extensible member to the suspension
Vibration.
According to one embodiment of present invention, the damping part is elastomeric element.
According to one embodiment of present invention, the damping part includes: helical spring and/or rigid damper.
According to one embodiment of present invention, the controller is also used to according to the target travel state, described in generation
The warp parameter of component is adjusted, the adjusting component is controlled according to the warp parameter and carries out stretching motion.
According to one embodiment of present invention, the first state data include: the longitudinal direction in the vehicle travel process
With the angle of heel and pitch angle of transverse acceleration, the yaw velocity of the vehicle and vehicle body；Second status data includes:
The travel speed of the vehicle, the revolving speed of engine, the current location of gas pedal, brake pedal current location and direction
The corner of disk.
To achieve the above object, second aspect of the present invention embodiment proposes a kind of vehicle, including first aspect present invention
The regulating device for the vehicle suspension height that embodiment proposes.
Vehicle according to an embodiment of the present invention, can be accurately and effectively to body gesture by the height of adjusting vehicle suspension
It is adjusted accordingly, so that the stability and safety of vehicle are substantially increased, meanwhile, improve the comfort level of user.
To achieve the above object, third aspect present invention embodiment proposes a kind of adjusting method of vehicle suspension height,
It for the regulating device of above-mentioned vehicle suspension height, the described method comprises the following steps: by the gyroscope on the vehicle
Sensor detects the first state data of the vehicle；The second status data of the vehicle is obtained by vehicle CAN bus；
According to the first state data and second status data, the current target travel state of the vehicle is determined；According to institute
The adjusting component for stating target travel state control suspension carries out stretching motion.
The adjusting method of vehicle suspension height according to an embodiment of the present invention passes through the gyro sensor on vehicle, inspection
The first state data of measuring car, and by the second status data of vehicle CAN bus acquisition vehicle, and according to first state
Data and the second status data determine the current target travel state of vehicle, and the tune of suspension is controlled according to target travel state
It saves component and carries out stretching motion.As a result, by adjusting the height of vehicle suspension, phase accurately and effectively can be carried out to body gesture
The adjusting answered, so that the stability and safety of vehicle are substantially increased, meanwhile, improve the comfort level of user.
To achieve the above object, fourth aspect present invention embodiment proposes a kind of electronic equipment, including memory, processing
Device；Wherein, the processor is run by reading the executable program code stored in the memory can be performed with described
The corresponding program of program code, with the adjusting side of the vehicle suspension height proposed for realizing third aspect present invention embodiment
Method.
Electronic equipment according to an embodiment of the present invention is passed through by executing the adjusting method of above-mentioned vehicle suspension height
The height for adjusting vehicle suspension, can accurately and effectively be adjusted body gesture, accordingly to substantially increase vehicle
Stability and safety, meanwhile, improve the comfort level of user.
To achieve the above object, fifth aspect present invention embodiment proposes a kind of non-transitory computer-readable storage medium
Matter is stored thereon with computer program, and the vehicle that third aspect present invention embodiment proposes is realized when which is executed by processor
The adjusting method of suspension height.
Non-transitorycomputer readable storage medium according to an embodiment of the present invention is high by executing above-mentioned vehicle suspension
The adjusting method of degree can accurately and effectively be adjusted body gesture accordingly by the height of adjusting vehicle suspension, from
And the stability and safety of vehicle are substantially increased, meanwhile, improve the comfort level of user.
Detailed description of the invention
Fig. 1 is the block diagram of the regulating device of vehicle suspension height according to an embodiment of the present invention；
Fig. 2 is the block diagram of the regulating device of vehicle suspension height according to an embodiment of the invention；
Fig. 3 is the block diagram of the regulating device of vehicle suspension height in accordance with another embodiment of the present invention；
Fig. 4 is the structural schematic diagram of adjusting component accord to a specific embodiment of that present invention；
Fig. 5 is the block diagram of vehicle according to an embodiment of the present invention；
Fig. 6 is the flow chart of the adjusting method of vehicle suspension height according to an embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
Below with reference to the accompanying drawings come describe the regulating device of the vehicle suspension height proposed according to embodiments of the present invention, vehicle,
Adjusting method, electronic equipment and the non-transitorycomputer readable storage medium of vehicle suspension height.
Fig. 1 is the block diagram of the regulating device of vehicle suspension height according to an embodiment of the present invention.As shown in Figure 1,
The regulating device of the vehicle suspension height of the embodiment of the present invention may include gyro sensor 100, install on a vehicle suspension
Adjust component 200, and the controller 300 being separately connected with gyro sensor 100 and adjusting component 200.
Wherein, gyro sensor 100 is for detecting the first state data of vehicle in the process of moving；Controller 300
For obtaining first state data, and the second status data of vehicle is obtained by vehicle CAN bus, according to first state number
According to the second status data, determine the current target travel state of vehicle, according to target travel state control to adjust component carry out
Stretching motion；Component 200 is adjusted for carrying out stretching motion under the control of controller 300, to adjust the height of suspension.
According to one embodiment of present invention, first state data can include: the vertical and horizontal in vehicle travel process
The angle of heel and pitch angle of acceleration, the yaw velocity of vehicle and vehicle body；Second status data can include: the traveling speed of vehicle
Degree, the revolving speed of engine, the current location of gas pedal, the current location of brake pedal and steering wheel corner.
That is, controller 300 can be read by being communicated with vehicle CAN bus during vehicle driving
The first state data that gyro sensor 100 detects, i.e., vertical and horizontal acceleration, vehicle in vehicle travel process
The angle of heel and pitch angle of yaw velocity and vehicle body, and read the second status data on vehicle CAN bus, i.e. vehicle
Travel speed, the revolving speed of engine, the current location of gas pedal, the current location of brake pedal and steering wheel turn
Angle.
It should be noted that there is certain pairs for first state data and the driving status of the second status data and vehicle
It should be related to.Also, it can first pass through and a large amount of data be analyzed to obtain the corresponding relationship in advance, and the corresponding relationship is stored
In the storage unit of vehicle, transferred when in order to which vehicle suspension height being adjusted.Therefore, controller 300 is being got
After first state data and the second status data, above-mentioned corresponding relationship can be transferred from storage unit, to determine that vehicle is current
Target travel state.
For example, during vehicle driving, if first state data that controller 300 is got and the second shape
The yaw velocity that state data are respectively as follows: vehicle is greater than 2.5rad/s, and the transverse acceleration in vehicle travel process is greater than 0.5m/
s2And the travel speed of vehicle is greater than 5km/h, the corner of steering wheel for vehicle is greater than 3 °, and (left-hand rotation angle is greater than 3 ° or right turn angle
Greater than 3 °), the revolving speed of engine is greater than 600rpm, then can determine that the current target travel state of vehicle is steering state；If
The first state data and the second status data that controller 300 is got are respectively as follows: the longitudinal acceleration in vehicle travel process
Greater than 0.2m/s2, the pitch angle of vehicle body, which is greater than 0.3 ° and the depth of gas pedal, (indicates that gas pedal is stepped on greater than 0%
Under), the travel speed of vehicle is more than or equal to 0km/h, and the revolving speed of engine is greater than 600rpm, then can determine the current target of vehicle
Driving status is acceleration mode；If first state data and the second status data that controller 300 is got are respectively as follows: vehicle
Longitudinal acceleration in driving process is less than -0.2m/s2, the pitch angle of vehicle body is greater than 0.3 ° and the depth of brake pedal is big
In 0% (indicating that brake pedal is operated), the travel speed of vehicle is more than or equal to 0km/h, and the revolving speed of engine is greater than 600rpm,
It then can determine that the current target travel state of vehicle is on-position.
Specifically, in practical applications, it can be suitably soft by the suspension tune of vehicle, so that vehicle obtains good put down
Pliable and comfort.But if adjusting the suspension of soft vehicle, the stability of vehicle and safety can be made to reduce, for example, in vehicle
With higher speed turning when, vehicle body is easy to produce biggish angle of heel, or even can turn on one's side, also, urgent in vehicle
When acceleration or emergency braking, vehicle body is easy to produce biggish pitch angle, to influence the safety and stability of vehicle.
Currently, usually increasing stabilizer bar on a vehicle suspension, to reduce the softer vehicle of suspension to a certain extent
A possibility that being rolled in turning.However, in practical applications, if increasing stabilizer bar on the suspension of vehicle,
Once the wheel of so vehicle side is impacted, wheel can beat, and impact force will be transmitted to separately by stabilizer bar
On the wheel of side, the ride comfort of vehicle is influenced.Moreover, can only reduce to a certain extent vehicle using stabilizer bar and exist
Generated angle of heel when steering can not reduce vehicle generated pitch angle in urgent accelerate with emergency braking.Namely
It says, using stabilizer bar, is unable to ensure the stability of vehicle, and can not be in real time accurately and effectively to body gesture (example
Such as, the pitch angle of vehicle body, angle of heel etc.) it is adjusted correspondingly, the safety of vehicle and comfort are still lower.
Further, it is to be appreciated that when vehicle is in different driving status, pressure suffered by each wheel of vehicle
Power can also change, so that the height of suspension corresponding with each wheel changes, thus cause to its body gesture
It is corresponding to influence.For example, when the driving status of vehicle is steering state, due to being subject to centrifugal forces, the center of gravity of vehicle
(centrifugal force is bigger, and the offset of vehicle's center of gravity is bigger) can be deviated to the outboard wheels of vehicle, thus, the outboard wheels of vehicle by
To pressure just will increase, the pressure that the inboard wheel of vehicle is subject to will reduce, so that corresponding with outboard wheels
The height of suspension reduces, and the height of suspension corresponding with inboard wheel increases, so that vehicle rolls, the side of vehicle body
Inclination angle increases；When the driving status of vehicle be acceleration mode when, due to the wheel and rear side of vehicle front side wheel revolving speed not
Together, so that the pressure that the wheel of vehicle front side is subject to just will increase, the pressure that the wheel of vehicle rear-side is subject to will reduce, thus
So that the height of suspension corresponding with front side wheel reduces, the height of suspension corresponding with rear side wheel is increased, and then makes
It obtains vehicle and pitching occurs, the pitch angle of vehicle body increases；When the driving status of vehicle is on-position, due to the work by inertia
With so that the pressure that vehicle front side wheel is subject to increases, the pressure that the rear side wheel of vehicle is subject to reduces, so that with front side
The height of the corresponding suspension of wheel reduces, and the height of suspension corresponding with rear side wheel increases, so that vehicle occurs
The pitch angle of pitching, vehicle body increases.
Therefore, in the embodiment of the present invention, stabilizer bar is replaced using component 200 is adjusted, to carry out phase to body gesture
The adjustment answered.Specifically, the first state data by 100 real-time detection vehicle of gyro sensor in the process of running, with
And communicated by controller 300 with vehicle CAN bus, to read the first state number that gyro sensor 100 detects
Determine that vehicle is current and according to first state data and the second status data according to the second status data on vehicle CAN bus
Target travel state (for example, steering state, acceleration mode, on-position etc.), and according to the target travel state control
It adjusts component 200 and carries out corresponding stretching motion, adjusted accordingly with the height to suspension, thus to body gesture (example
Such as, the pitch angle of vehicle body, angle of heel etc.) it is adjusted accordingly.
The driving status of vehicle can be accurately judged according to the status data of vehicle in the process of moving as a result, and
Body gesture is adjusted accordingly according to the driving status, in the premise for the ride comfort and comfort for not sacrificing vehicle
Under, farthest reduce vehicle generated angle of heel when turning to, and farthest reduce vehicle and promptly accelerating
Or generated pitch angle when emergency braking, while softer vehicle suspension can be suitable for, to substantially increase vehicle
Stability and safety, and improve the comfort level of user.
According to one embodiment of present invention, as shown in Fig. 2, adjusting component 200 may include extensible member 210 and driving portion
Part 220, wherein the first end of extensible member 210 is connect with driving part 220, and the second end of extensible member 210 is fixed on suspension
Bottom, driving part 220 connect with controller 300, and driving part 220 is under the control of controller 300, driving to be flexible
Component 210 carries out stretching motion, to drive suspension to go up and down；Extensible member 210 is used to increase the height of suspension when stretching out, and is receiving
The height of suspension is reduced when contracting.
According to one embodiment of present invention, controller 300 is also used to the target travel state current according to vehicle, generates
The warp parameter of component 200 is adjusted, component 200 is controlled to adjust according to warp parameter and carries out stretching motion.
It as a kind of possible embodiment, can the installation and adjustment on vehicle suspension corresponding with each wheel of vehicle
Component 200, i.e., mountable four adjustings component 200, to adjust the height of suspension corresponding with each wheel of vehicle respectively,
Also, each adjusting component 200 may each comprise extensible member 210 and driving part 220, wherein it can be electronic for adjusting component 200
Distance rod, driving part 220 can be driving motor.
Specifically, controller 300 determines the current target of vehicle according to first state data and the second status data
After driving status, component 200 is controlled to adjust according to the current target travel state of vehicle and executes corresponding control strategy, to vehicle
Suspension height is adjusted accordingly, that is, the driving motor operating in component 200 is controlled to adjust, to drive extensible member 210
Stretching motion is carried out, to adjust the height of suspension corresponding with each wheel of vehicle, and then phase is carried out to body gesture
The adjusting answered.Wherein, the target travel state that the warp parameter of adjusting component 200 can be current according to vehicle, and determine the mesh
The first state data and the second status data for marking driving status are determined.
For example, when the driving status of vehicle is steering state, the height drop of suspension corresponding with outboard wheels
Low, the height of suspension corresponding with inboard wheel increases, therefore, corresponding with outboard wheels by adjusting the raising of component 200
Suspension height, and reduce the height of corresponding with inboard wheel suspension by adjusting component 200.Wherein, vehicle
The corner of yaw velocity, the travel speed of vehicle and steering wheel for vehicle is bigger, the outboard wheels of the center of gravity of vehicle to vehicle
Offset it is bigger, thus the height of suspension corresponding with outboard wheels is lower, and corresponding with inboard wheel outstanding
The height of frame is higher, therefore, can yaw velocity, vehicle according to vehicle when the driving status of vehicle is steering state
Travel speed and steering wheel for vehicle corner determine adjust component 200 warp parameter.It is outstanding by suitably adjusting as a result,
The height of frame can accurately and effectively adjust the angle of heel (for example, adjusting the angle of heel of vehicle body until it is less than 0.3 °) of vehicle body,
To improve the stability and safety of vehicle.
When the driving status of vehicle is acceleration mode, the height of suspension corresponding with front side wheel is increased, with rear side
The height of the corresponding suspension of wheel reduces, and therefore, reduces the height of suspension corresponding with front side wheel by adjusting component 200
Degree, and the height by adjusting the raising of component 200 suspension corresponding with rear side wheel.Wherein, the longitudinal acceleration of vehicle
And the travel speed of vehicle is bigger, the height of suspension corresponding with front side wheel is higher, corresponding with rear side wheel
The height of suspension is lower, therefore, when the driving status of vehicle is acceleration mode, can according to the longitudinal acceleration of vehicle and
The travel speed of vehicle determines the warp parameter for adjusting component 200.As a result, by suitably adjusting the height of suspension, Neng Gouzhun
The pitch angle (for example, adjusting the pitch angle of vehicle body until it is less than 0.3 °) for really effectively adjusting vehicle body, to improve vehicle
Stability and safety.
When the driving status of vehicle is on-position, the height of suspension corresponding with front side wheel is reduced, with rear side
The height of the corresponding suspension of wheel increases, and therefore, the height of suspension corresponding with front side wheel is increased by adjusting component 200
Degree, and the height of suspension corresponding with rear side wheel is reduced by adjusting component 200.Wherein, the longitudinal deceleration of vehicle
And the travel speed of vehicle is bigger, the height of suspension corresponding with front side wheel is lower, corresponding with rear side wheel
The height of suspension is higher, therefore, when the driving status of vehicle is on-position, can according to the longitudinal deceleration of vehicle and
The travel speed of vehicle determines the warp parameter for adjusting component 200.Thereby, it is possible to accurately and effectively adjust the pitch angle of vehicle body
(for example, adjusting the pitch angle of vehicle body until it is less than 0.3 °), to improve the stability and safety of vehicle.
According to one embodiment of present invention, as shown in figure 3, adjusting component 200 may also include damping part 230, wherein
Damping part 230 is arranged in extensible member 210 and suspension joining place, and damping part 230 is for reducing extensible member 210 to suspension
Vibration.Wherein, damping part 230 can be elastomeric element, and the material of elastomeric element can be the materials such as rubber.
Specifically, passing through driving portion when only including extensible member 210 and driving part 220 in adjusting component 200
Part 220 drives extensible member 210 to carry out stretching motion, the height of adjustable suspension, to carry out to body gesture corresponding
It adjusts.But in practical applications, it during being adjusted by height of the extensible member 210 to suspension, easily causes
The vibration of suspension reduces the comfort level of user to cause to shake to vehicle.Therefore, in embodiments of the present invention, can stretch
Damping part 230 is arranged in contracting component 210 and suspension joining place, with the process that suspension height is adjusted in adjusting component 200
In, extensible member 210 is reduced by damping part 230 and is shaken caused by suspension when carrying out stretching motion, to prevent vehicle
It shakes, substantially increases the comfort level of user.
According to one embodiment of present invention, damping part 230 may include helical spring 231 and/or rigid damper
232。
As a kind of possible embodiment, as shown in figure 4, adjusting component 200 may include extensible member 210, driving portion
Part 220 and damping part 230, wherein damping part 230 may include helical spring 231 and rigid damper 232, rigid damping
One end of device 232 is connected with suspension, and the other end of rigid damper 232 is connected with the second end of extensible member 210, helical spring
231 one end is connected with suspension, and the other end of helical spring 231 is connected with the second end of extensible member 210.
That is, 231 He of helical spring can be passed through during suspension height is adjusted in adjusting component 200
Rigid damper 232 carries out damping work simultaneously, to reduce extensible member 210 to the maximum extent when carrying out stretching motion to outstanding
It is shaken caused by frame.
As alternatively possible embodiment, damping part 230 can also only include helical spring 231 or rigid damper
232, connection type in above-described embodiment helical spring 231 and the rigid connection type of damper 232 it is identical, to reduce
Extensible member 210 shakes caused by suspension when carrying out stretching motion.
In conclusion the regulating device of vehicle suspension height according to an embodiment of the present invention, is examined by gyro sensor
The first state data of measuring car in the process of moving, and first state data are obtained by controller, and pass through vehicle CAN
The second status data that bus obtains vehicle determines the current target of vehicle according to first state data and the second status data
Driving status controls to adjust component according to target travel state and carries out stretching motion, and by adjusting component in controller
Control is lower to carry out stretching motion, to adjust the height of suspension.It, being capable of accurate and effective as a result, by adjusting the height of vehicle suspension
Ground adjusts body gesture accordingly, so that the stability and safety of vehicle are substantially increased, meanwhile, improve user
Comfort level.
Fig. 5 is the block diagram of vehicle according to an embodiment of the present invention.As shown in figure 5, the vehicle 1 of the embodiment of the present invention
It may include the regulating device 10 of the vehicle suspension height in above-described embodiment.
Vehicle according to an embodiment of the present invention can be accurately and effectively to vehicle body appearance by adjusting the height of vehicle suspension
State is adjusted accordingly, so that the stability and safety of vehicle are substantially increased, meanwhile, improve the comfort level of user.
Fig. 6 is according to the adjusting method of the vehicle suspension height of the embodiment of the present invention, the adjusting side of the vehicle suspension height
Method can be used for the regulating device of the vehicle suspension height in above-described embodiment.
As shown in fig. 6, the adjusting method of the vehicle suspension height of the embodiment of the present invention can comprise the following steps that
S1 detects the first state data of vehicle by the gyro sensor on vehicle.
S2 obtains the second status data of vehicle by vehicle CAN bus.
S3 determines the current target travel state of vehicle according to first state data and the second status data.
S4 carries out stretching motion according to the adjusting component that target travel state controls suspension.
It should be noted that undisclosed details in the adjusting method of the vehicle suspension height of the embodiment of the present invention, please join
Details disclosed in regulating device according to the vehicle suspension height of the embodiment of the present invention, specific I will not elaborate.
The adjusting method of vehicle suspension height according to an embodiment of the present invention passes through the gyro sensor on vehicle, inspection
The first state data of measuring car, and by the second status data of vehicle CAN bus acquisition vehicle, and according to first state
Data and the second status data determine the current target travel state of vehicle, and the tune of suspension is controlled according to target travel state
It saves component and carries out stretching motion.As a result, by adjusting the height of vehicle suspension, phase accurately and effectively can be carried out to body gesture
The adjusting answered, so that the stability and safety of vehicle are substantially increased, meanwhile, improve the comfort level of user.
In addition, the embodiment of the present invention also proposed a kind of electronic equipment, including memory, processor, wherein the place
Reason device is corresponding with the executable program code to run by reading the executable program code stored in the memory
Program, with the adjusting method for realizing above-mentioned vehicle suspension height.
Electronic equipment according to an embodiment of the present invention is passed through by executing the adjusting method of above-mentioned vehicle suspension height
The height for adjusting vehicle suspension, can accurately and effectively be adjusted body gesture, accordingly to substantially increase vehicle
Stability and safety, meanwhile, improve the comfort level of user.
In addition, the embodiment of the present invention also proposed a kind of non-transitorycomputer readable storage medium, it is stored thereon with
Computer program, the program realize the adjusting method of above-mentioned vehicle suspension height when being executed by processor.
Non-transitorycomputer readable storage medium according to an embodiment of the present invention is high by executing above-mentioned vehicle suspension
The adjusting method of degree can accurately and effectively be adjusted body gesture accordingly by the height of adjusting vehicle suspension, from
And the stability and safety of vehicle are substantially increased, meanwhile, improve the comfort level of user.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
In addition, in the description of the present invention, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ",
"upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " clockwise ", " inverse time
The orientation or positional relationship of the instructions such as needle ", " axial direction ", " radial direction ", " circumferential direction " is to be based on the orientation or positional relationship shown in the drawings,
Be merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must have it is specific
Orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
1. a kind of regulating device of vehicle suspension height characterized by comprising
Gyro sensor, installation adjusting component on a vehicle suspension, and with the gyro sensor and the adjusting
The controller that component is separately connected；
The gyro sensor, for detecting the first state data of the vehicle in the process of moving；
The controller obtains the second of the vehicle for obtaining the first state data, and by vehicle CAN bus
Status data determines the current target travel shape of the vehicle according to the first state data and second status data
State controls the adjusting component according to the target travel state and carries out stretching motion；
The adjusting component, for carrying out stretching motion under the control of the controller, to adjust the height of the suspension.
2. the regulating device of vehicle suspension height according to claim 1, which is characterized in that the adjusting component, comprising:
Extensible member and driving part；Wherein, the first end of the extensible member is connect with the driving part, the pars contractilis
The second end of part is fixed on the bottom of the suspension, and the driving part is connect with the controller；
The driving part, under the control of the controller, driving the extensible member to carry out stretching motion, to drive
The suspension lifting；
The extensible member reduces the height of the suspension when shrinking for increasing the height of the suspension when stretching out.
3. the regulating device of vehicle suspension height according to claim 2, which is characterized in that the adjusting component also wraps
It includes:
Damping part；The damping part is arranged in the extensible member and the suspension joining place,
The damping part, the vibration for reducing the extensible member to the suspension.
4. the regulating device of vehicle suspension height according to claim 3, which is characterized in that the damping part is elasticity
Component.
5. the regulating device of vehicle suspension height according to claim 3, which is characterized in that the damping part includes:
Helical spring and/or rigid damper.
6. the regulating device of vehicle suspension height according to claim 1, which is characterized in that the controller is also used to
According to the target travel state, the warp parameter for adjusting component is generated, controls the adjusting component according to described flexible
Parameter carries out stretching motion.
7. the regulating device of vehicle suspension height according to claim 1, which is characterized in that the first state data packet
Include: vertical and horizontal acceleration, the yaw velocity of the vehicle and the angle of heel of vehicle body in the vehicle travel process and
Pitch angle；Second status data includes: the travel speed of the vehicle, the revolving speed of engine, gas pedal present bit
It sets, the corner of the current location of brake pedal and steering wheel.
8. a kind of vehicle characterized by comprising as the adjusting of the described in any item vehicle suspension heights of claim 1-7 fills
It sets.
9. a kind of adjusting method of vehicle suspension height, which is characterized in that for any vehicle suspension of claim 1-7
The regulating device of height, the described method comprises the following steps:
By the gyro sensor on the vehicle, the first state data of the vehicle are detected；
The second status data of the vehicle is obtained by vehicle CAN bus；
According to the first state data and second status data, the current target travel state of the vehicle is determined；
Stretching motion is carried out according to the adjusting component that the target travel state controls suspension.
10. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, which is characterized in that the program
The adjusting method of vehicle suspension height as claimed in claim 9 is realized when being executed by processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910047550.1A CN109733148A (en) | 2019-01-18 | 2019-01-18 | Regulating device, method and the vehicle of vehicle suspension height |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910047550.1A CN109733148A (en) | 2019-01-18 | 2019-01-18 | Regulating device, method and the vehicle of vehicle suspension height |
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| CN201910047550.1A Pending CN109733148A (en) | 2019-01-18 | 2019-01-18 | Regulating device, method and the vehicle of vehicle suspension height |
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| CN110722949A (en) * | 2019-10-22 | 2020-01-24 | 北京经纬恒润科技有限公司 | Crosswind compensation method of vehicle, suspension controller and steering controller |
| CN111532095A (en) * | 2020-04-09 | 2020-08-14 | 宁波吉利汽车研究开发有限公司 | Height-adjustable sliding column and automobile |
| CN111537241A (en) * | 2020-05-12 | 2020-08-14 | 北京汽车集团越野车有限公司 | Vehicle braking performance evaluation method |
| CN111873740A (en) * | 2020-08-31 | 2020-11-03 | 湖南行必达网联科技有限公司 | Suspension height adjustment method, suspension system and vehicle |
| CN112776552A (en) * | 2020-08-25 | 2021-05-11 | 东北财经大学 | Active control system for vehicle suspension |
| CN114559780A (en) * | 2022-02-28 | 2022-05-31 | 海信集团控股股份有限公司 | Vehicle attitude control method and device |
| CN116787989A (en) * | 2023-06-29 | 2023-09-22 | 江苏车驰汽车有限公司 | Device for controlling automobile suspension support hardness based on rotating speed and control method thereof |
| CN117657113A (en) * | 2023-04-17 | 2024-03-08 | 比亚迪股份有限公司 | Vehicle body stability control method, controller and vehicle |
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| CN110722949A (en) * | 2019-10-22 | 2020-01-24 | 北京经纬恒润科技有限公司 | Crosswind compensation method of vehicle, suspension controller and steering controller |
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| CN112776552A (en) * | 2020-08-25 | 2021-05-11 | 东北财经大学 | Active control system for vehicle suspension |
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| CN111873740A (en) * | 2020-08-31 | 2020-11-03 | 湖南行必达网联科技有限公司 | Suspension height adjustment method, suspension system and vehicle |
| CN114559780A (en) * | 2022-02-28 | 2022-05-31 | 海信集团控股股份有限公司 | Vehicle attitude control method and device |
| CN114559780B (en) * | 2022-02-28 | 2023-10-24 | 海信集团控股股份有限公司 | Vehicle attitude control method and device |
| CN117657113A (en) * | 2023-04-17 | 2024-03-08 | 比亚迪股份有限公司 | Vehicle body stability control method, controller and vehicle |
| CN116787989A (en) * | 2023-06-29 | 2023-09-22 | 江苏车驰汽车有限公司 | Device for controlling automobile suspension support hardness based on rotating speed and control method thereof |
| CN116787989B (en) * | 2023-06-29 | 2023-12-08 | 江苏车驰汽车有限公司 | Device for controlling automobile suspension support hardness based on rotating speed and control method thereof |
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Application publication date: 20190510 |