TWI621545B - Suspension control module, suspension system, vehicle, and suspension control method - Google Patents

Abstract

A suspension control module for controlling an active suspension device of a vehicle, comprising a sensor module, a micro control unit and a driver module. The sensor module is disposed on the vehicle and used to acquire sensing information. The micro control unit is electrically connected to the sensor module, and generates a control signal according to the sensing information. The driver module is electrically connected to the micro control unit and the active suspension device, and generates a driving signal according to the control signal to adjust the suspension parameter of the active suspension device.

Description

Suspension control module, suspension system, vehicle and suspension control method

The present invention relates to a suspension system for a vehicle, and more particularly to a suspension control module and method for obtaining sensing information through a sensor module and controlling an active suspension device according to sensing information, and Suspension systems and vehicles using the above suspension control modules or methods.

Vehicles (such as cars or locomotives) travel on the road, and the vehicle will vibrate whether it is turning or encountering uneven roads. Although the tires of the vehicle can absorb part of the vibration, most of the vibration is mainly absorbed by the suspension system of the vehicle. The quality of the suspension system will affect the safety, power performance, handling and comfort of the vehicle. Most of the suspension systems of existing vehicles are realized by mechanical suspension devices, and their suspension parameters (or damping) must be adjusted by professional teachers to achieve the expected safety, dynamic performance, handling and comfort. However, for the average person, adjusting the suspension parameters of the suspension system is not a simple matter.

Suspension systems equipped with more advanced vehicles can be realized by active suspension devices, which are provided with a plurality of electronic circuit components that can receive electronic signals to adjust the suspension parameters of the active suspension devices. However, existing active suspension devices must be adjusted by the vehicle's control panel for their suspension parameters, and the vehicle manufacturer only designs multiple modes (eg, safety mode, one The general mode, the comfort mode and the sport mode) allow the user to select the suspension parameters of the active suspension device, which does not allow the user to make a customized adjustment of the suspension parameters of the active suspension device. On the other hand, in some cases, road conditions or loads may change over time, for example, heavy rain, lots of potholes in front of the road, loading passengers or loading and unloading items, etc., but the existing suspension system cannot be immediately based on The change in road conditions is automatically adjusted to the appropriate mode.

In view of the above-mentioned problems of the prior art, it is an object of the present invention to provide a suspension control module, a suspension system, a vehicle and a suspension control method.

According to at least one object of the present invention, a suspension control module for controlling an active suspension device of a vehicle includes a sensor module, a micro control unit and a driver module. The sensor module is disposed on the vehicle and configured to acquire sensing information, wherein the sensor module includes a gravity sensor and a thermometer, and the sensing information includes the X, Y, and Z axes of the temperature and gravity sensor. Induction amount. The micro control unit is electrically connected to the sensor module, and generates a control signal according to the sensing information, wherein the micro control unit performs statistical operation and filtering processing on the sensing quantities of the X, Y, and Z axes, according to the statistical operation and the filtering process. The sensing quantities of the X, Y, and Z axes calculate the attitude, roll angle, and tilt angle of the vehicle, and calculate the shock parameters suitable for the road condition based on the temperature, attitude, roll angle, and tilt angle through the artificial intelligence algorithm. The driver module is electrically connected to the micro control unit and the active suspension device, and generates a driving signal according to the control signal to adjust the suspension parameter of the active suspension device to the suspension parameter calculated by the micro control unit, thereby changing the active suspension Damping of the device. The above vehicle may be a car, a locomotive, a bicycle or an All Terrain Vehicle (ATV).

In accordance with at least one object of the present invention, a suspension control method for controlling an active suspension in a vehicle and executing in a micro control unit is provided. The steps of the suspension control method are explained below. Receiving sensing information acquired by a sensor module horizontally placed on a vehicle body or a gearbox, wherein the sensor module includes a gravity sensor and a thermometer, and the sensing information includes a temperature and gravity sensor The amount of inductance of the X, Y, and Z axes. Statistical calculation and filtering processing are performed on the sensing quantities of the X, Y, and Z axes. The attitude, roll angle and tilt angle of the vehicle are calculated based on the sensing quantities of the X, Y, and Z axes after statistical calculation and filtering. The artificial intelligence algorithm calculates the suspension parameters suitable for the road condition based on the temperature, attitude, roll angle and inclination angle. The driving signal is generated according to the control signal to adjust the suspension parameter of the active suspension device to the calculated suspension parameter, thereby changing the damping of the active suspension device.

In accordance with at least one object of the present invention, a suspension system and a vehicle are provided that include the suspension control module described above.

As described above, the suspension control module, the suspension system, the vehicle, and the suspension control method provided by the embodiments of the present invention may have one or more of the following advantages:

(1) The suspension control module instantly adjusts the suspension parameters of the active suspension device through the sensing information obtained by the sensor module.

(2) The suspension control module can be combined with an artificial intelligence algorithm to thereby more intelligently adjust the suspension parameters of the active suspension device.

(3) The suspension control module can be connected to the mobile device, so that the user can easily select one of the multiple modes according to the needs of the mobile device to set the suspension parameters of the active suspension device, or directly adjust (including Coarse adjustment and fine adjustment) Suspension parameters of the active suspension device.

(4) The suspension control module can map multiple shock parameters and performance through the mobile device to the user for reference, and select one of the suspension parameters to suspend the active suspension. The suspension parameter of the device is set to the selected suspension parameter.

(5) The mobile device can connect to the server and download the suspension parameters required by the user, and the user can connect the suspension control module through the mobile device, and set the suspension parameter of the active suspension device to the downloaded suspension. parameter.

1‧‧‧suspension control module

10‧‧‧including micro control unit

11‧‧‧Sensor module

12‧‧‧Drive Module

13‧‧‧Communication module

14‧‧‧Power Converter

15‧‧‧Connector

2‧‧‧vehicle system

21‧‧‧Car power supply

22‧‧‧Active suspension device

23‧‧‧Input/output unit

24‧‧‧ Driving information measuring equipment

C31~C43‧‧‧ Curve

S201~S223‧‧‧Steps

1 is a block diagram of a suspension control module and a vehicle system in accordance with an embodiment of the present invention.

2a and 2b are flowcharts of a suspension control method according to an embodiment of the present invention.

Fig. 3 is a graph showing the performance of the vehicle body acceleration variation of the suspension system of the suspension system according to the embodiment of the present invention under different suspension parameters.

Fig. 4 is a graph showing the amount of change in the X, Y, and Z axis inductances displayed by the mobile device according to the embodiment of the present invention.

The technical features, contents, and advantages of the present invention, as well as the advantages thereof, can be understood by the present inventors, and the present invention will be described in detail with reference to the accompanying drawings. The subject matter is only for the purpose of illustration and supplementary description. It is not necessarily the true proportion and precise configuration after the implementation of the present invention. Therefore, the scope and configuration relationship of the attached drawings should not be limited to the scope of patent application of the present invention. Narration.

It should be noted that although the terms "first", "second", "third" and the like are used herein to describe various elements, these described elements should not be limited by such terms. Such terms are only used to distinguish one element from another. Therefore, the "first" elements discussed below can be written as "second" elements without departing from the teachings of the present invention.

Embodiments of the present invention provide a suspension control module having a sensor module for sensing motion of a vehicle to generate sensing information, and generating a control signal according to the sensing information. Then, the driver module receives the control signal and generates a corresponding driving signal to the active suspension device to control the suspension parameters of the active suspension device, thereby implementing suspension with adaptive and shock parameter immediate adjustment function. system. Preferably, the suspension control module can be designed with an artificial intelligence algorithm with deep learning function (for example, genetic algorithm, fuzzy control algorithm or neural network algorithm) to intelligently adjust the active suspension. The suspension parameters of the device.

In addition, the suspension control module can communicate with a mobile device (for example, a mobile phone, a tablet or a notebook computer), and the user can fine tune or select multiple modes through the mobile device using an application corresponding to the suspension control module. One of them adjusts the suspension parameters of the active suspension. In addition, the suspension control module can adjust the suspension information of the active suspension device according to the sensing information obtained by the sensing module, and can also obtain the driving information obtained by the driving information measurement device of the vehicle. To adjust and adjust the suspension parameters of the active suspension.

The embodiment of the invention further provides a suspension control method for controlling the sensor module to acquire sensing information, and calculating a driving signal to the active suspension device according to the sensing information through an algorithm to adjust the active suspension Suspension parameters of the lifting device. In addition, embodiments of the present invention further provide a suspension system using the above suspension control module and method, and a vehicle using the suspension system described above, wherein the vehicle may be a locomotive, a car, a bicycle, or an ATV. But not as a limit.

In addition, the active suspension device can be mounted to the front or rear wheel, and the invention is not limited thereto. Even in the embodiment of the present invention, two active suspension devices can be mounted to the front and rear wheels, and the two active suspension devices are controlled independently of each other.

Please refer to FIG. 1. FIG. 1 is a block diagram of a suspension control module and a vehicle system according to an embodiment of the present invention. The suspension control module 1 is electrically connected to the vehicle system 2 and can be installed in the vehicle system 2. The suspension control module 1 may constitute a suspension system with the active suspension device 22 in the vehicle system 2, and the active suspension device 22 may be an active suspension device of the original or deputy factory of the vehicle, and The invention is not limited thereto.

The suspension control module 1 includes a micro control unit 10, a sensor module 11, a driver module 12, a communication module 13, a power converter 14, and a connector 15. The micro control unit 10 is electrically connected to the sensor module 11, the driver module 12, the communication module 13, the power converter 14 and the connector 15, and the power converter 14 is electrically connected to the sensor module 11 and the driver module. 12, the communication module 13 and the connector 15, and the connector 15 is electrically connected to the driver module 12. The vehicle system 2 includes a vehicle power source 21, an active suspension device 22, an input/output unit 23, and a driving information measuring device 24.

The suspension control module 1 is electrically connected to the vehicle system 2 through the connector 15, and the connector 15 is actually a hub having a port. In another embodiment, the connector 15 can be removed and the suspension control module 1 and the vehicle system 2 can be electrically connected directly using wires.

In this embodiment, the vehicle power source 21 supplies the vehicle power signal (note: 12 volt power signal) to the power converter 14 through the connector 15. The power converter 14 is configured to voltage convert the vehicle power signal to provide a first power signal (eg, a 3 volt power signal) and a second power signal (eg, a 5 volt power signal). The first power signal is used as the power supply for the sensor module 11 , and the second power signal is used as the power supply for the micro control unit 10 , the communication module 13 , and the driver module 12 .

The sensor module 11 is configured to acquire sensing information of the vehicle motion, and the sensing information includes an acceleration of the vehicle body up and down displacement, a speed of the vehicle body horizontal advancement, an acceleration of the vehicle body yaw, a roll angle of the vehicle body, a tilt angle of the vehicle body, and At least one of the load of the vehicle, the stroke of the body vibration, the frequency of the body vibration, and the frequency of the wheel vibration. Preferably, the sensor module 11 should be placed horizontally on the vehicle body or, more horizontally, on the gearbox to detect shock absorber vibration characteristics of the gearbox (or axle). In addition, if the sensor module 11 is not placed horizontally, the micro control unit 10 can perform a calibration procedure to correct the obtained sensing information.

The sensor module 11 may include at least one of a gravity sensor, a thermometer, a magnetometer, and a lever meter, but the invention is not limited thereto. When the sensor module 11 is a gravity sensor, the sensing amounts of the X, Y, and Z axes of the gravity sensor can respectively represent the acceleration of the up and down displacement of the vehicle body, the acceleration of the body yaw and the speed of the body horizontal advancement, gravity The XY axis change amount and the ZY axis change amount of the sensor respectively represent the roll angle and the tilt angle of the vehicle body.

The micro control unit 10 is configured to receive sensing information and has an algorithm (for example, a fuzzy control algorithm, a genetic algorithm, or an artificial intelligence algorithm based on a neural network algorithm, but the invention is not limited thereto). The measurement information calculates a suspension parameter that is more suitable for the current sensing information, and transmits a control signal corresponding to the calculated suspension parameter to the driver module 12. The driver module 12 generates a driving signal according to the control signal, and transmits the driving signal to the active suspension device 22 through the connector 15 to adjust the suspension parameter of the active suspension device 22 to the calculated suspension parameter.

The driver module 12 includes at least one of a de-bounce driver, a bounce driver, and a pre-load driver to thereby change the suspension of the active suspension device 22. parameter. The suspension parameter of the active suspension device 22 includes at least one of a piston position, a spring tension and a piston moving speed, and the active suspension device 22 has a motor and can be specially It is not a servo motor to adjust the piston position and the piston moving speed, and it can also have a complicated actuating device to change the spring tension. By changing the suspension parameters of the active suspension device 22, the damping of the active suspension device 22 will also change to accommodate the environment corresponding to the existing sensing information.

There are many ways to design the algorithm of the above micro control unit 10, but the basic principle is to make the suspension parameters of the active suspension device 22 conform to the current load, and to make the piston sink faster enough, and The rebound speed is slow enough. In addition, the micro control unit 10 can obtain the driving information obtained by the driving information measuring device 24 through the connector 35, and the micro control unit 10 can further calculate the driving information to calculate the adapted suspension parameter. The driving information includes at least one of the motor speed of the vehicle, the mileage of the vehicle, the amount of fuel consumed, the amount of remaining fuel, the tire pressure, the damping of the active suspension 22, and other related driving information.

The communication module 13 is used to communicate with the mobile device, such as a Bluetooth communication module or other types of wireless communication modules. The mobile device can receive the suspension parameter and the corresponding performance transmitted by the micro control unit 10 through the communication module 13, and draw a performance energy graph for the user to view. The mobile device can also be operated by the user through its application, so that the user can directly adjust the suspension parameters or select one of the multiple modes to adjust the suspension parameters. The mobile device transmits the operation signal generated by the user operation to the micro control unit 10 through the communication module 13, and the micro control unit 12 can then generate a control signal to the driver module 12 to shock the active suspension device 22. The parameters are adjusted to the shock parameters set by the user.

In addition, the mobile device can be connected to a server, the server stores a plurality of different suspension parameters, and provides the user to download one of the suspension parameters to the mobile device according to his needs. Then, the mobile device generates an operation signal according to the downloaded suspension parameter and transmits the communication module. The operation signal is transmitted to the micro control unit 10, and the micro control unit 12 can then generate a control signal to the driver module 12 to adjust the suspension parameters of the active suspension device 22 to the suspension parameters downloaded by the user.

The input/output unit 23 can be a touch panel that can be operated by the user to allow the user to finely adjust the suspension parameters or select one of the multiple modes to adjust the suspension parameters. The input/output unit 23 can transmit an operation signal generated by the user operation to the micro control unit 10, and the micro control unit 12 can then generate a control signal to the driver module 12 to adjust the suspension parameters of the active suspension device 22. The shock parameters set by the user. In general, the input/output unit 23 is similar to the function of the mobile device here, but the input/output unit 23 is a device installed in the vehicle and is electrically connected to the micro control unit 10 through a connector. In addition, the input/output unit 23 is not an essential component of the vehicle system 2.

Next, please refer to FIG. 1, FIG. 2a and FIG. 2b. FIGS. 2a and 2b are flowcharts of the suspension control method according to the embodiment of the present invention. The suspension control method is mainly executed by the suspension control module 1 of Fig. 1, but the present invention does not limit the execution device of the suspension control method. In this embodiment, the sensor module 11 has a gravity sensor and a thermometer, and the communication module 13 is a Bluetooth communication module, and can be used for pairing with the mobile device, so that the suspension control module 1 transmits The mobile device is connected to the server.

When the power of the suspension control module 1 is turned on, in step S201, the micro control unit 10 performs initialization of the micro control unit 10 and the communication, wherein the initialization of the communication refers to the initialization of the wireless communication of the communication module 13, and refers to suspension. Initialization of wired communication between control module 1 and vehicle system 2. After completing the initialization of step S201, in step S202, the micro control unit 10 determines whether to enter the cloud update program, for example, determines whether the suspension control module 1 can be connected to the mobile device within a certain time (for example, within 3 seconds), and Determine if you can or need to download a new firmware after the link. If the micro control unit 10 determines to enter the cloud update program, the micro control unit 10 obtains through the communication module 13 in step S203. Download the firmware to perform the cloud update task, and restart the suspension control module 1 after downloading and installing the firmware. After step S203, step S201 is executed again to perform initialization of the micro control unit 10 and communication again.

When the micro control unit 10 determines that the cloud update program is not to be entered, the step S204 is executed next, and the micro control unit 10 performs motor turnover correction on the motor of the active suspension device 22 through the connector 15, to the sensor module 11 The gravity sensor performs correction (eg, correcting the phase angle difference), and initializing the input/output ports of the connector 15 and the communication module 13. Please note that in order to ensure that the connector 15 and the communication module 13 do not fail after the initialization of step S201, the input/output port is initialized to the connector 15 and the communication module 13 in step S202. However, the invention is not limited thereto. Then, since the input/output port is initialized to the connector 15 and the communication module 13, the suspension control module 1 can communicate with the mobile device 2 with the mobile device 2 in step S205, and in step S206 The suspension control module 1 can perform data transmission with the mobile device and the vehicle system 2, and the mobile device can display related images, such as displaying an operation interface or a performance graph.

Thereafter, in step S207, the micro control unit 10 determines whether the motor of the active suspension device 22 and its control voltage are abnormal, whether the sensing information of the gravity sensor is abnormal, and whether the micro control unit 10 itself has an error, Complete error detection. Step S207 is an important step. If the result of the error detection indicates failure, it means that the adjustment of the suspension parameter arbitrarily will cause the vehicle to have a risk of overturning during driving. Therefore, in step S208, the micro control unit 10 will cause The suspension control module 1 enters the safety mode, that is, the suspension parameter of the active suspension device 22 is adjusted to the suspension parameter corresponding to the safety mode, so as to avoid the vehicle from overturning during the driving process, and the micro control unit 10 can The communication module 13 transmits an error message to the mobile device to alert the user.

Then, if the result of the error detection indicates normal, then in step S209, the micro control unit 10 determines whether the mode of the active suspension device 22 is to be changed, that is, whether the driver activates the mode selection function through the mobile device, wherein The plurality of modes may be, for example, a security mode, a general mode, a comfort mode, a motion mode, and an artificial intelligence mode. If it is determined that the mode of the active suspension device 22 is to be changed, then in step S210, the micro control unit 10 causes the active suspension device 22 to first update the preload or increase the damping of the spring. Then, the micro control unit 10 The user interface of the mode selection function is selected by the mobile device to select one of a plurality of modes, wherein the mode includes a security mode, a sports mode, a comfort mode, a general mode, and an artificial intelligence mode. Please note that in order to avoid the danger of driving due to insufficient preloading, in step S210, before the mode is selected, the preload will be adjusted first or the damping of the spring will be increased, through the transmission of the preloaded shock absorber or the damping of the spring. The amount of change in the G value (acceleration in units of gravitational acceleration) sensed by the active suspension device 22 can be slowed down.

After step S210, when the user selects one of the modes, the micro control unit 10 controls the active suspension device 22 to adjust its suspension parameters, thereby changing the damping of the active suspension device 22. After step S211, step S213 is performed. Further, if the micro control unit 10 determines in step S209 that the mode of the mode active suspension device 22 is not changed, step S212 is executed next. In step S212, the micro control unit 10 performs a re-load preset setting to slow the amount of change in the G value sensed by the active suspension device 22.

Next, in step S213, the micro control unit 10 checks the temperature time flag value. If the temperature time flag value is true, step S214 is performed to read the sensed temperature. The micro control unit 10 checks whether the value of the temperature is out of range within a time. If the value of the temperature is out of range within a time, indicating that there is a problem with the thermometer, the temperature time flag value will be non-true (false), and must be returned. Go to step S207, again Perform error detection. If the value of the temperature does not exceed the range within a time, the temperature time flag value will be true, and in step S214, the micro control unit 10 will read the temperature.

Next, in step S215, the micro control unit 10 checks the gravity sensor time flag value. If the gravity sensor time flag is true, step S216 is performed to read the sensing information of the gravity sensor. The micro control unit 10 senses whether the value of the information is out of range within a time. If the value of the sensed information is out of range within a time, it indicates that the gravity sensor has a problem, and the gravity sensor time flag value If it is not true, it is necessary to return to step S207 and perform error detection again. If the value of the sensed information is not out of range for a time, the gravity sensor time flag value will be true, and in step S216, the micro control unit 10 will read the temperature.

Next, in step S217, the micro control unit 10 performs a statistical operation and a filtering process on the sensing quantities of the X, Y, and Z axes of the sensing information of the gravity sensor, wherein the statistical operation is, for example, calculating a moving average value thereof, and The filtering process is, for example, performing median filtering, but the invention is not limited thereto. Next, in step S218, the micro control unit 10 calculates the attitude, the roll angle, and the tilt angle of the vehicle based on the inductances of the X, Y, and Z axes of the statistical calculation and the filtering process. Then, next, in step S219, the micro control unit 10 calculates a suspension parameter suitable for the current road condition based on the attitude, the roll angle and the tilt angle and the temperature of the vehicle based on the artificial intelligence or the fuzzy control analysis calculation. It should be noted here that since the performance of the active suspension device is related to the temperature, in step S214, the temperature needs to be measured as the compensation parameter for adjusting the damping in step S219.

Next, in step S220, the micro control unit 10 determines whether the damping of the active suspension device 22 is changed. If there is no need to change, step S205 is performed, and if it is necessary to change, step S221 is performed. In step S221, the micro control unit 10 controls the motor of the active suspension device 22. Then, in steps S222 and S223, since the motor of the active suspension device 22 is controlled to rotate, the active suspension is suspended. The boundary damping and compression damping of the device 22 are controlled, wherein the damping is related to the suspension parameters as previously described.

Referring to FIG. 3, FIG. 3 is a performance graph of the acceleration variation of the vehicle body under the different suspension parameters of the suspension device of the suspension system according to the embodiment of the present invention. In Fig. 3, when the vehicle is a locomotive, which is bent at a specific angle at a specific speed, the acceleration variation of the body of the locomotive corresponds to a plurality of performance curves of time. In Fig. 3, the curves C31 to C33 represent the performance curves of the suspension parameters corresponding to the modes of damping less than 1, equal to 1, and greater than 1.

The plurality of performance curves of FIG. 3 can be drawn by the micro control unit of the suspension control module through the mobile device for presentation to the user. The user can select one of the plurality of suspension parameters according to the plurality of performance curves provided in FIG. 3, and adjust the suspension parameters of the active suspension device to the selected one through the mobile device and the suspension control module. Suspension parameters. Please note that the performance curve of Figure 3 is only a practical example for the description of the present invention. The type of performance curve is not used to limit the present invention. For example, the speed variation of the vehicle body under different suspension parameters. The performance curve can also be used to provide users with reference.

Referring to FIG. 4, FIG. 4 is a graph showing the amount of change in the X, Y, and Z axis inductances displayed by the mobile device according to the embodiment of the present invention. When the vehicle encounters a turning or a bumpy road while driving, the amount of change in the X, Y, and Z-axis sensing amounts of the sensing information of the gravity sensor can be displayed on the screen of the mobile device, respectively Curves C41~C43. In this way, the user can determine whether the current suspension parameter is suitable through the observed change amount of the X, Y, and Z axis sensing quantities, and accordingly determine whether to change the mode or adjust the suspension parameter. In Fig. 4, the oscillation of the vehicle is more biased in the vertical direction, so the amount of change in the amount of inductance of the Z-axis is larger than the amount of change in the amount of inductance of the X and Y-axis.

In summary, the suspension control module and method provided by the embodiments of the present invention can adjust the suspension parameters of the active suspension device in real time according to the sensing information to achieve the function of instant control. In addition, the suspension control module and method can also be combined with an artificial intelligence algorithm to make the control of the suspension parameters more intelligent. In addition, the suspension control module and method can also provide a user to directly adjust the suspension parameters through the mobile device or set the suspension parameters by selecting one of the multiple modes. In addition, the suspension control module and method further provide a performance curve of a plurality of different suspension parameters for the user to select a desired suspension parameter.

The above is intended to be illustrative only and not limiting. Any equivalent modifications or alterations to the spirit and scope of the invention are intended to be included in the scope of the appended claims.

Claims (10)

A suspension control module for controlling an active suspension device of a vehicle includes: a sensor module disposed on the vehicle for acquiring a sensing information, wherein the sensor module The group includes a gravity sensor and a thermometer, the sensing information includes a temperature and an inductance of the X, Y, and Z axes of the gravity sensor; a micro control unit electrically connected to the sensor module, Generating a control signal according to the sensing information, wherein the micro control unit performs a statistical operation and a filtering process on the sensing quantities of the X, Y, and Z axes, according to the X, Y, and the statistically processed and filtered processes. The sensing amount of the Z-axis calculates a posture, a roll angle and a tilt angle of the vehicle, and calculates an appropriate path condition according to the temperature, the attitude, the roll angle and the tilt angle through an artificial intelligence algorithm. a suspension module; a driver module electrically connecting the micro control unit and the active suspension device, generating a driving signal according to the control signal to adjust a suspension parameter of the active suspension device to the micro control Calculated by the unit Suspension parameters, thereby changing the damping of the active suspension device; and a communication module electrically connected to the micro control unit for coupling with a mobile device, the mobile device receiving the micro control unit through the communication module The suspension parameter transmitted by the group and the corresponding performance, and according to the performance energy curve; wherein the vehicle is a car, a locomotive, a bicycle or an all terrain vehicle. The suspension control module of claim 1, further comprising: a power converter electrically connected to the sensor module, the micro control unit, the driver module, the communication module, and the a vehicle power supply for a vehicle system of the vehicle for converting a vehicle power signal of the vehicle power source to provide a plurality of power signals to the vehicle a sensor module, the micro control unit, the driver module, and the communication module. The suspension control module of claim 1, wherein the sensor module is horizontally placed on a body or a gearbox of the vehicle; or the sensor module is not The vehicle is placed horizontally on the vehicle body or the gearbox of the vehicle, and the micro control unit is configured to perform a calibration procedure to correct the sensing information. The suspension control module of claim 2, wherein the micro control unit performs initialization of the communication module, the connector, and the micro control unit after the power of the suspension control module is turned on. After that, it is determined whether to enter a cloud update program; if it is determined to enter the cloud update program, the micro control unit obtains a downloaded firmware program through the communication module, and restarts after downloading and installing the firmware program. Suspension control module. The suspension control module of claim 1, wherein the micro control unit further performs an error detection, and if the result of the error detection indicates failure, the suspension control module enters a safe mode to The suspension parameter of the active suspension device adjusts a suspension parameter corresponding to a safety mode. The suspension control module of claim 1, wherein the micro control unit further receives a row of vehicle information of a driving information measuring device of the vehicle system, and generates the driving information according to the driving information and the sensing information. control signal. The suspension control module of claim 1, wherein the micro control unit further determines whether to switch a mode of the active suspension device, and if the mode of the active suspension device is to be switched, The micro control unit adjusts a preload of the active suspension device, or adjusts one of the springs of the active suspension device to dampen, and then provides the user to select one of the plurality of modes as the active This mode of the suspension. A suspension control method for controlling an active suspension device in a vehicle is implemented in a micro control unit, comprising: receiving a sense of being placed horizontally on a body or a gearbox of the vehicle a sensing information obtained by the sensor module, wherein the sensor module includes a gravity sensor and a thermometer, and the sensing information includes a temperature and an X, Y, and Z axis of the gravity sensor. Inductive quantity; performing a statistical operation and filtering processing on the inductive quantities of the X, Y, and Z axes; calculating one of the vehicles according to the sensing quantities of the X, Y, and Z axes after the statistical operation and the filtering process a posture, a roll angle and a tilt angle; calculating, by an artificial intelligence algorithm, a suspension parameter suitable for a road condition according to the temperature, the attitude, the roll angle and the tilt angle; generating a drive signal according to the control signal Adjusting a suspension parameter of the active suspension device to calculate the suspension parameter, thereby changing the damping of the active suspension device; wherein a mobile device receives the micro control unit through a communication module Transmission Shock performance parameter corresponding to, as far as the performance graph plotted. A suspension system comprising: the suspension control module according to any one of claims 1 to 7; and the active suspension module. A vehicle includes: a suspension control module according to any one of claims 1 to 7; and a vehicle system including the active suspension module.