阅读说明：本技术 一种半主动悬架的车身高度补偿的控制方法 (Control method for vehicle body height compensation of semi-active suspension ) 是由 刘伟 于 2020-12-31 设计创作，主要内容包括：本发明公开一种半主动悬架的车身高度补偿的控制方法,车辆具备电子稳定程序控制器和半主动悬架控制器,车辆的轮胎处均设有轮速传感器和空气弹簧；调节方法包括：步骤S1：车辆行驶第一时间；步骤S2：电子稳定程序控制器判断车辆是否具有备胎；步骤S3：电子稳定程序控制器向半主动悬挂控制器发出第二轮胎位置信号；步骤S4：半主动悬挂控制器根据轮胎与备胎半径的设计状态下的滚动半径差值计算第一目标高度；半主动悬挂控制器调整空气弹簧达到第一目标高度；步骤S5：半主动悬挂控制器调整空气弹簧达到预设高度。本发明弥补备胎的滚动半径小引起的车身高度降低,提升驾驶安全性及舒适性。(The invention discloses a control method for vehicle body height compensation of a semi-active suspension, wherein a vehicle is provided with an electronic stability program controller and a semi-active suspension controller, and a wheel speed sensor and an air spring are arranged at the tire of the vehicle; the adjusting method comprises the following steps: step S1: the vehicle is running for a first time; step S2: the electronic stability program controller judges whether the vehicle has a spare tire; step S3: the electronic stability program controller sends a second tire position signal to the semi-active suspension controller; step S4: the semi-active suspension controller calculates a first target height according to a rolling radius difference value of the tire and the spare tire in a design state; adjusting the air spring to reach a first target height by the semi-active suspension controller; step S5: and the semi-active suspension controller adjusts the air spring to reach a preset height. The invention makes up the reduction of the height of the vehicle body caused by small rolling radius of the spare tire and improves the driving safety and comfort.)

1. The control method is characterized in that the vehicle is provided with an electronic stability program controller and a semi-active suspension controller, and each tire of the vehicle is provided with a wheel speed sensor and an air spring;

the adjusting method comprises the following steps:

step S1: the vehicle is driven in a straight line on a flat road surface for at least a first time;

step S2: the electronic stability program controller determining whether four of the tires of the vehicle have at least one second tire having a rolling radius different from the other first tires; if yes, go to step S3; if not, go to step S5;

step S3: the electronic stability program controller judges the position of the second tire and sends a position signal of the second tire to the semi-active suspension controller;

step S4: the semi-active suspension controller enters a spare tire mode;

the semi-active suspension controller calculates a first target height according to the rolling radius of the second tire and the deviation value of the rolling radius of the first tire in the design state;

the semi-active suspension controller adjusting the air spring until the air spring reaches the first target height and maintains;

step S5: the semi-active suspension controller exits the spare tire mode;

the semi-active suspension controller adjusts the air spring until the air spring reaches a preset height and maintains the preset height, or the semi-active suspension controller sets the first target height to be the preset height so as to obtain a second target height and adjusts the air spring until the air spring reaches the second target height and maintains the second target height.

2. The control method is characterized in that the vehicle is provided with an electronic stability program controller and a semi-active suspension controller, and each tire of the vehicle is provided with a wheel speed sensor and an air spring;

the adjusting method comprises the following steps:

step A1: the vehicle is driven in a straight line on a flat road surface for at least a first time;

step A2: the electronic stability program controller determining that at least one of the four tires of the vehicle is replaced with a small spare tire;

step A3: the electronic stability program controller judges the position of the small spare tire and sends a position signal of the small spare tire to the semi-active suspension controller;

step A4: the semi-active suspension controller enters a spare tire mode;

the semi-active suspension controller calculates a target height according to the rolling radius of the small spare tire and the deviation value of the rolling radius of the tire in the design state;

the semi-active suspension controller adjusts the air spring until the air spring reaches the target height and maintains.

3. The control method is characterized in that the vehicle is provided with an electronic stability program controller and a semi-active suspension controller, and each tire of the vehicle is provided with a wheel speed sensor and an air spring;

the adjusting method comprises the following steps:

step B1: the vehicle is driven in a straight line on a flat road surface for at least a first time;

step B2: the electronic stability program controller judges that the vehicle does not have a small spare tire currently;

step B3: the electronic stability program controller updates the position signal of the small spare tire to the semi-active suspension controller to be a spare tire-free state;

step B4, the semi-active suspension controller exits the spare tire mode;

the semi-active suspension controller sets the target heights of all the suspensions to be preset heights;

the semi-active suspension controller adjusts the air spring until the air spring reaches the target height and maintains.

4. The method of claim 1, wherein the vehicle further comprises an air pump connected to the air spring, and the semi-active suspension controller controls the air pump to adjust the height of the air spring at the second tire in step S4.

5. The method of claim 4, wherein a height sensor is further disposed at each tire of the vehicle, in step S4, the semi-active suspension controller detects a longitudinal distance from a wheel center of the vehicle to a lower edge of a fender trim of the vehicle through the height sensor, and the semi-active suspension controller controls the air pump to adjust the air spring at the second tire to the first target height before stopping the adjustment.

6. The method of claim 5, wherein the semi-active suspension controller adjusts the air spring until the air spring reaches the first target height, the body of the vehicle remains level, and the semi-active suspension controller stops adjusting the height of the air spring at the second tire and maintains the height.

7. The control method for vehicle body height compensation of a semi-active suspension according to claim 1, wherein in step S2: and the electronic stability program controller judges whether at least one second tire with a rolling radius different from that of other first tires exists in the four tires of the vehicle according to the difference value of the wheel speed sensors, and transmits a judgment result obtained by the electronic stability program controller to the semi-active suspension controller through a communication bus.

8. The control method for vehicle body height compensation of a semi-active suspension according to claim 7, wherein in step S3: and the electronic stability program controller judges the position of the second tire according to the difference value of the wheel speed sensor and sends a position signal of the second tire to the semi-active suspension controller.

Technical Field

The invention relates to the technical field of vehicle body height adjustment, in particular to a control method for vehicle body height compensation of a semi-active suspension.

Background

In the normal driving process, the whole height of the vehicle body is in a horizontal state, when a tire is in a problem, after a small spare tire is replaced, as the rolling radius of the tire is larger than that of the spare tire, the vehicle body height of one side of the small spare tire is correspondingly reduced, the vehicle body inclines to one side of the small spare tire, the driving safety and the driving comfort are reduced, and other driving auxiliary functions closely related to the vehicle body height are influenced, such as an automatic driving function based on a radar and a camera, a DLP (digital light processing) adjustable headlamp based on vehicle body height information, an AR (augmented reality) head-up display function and the like.

Disclosure of Invention

Aiming at the problem that the vehicle inclines to one side of the spare tire after the spare tire of the conventional vehicle is replaced, the invention aims to provide a control method for compensating the height of the vehicle body of a semi-active suspension.

The specific technical scheme is as follows:

a control method for vehicle body height compensation of a semi-active suspension is characterized in that a vehicle is provided with an electronic stability program controller and a semi-active suspension controller, and each tire of the vehicle is provided with a wheel speed sensor, a height sensor and an air spring;

the adjusting method comprises the following steps:

step S1: the vehicle is driven in a straight line on a flat road surface for at least a first time;

step S2: the electronic stability program controller determining whether four of the tires of the vehicle have at least one second tire having a rolling radius different from the other first tires; if yes, go to step S3; if not, go to step S5;

step S3: the electronic stability program controller judges the position of the second tire and sends a position signal of the second tire to the semi-active suspension controller;

step S4: the semi-active suspension controller enters a spare tire mode;

the semi-active suspension controller calculates a first target height according to the deviation value of the rolling radius of the second tire and the rolling radius of the first tire in the design state;

the semi-active suspension controller adjusting the air spring until the air spring reaches the first target height and maintains;

step S5: the semi-active suspension controller exits the spare tire mode;

the semi-active suspension controller adjusts the air spring until the air spring reaches a preset height and maintains the preset height, or the semi-active suspension controller sets the first target height to be the preset height so as to obtain a second target height and adjusts the air spring until the air spring reaches the second target height and maintains the second target height.

A control method for vehicle body height compensation of a semi-active suspension is characterized in that a vehicle is provided with an electronic stability program controller and a semi-active suspension controller, and each tire of the vehicle is provided with a wheel speed sensor, a height sensor and an air spring;

the adjusting method comprises the following steps:

step A1: the vehicle is driven in a straight line on a flat road surface for at least a first time;

step A2: the electronic stability program controller determining that at least one of the four tires of the vehicle is replaced with a small spare tire;

step A3: the electronic stability program controller judges the position of the small spare tire and sends a position signal of the small spare tire to the semi-active suspension controller;

step A4: the semi-active suspension controller enters a spare tire mode;

the semi-active suspension controller calculates a target height according to the rolling radius of the small spare tire and the deviation value of the rolling radius of the tire in the design state;

the semi-active suspension controller adjusts the air spring until the air spring reaches the target height and maintains.

A control method for vehicle body height compensation of a semi-active suspension is characterized in that a vehicle is provided with an electronic stability program controller and a semi-active suspension controller, and each tire of the vehicle is provided with a wheel speed sensor, a height sensor and an air spring;

the adjusting method comprises the following steps:

step B1: the vehicle is driven in a straight line on a flat road surface for at least a first time;

step B2: the electronic stability program controller judges that the vehicle does not have a small spare tire currently;

step B3: the electronic stability program controller updates the position signal of the small spare tire to the semi-active suspension controller to be a spare tire-free state;

step B4, the semi-active suspension controller exits the spare tire mode;

the semi-active suspension controller sets the target heights of all the suspensions to be preset heights;

the semi-active suspension controller adjusts the air spring until the air spring reaches the target height and maintains.

In the method for adjusting the height of the vehicle body of the vehicle, the vehicle further includes an air pump connected to the air spring, and in step S4, the semi-active suspension controller controls the air pump to adjust the height of the air spring at the second tire.

The method for adjusting the height of the vehicle body of the vehicle is further provided with a height sensor at each tire of the vehicle, in step S4, the semi-active suspension controller detects the longitudinal distance from the wheel center of the vehicle to the lower edge of the fender trim of the vehicle through the height sensor, and the semi-active suspension controller controls the air pump to adjust the air spring at the second tire to the first target height and then stops the adjustment.

In the method for adjusting the height of the vehicle body of the vehicle, the semi-active suspension controller adjusts the air spring until the air spring reaches the first target height, the vehicle body of the vehicle is kept horizontal, and the semi-active suspension controller stops adjusting the height of the air spring at the second tire and maintains the height.

In the above method for adjusting the vehicle body height of the vehicle, in step S2: and the electronic stability program controller judges whether at least one second tire with a rolling radius different from that of other first tires exists in the four tires of the vehicle according to the difference value of the wheel speed sensors, and transmits a judgment result obtained by the electronic stability program controller to the semi-active suspension controller through a communication bus.

In the above method for adjusting the vehicle body height of the vehicle, in step S3: and the electronic stability program controller judges the position of the second tire according to the difference value of the wheel speed sensor and sends a position signal of the second tire to the semi-active suspension controller.

Compared with the prior art, the technical scheme has the positive effects that:

the electronic stability program controller of the invention can judge whether the spare tire is replaced by identifying the wheel speed sensor, the electronic stability program controller transmits the information related to one side of the replaced spare tire to the semi-active suspension controller through the communication bus, the semi-active suspension controller inflates the corresponding air spring after receiving the position information of the spare tire provided by the electronic stability program controller, the whole vehicle body is restored to the horizontal state, the vehicle body height reduction caused by the reduction of the rolling radius of the spare tire can be compensated by supplementing air to the air spring and extending the air spring, the comfort after replacing the spare tire is improved, the horizontal driving and riding environment in the vehicle is provided for the driver and the passenger, the visual field in the driving process is adjusted to be horizontal, the driving safety is improved, the influence of the driving sight line of the vehicle caused by the lifting of the light of the headlamp in the night driving and the detection performance of the active safety related sensor are avoided, compensation head-up display AR function and adjustable headlight effect.

Drawings

FIG. 1 is a schematic diagram of a system within a vehicle for controlling body height compensation of a semi-active suspension of the present invention;

FIG. 2 is a flowchart illustrating a method of controlling body height compensation of a semi-active suspension according to the present invention;

FIG. 3 is a flowchart illustrating a method of controlling body height compensation of a semi-active suspension according to the present invention;

FIG. 4 is a flowchart illustrating a method of controlling body height compensation of a semi-active suspension according to the present invention;

in the drawings: 1. an electronic stability program controller; 2. a semi-active suspension controller; 3. an air pump; 4. a wheel speed sensor; 5. a height sensor; 6. an air spring; 7. a communication bus.

Detailed Description

The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.

Fig. 1 is a schematic diagram of a system in a vehicle of a control method for compensating the height of a semi-active suspension according to the present invention, fig. 2 is a flowchart of a control method for compensating the height of a semi-active suspension according to the present invention, and as shown in fig. 1 to 2, a method for adjusting the height of a vehicle body of a vehicle according to a preferred embodiment is shown, the vehicle is provided with an electronically stable program controller 1 and a semi-active suspension controller 2, and a wheel speed sensor 4, a height sensor 5 and an air spring 6 are provided at each tire of the vehicle.

The adjusting method comprises the following steps:

step S1: the vehicle is driven in a straight line on a flat road surface for at least a first time;

step S2: the electronic stability program controller 1 judges whether or not four tires of the vehicle have at least one second tire having a rolling radius different from that of the other first tires; if yes, go to step S3; if not, go to step S5;

step S3: the electronic stability program controller 1 judges the position of the second tire and sends a position signal of the second tire to the semi-active suspension controller 2;

step S4: the semi-active suspension controller 2 enters a spare tire mode;

the semi-active suspension controller 2 calculates a first target height according to the rolling radius of the second tire and the deviation value of the rolling radius of the first tire in the design state;

the semi-active suspension controller 2 adjusts the air spring 6 until the air spring 6 reaches the first target height and maintains the first target height;

step S5: the semi-active suspension controller 2 exits the spare tire mode;

the semi-active suspension controller 2 adjusts the air spring 6 until the air spring 6 reaches a preset height and maintains the preset height, or the semi-active suspension controller 2 sets the first target height to the preset height to obtain a second target height and adjusts the air spring 6 until the air spring 6 reaches the second target height and maintains the second target height.

Preferably, in step S1: the vehicle is driven straight on a horizontal road surface for about 1 minute.

Fig. 3 is a flowchart of a method for controlling height compensation of a semi-active suspension according to the present invention, and as shown in fig. 3, a method for adjusting height of a vehicle body of a vehicle according to a preferred embodiment is shown, the vehicle is provided with an electronically stable program controller 1 and a semi-active suspension controller 2, and a wheel speed sensor 4, a height sensor 5 and an air spring 6 are provided at each tire of the vehicle.

The adjusting method comprises the following steps:

step A1: the vehicle is driven in a straight line on a flat road surface for at least a first time;

step A2: the electronic stability program controller 1 judges that at least one of the four tires of the vehicle is replaced with a small spare tire;

step A3: the electronic stability program controller 1 judges the position of the small spare tire and sends a position signal of the small spare tire to the semi-active suspension controller 2;

step A4: the semi-active suspension controller 2 enters a spare tire mode;

the semi-active suspension controller 2 calculates a target height according to the rolling radius of the small spare tire and the deviation value of the rolling radius of the tire in the design state;

semi-active suspension controller 2 adjusts air springs 6 until air springs 6 reach the target height and are maintained.

The adjusting method is a process of entering a spare tire mode.

Fig. 4 is a flowchart of a method for controlling height compensation of a semi-active suspension according to the present invention, and as shown in fig. 4, a method for adjusting height of a vehicle body of a vehicle according to a preferred embodiment is shown, the vehicle is provided with an electronically stable program controller 1 and a semi-active suspension controller 2, and each tire of the vehicle is provided with a wheel speed sensor 4, a height sensor 5 and an air spring 6;

the adjusting method comprises the following steps:

step B1: the vehicle is driven in a straight line on a flat road surface for at least a first time;

step B2: the electronic stability program controller 1 judges that the vehicle has no small spare tire at present;

step B3: the electronic stability program controller 1 updates the position signal of the small spare tire to the semi-active suspension controller 2 as no spare tire;

step B4, the semi-active suspension controller 2 exits the spare tire mode;

the semi-active suspension controller 2 sets the target heights of all the suspensions to preset heights;

semi-active suspension controller 2 adjusts air springs 6 until air springs 6 reach the target height and are maintained.

The adjusting method is a process of exiting the spare tire mode.

Further, as a preferred embodiment, the vehicle further includes an air pump 3 connected to the air spring 6, and in step S4, the semi-active suspension controller 2 controls the air pump 3 to adjust the height of the air spring 6 at the second tire.

Further, as a preferred embodiment, a height sensor 5 is further provided at each tire of the vehicle, in step S4, the semi-active suspension controller 2 detects a longitudinal distance from a wheel center of the vehicle to a lower edge of a fender panel of the vehicle through the height sensor 5, and the semi-active suspension controller 2 controls the air pump 3 to adjust the air spring 6 at the second tire to reach a first target height, and then stops the adjustment.

Preferably, the electronic stability program controller 1 is in signal connection with the semi-active suspension controller 2 through a communication bus 7, the semi-active suspension controller 2 is in hard-line connection with the air pump 3, the semi-active suspension controller 2 is in signal connection with the height sensor 5, and the air pump 3 is connected with the air spring 6 through an air pipe.

Preferably, the number of the height sensors 5 is 4, and the height sensors are respectively arranged between a vehicle body and a suspension swing arm of the vehicle; the number of the air springs 6 is 4, and the air springs are respectively arranged at four tires of the vehicle.

After ESP discerns the change spare tyre, transmit spare tyre positional information for CAirS through communication bus 7, CAirS controller can drive air pump 3 and fill corresponding air suspension with gas, the suspension extends this moment, can compensate the automobile body height reduction that the rolling radius of spare tyre diminishes and arouses, promote the travelling comfort behind the change spare tyre, provide horizontal driving in the car for driver and passenger, the environment of taking, and adjust field of vision to the level among the driving process, promote driving safety, it influences the driver's sight and keeps initiative safety correlation sensor detection performance to lift on the headlight light when avoiding driving night, the compensation is raised and is shown the effect of AR function and adjustable headlight.

The vehicle is provided with an electronic stability program controller 1 and a semi-active suspension controller 2, a wheel speed sensor 4 is installed at each hub bearing, a height sensor 5 is installed on the swing arm of each air spring 6 and the vehicle body, each air spring 6 is connected with an air pump 3 through an air pipe, the electronic stability program controller 1 and the semi-active suspension controller 2 are communicated through a communication bus 7, the wheel speed sensor 4 is directly connected with an electronic stability program ESP through an AK (amplitude-variation) or PMW (pulse width modulation) protocol, and the height sensor 5 is directly connected with an air suspension controller CAirS through a PSI5 protocol.

Preferably, the communication bus 7 is a CAN bus.

The adjusting method comprises the following steps:

before step S1, the ecu 1 continuously monitors each wheel speed sensor 4, and counts the number of pulses detected, thereby calculating the wheel speed of each tire.

In step S2, the ecu 1 determines that the wheel is replaced with a spare wheel by calculating the wheel speeds of 4 wheels, if the wheel speed of one of the tires is significantly faster than the wheel speeds of the other three wheels in the first time period and maintains a certain ratio.

Preferably, the wheel speed and the tire radius are calculated.

In step S3, the ecu 1 determines the position of the spare tire according to the wheel speed difference of each tire, and sends a position signal of the second tire to the semi-active suspension controller 2 through the CAN bus;

in step S4, the semi-active suspension controller 2 is still at the default height (the default height is the height set by the factory) at this time, and enters the spare tire mode after receiving the spare tire position signal sent by the ESP;

the semi-active suspension controller 2 obtains the current height sensor or angle sensor value, and calculates the current wheel center to wheel arch height through a height model, namely a linear equation between the rotation angle of the height sensor or angle sensor and the wheel center to wheel arch height.

The semi-active suspension controller 2 superposes the current wheel center to wheel arch height according to the difference value between the normal rolling radius and the rolling radius of the spare tire, calculates the target value from the wheel center to the wheel arch height, and converts the height value into the angle value corresponding to the height sensor or the angle sensor through the height model.

The semi-active suspension controller 2 drives the air pump to charge air into the corresponding air spring 6, and acquires the value of the current height sensor or angle sensor at any time.

The semi-active suspension controller 2 adjusts the air spring 6 until the air spring 6 reaches an angle and is maintained.

In step S5, the semi-active suspension controller adjusts the air spring until the air spring reaches a default height and maintains, the height adjustment process is similar to step S3.

The above are merely preferred embodiments of the present invention, and the embodiments and the protection scope of the present invention are not limited thereby.

The present invention also has the following embodiments in addition to the above:

in a further embodiment of the present invention, with continued reference to fig. 1-4, the semi-active suspension controller 2 adjusts the air springs 6 until the air springs 6 reach a first target height, the body of the vehicle remains level, and the semi-active suspension controller 2 stops adjusting the height of the air springs 6 at the second tire and maintains that height.

In a further embodiment of the present invention, in step S2: the electronic stability program controller 1 judges whether the four tires of the vehicle have at least one second tire with a rolling radius different from other first tires according to the difference value of the wheel speed sensors 4, and transmits the judgment result obtained by the electronic stability program controller 1 to the semi-active suspension controller 2 through the communication bus 7.

In a further embodiment of the present invention, in step S3: the electronic stability program controller 1 judges the position of the second tire by the difference value of the wheel speed sensor 4 and sends a position signal of the second tire to the semi-active suspension controller 1.

In a further embodiment of the present invention, the semi-active suspension controller 2 determines the actual height of the current suspension according to the signal of the height sensor 5 at the second tire, and if the updated first target height is different from the current actual height, the semi-active suspension controller 2 drives the air pump 3 to inflate or deflate the air spring 6 to reach the first target height.

The electronic stability program controller 1 of the invention can judge whether the spare tire is replaced by identifying the wheel speed sensor 4, the electronic stability program controller 1 transmits the information related to the side of replacing the spare tire to the semi-active suspension controller 2 through the controller local area network 7, the semi-active suspension controller 2 inflates the corresponding air spring 6 after receiving the position information of the spare tire provided by the electronic stability program controller 1, the whole vehicle body is restored to the horizontal state, the air spring 6 is supplemented with air, the air spring 6 is extended, the height reduction of the vehicle body caused by the reduction of the rolling radius of the spare tire can be compensated, the comfort after replacing the spare tire is improved, the horizontal driving and riding environment in the vehicle is provided for the driver and the passenger, the visual field in the driving process is adjusted to be horizontal, the driving safety is improved, the influence of the sight line of the driver and the detection performance of the active safety related sensor caused by the light ray uplifting of the headlight in the night driving process are avoided, compensation head-up display AR function and adjustable headlight effect.

Regarding the air suspension height model, namely a linear equation of the relationship between the angle of the height sensor and the height from the wheel center to the wheel arch, the arrangement scheme of the air suspension sensor is required to meet the linear relationship as much as possible, and the ratio is set as a constant K.

In the spare tire mode, the calculation of the target height value of the corresponding air spring needs to be actually measured and is not a theoretical value. The process is that the vehicle is driven to the dynamic rotating hub, the vehicle is at the default height at the moment, a supplier/host factory for developing a semi-active suspension generally installs a height detecting device on both sides of the dynamic rotating hub, the device can identify the height of the current wheel arch, drives the vehicle to run on the rotating hub, and records the height value H0 of the spring sent by the air suspension at the moment; replacing one tire with a small spare tire, and driving the vehicle to run on the rotating hub; controlling a semi-active suspension controller through a diagnosis service, and inflating a spring for replacing a spare tire until the height detection device identifies that the heights of wheel headers are consistent (within a deviation range); the spring height H1 emanating from the air suspension at this time was recorded. Δ H — H1-H0 is the compensation amount for the height, and Δ H/K is the angular difference of the height sensor (angle sensor). Target height: h + Δ H; target angle: at is Ht/k.

While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.