Vehicle and control method and control device thereof

文档序号：821856 发布日期：2021-03-30 浏览：18次中文

阅读说明：本技术 车辆及其控制方法和控制装置 (Vehicle and control method and control device thereof ) 是由张书健董慧军李家俊于 2019-09-30 设计创作，主要内容包括：本发明公开了一种车辆及其控制方法和控制装置,所述车辆上设置有刚度可变的衬套,所述控制方法包括以下步骤：识别所述车辆的应用场景；根据所述应用场景,确定所述衬套所需的刚度信息；根据所述刚度信息,控制向所述衬套输入电流信号。本发明实施例的控制方法,根据车辆的应用场景,可以灵活地调节衬套的动刚度、损失角等刚度信息,更好地实现实时优化整车舒适性及操纵性的功能。(The invention discloses a vehicle, a control method and a control device thereof, wherein the vehicle is provided with a bush with variable rigidity, and the control method comprises the following steps: identifying an application scenario of the vehicle; determining rigidity information required by the bushing according to the application scene; and controlling the current signal input to the bushing according to the rigidity information. According to the control method provided by the embodiment of the invention, the rigidity information such as dynamic rigidity, loss angle and the like of the bushing can be flexibly adjusted according to the application scene of the vehicle, and the function of optimizing the comfort and maneuverability of the whole vehicle in real time is better realized.)

1. A control method for a vehicle provided with a variable-stiffness bushing, the method comprising the steps of:

identifying an application scenario of the vehicle;

determining rigidity information required by the bushing according to the application scene;

and controlling the current signal input to the bushing according to the rigidity information.

2. The method of claim 1, wherein said determining stiffness information required for said liner according to said application scenario comprises:

acquiring current game information of a vehicle-mounted game in an application scene of the vehicle-mounted game;

and determining the rigidity information required by the bushing according to the game information.

3. The method of claim 2, wherein determining the stiffness information required for the liner based on the game information comprises:

according to the game information, determining a game scene of the vehicle-mounted game, and determining rigidity information required by the bushing based on the game scene.

4. The method of claim 3, wherein said determining stiffness information required for said liner based on said game scenario comprises:

and determining the rigidity adjusting time sequence of all the bushings in the vehicle and the rigidity change rule of each bushing according to the game scene.

5. The method of claim 4, wherein determining the stiffness adjustment timing for all bushings in the vehicle and the stiffness variation law for each bushing according to the game scenario comprises:

identifying the game scene as a first game scene needing to generate a bumpy feeling;

determining that front and rear bushings in the vehicle are adjusted synchronously, and determining that the stiffness variation law for each bushing is to switch at least once between a first stiffness and a second stiffness.

6. The method of claim 4, wherein determining the stiffness adjustment timing for all bushings in the vehicle and the stiffness variation law for each bushing according to the game scenario comprises:

identifying the game scene as a second game scene needing to generate a tilting sense or a shaking sense;

and determining that the left and right bushings in the vehicle are synchronously adjusted, and determining that the rigidity change laws of the left and right bushings are opposite.

7. The method of claim 1, wherein said determining stiffness information required for said liner according to said application scenario comprises:

acquiring a running state of the vehicle in an application scene of the running of the vehicle;

and determining rigidity information required by the bushing according to the driving state.

8. A control device for a vehicle provided with a variable-rigidity bush, comprising:

a scene identification module for identifying an application scene of the vehicle;

the information determining module is used for determining the rigidity information required by the bushing according to the application scene;

and the control module is used for controlling the current signal to be input into the bushing according to the rigidity information.

9. A vehicle, characterized by comprising: the vehicle control device and variable stiffness bushing of claim 8.

10. An electronic device comprising a memory, a processor;

wherein the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory for implementing the control method of the vehicle according to any one of claims 1 to 7.

Technical Field

The present invention relates to the field of vehicle control technologies, and in particular, to a vehicle control method, a vehicle control device, a vehicle, an electronic device, and a computer-readable storage medium.

Background

At present, a bushing is widely applied to connection of a vehicle suspension and can play roles in vibration damping, noise reduction and the like, however, in a vehicle in the prior art, dynamic stiffness and a loss angle of the bushing cannot be adjusted in real time through the bushing, so that the comfort and the maneuverability of the vehicle are poor due to the fact that the loss angle and the dynamic stiffness of the bushing cannot be adjusted according to real-time working conditions of the vehicle.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the technical problems in the art described above.

Therefore, an object of the present invention is to provide a control method for a vehicle, in which a bushing with variable stiffness is disposed on the vehicle, and stiffness information such as dynamic stiffness, loss angle, etc. of the bushing can be flexibly adjusted according to an application scenario of the vehicle, so as to better implement a function of optimizing comfort and maneuverability of the entire vehicle in real time.

A second object of the present invention is to provide a control device for a vehicle.

A third object of the invention is to propose a vehicle.

A fourth object of the invention is to propose an electronic device.

A fifth object of the present invention is to propose a computer-readable storage medium.

In order to achieve the above object, an embodiment of a first aspect of the present invention provides a control method for a vehicle provided with a variable-stiffness bush, the control method including the steps of: identifying an application scenario of the vehicle; determining rigidity information required by the bushing according to the application scene; and controlling the current signal input to the bushing according to the rigidity information.

In addition, the control method of the vehicle according to the above embodiment of the present invention may further have the following additional technical features:

in an embodiment of the present invention, the determining the stiffness information required for the bushing according to the application scenario includes: acquiring current game information of a vehicle-mounted game in an application scene of the vehicle-mounted game; and determining the rigidity information required by the bushing according to the game information.

In one embodiment of the present invention, the determining the stiffness information required for the liner based on the game information includes: according to the game information, determining a game scene of the vehicle-mounted game, and determining rigidity information required by the bushing based on the game scene.

In one embodiment of the present invention, the determining the stiffness information required for the liner based on the game scenario includes: and determining the rigidity adjusting time sequence of all the bushings in the vehicle and the rigidity change rule of each bushing according to the game scene.

In an embodiment of the present invention, the determining, according to the game scenario, a stiffness adjustment timing sequence of all bushings in the vehicle and a stiffness change law of each bushing includes: identifying the game scene as a first game scene needing to generate a bumpy feeling; determining that front and rear bushings in the vehicle are adjusted synchronously, and determining that the stiffness variation law for each bushing is to switch at least once between a first stiffness and a second stiffness.

In an embodiment of the present invention, the determining, according to the game scenario, a stiffness adjustment timing sequence of all bushings in the vehicle and a stiffness change law of each bushing includes: identifying the game scene as a second game scene needing to generate a tilting sense or a shaking sense; and determining that the left and right bushings in the vehicle are synchronously adjusted, and determining that the rigidity change laws of the left and right bushings are opposite.

In an embodiment of the present invention, the determining the stiffness information required for the bushing according to the application scenario includes: acquiring a running state of the vehicle in an application scene of the running of the vehicle;

and determining rigidity information required by the bushing according to the driving state.

According to the control method of the vehicle, the application scene of the vehicle is firstly identified, the rigidity information required by the bushing is determined according to the application scene, and finally the current signal is controlled to be input into the bushing according to the rigidity information. Therefore, according to the application scene of the vehicle, the rigidity information such as the dynamic rigidity and the loss angle of the lining can be flexibly adjusted, and the function of optimizing the comfort and the maneuverability of the whole vehicle in real time is better realized. Particularly, in the application scene of the vehicle-mounted game, the dynamic stiffness and the loss angle of the bushing can be adjusted, so that the real feeling of the game scene can be brought to a user, and the reality, playability and interestingness of the vehicle-mounted game are improved.

In order to achieve the above object, a second aspect of the present invention provides a control device for a vehicle provided with a variable-stiffness bush, the control device including: a scene identification module for identifying an application scene of the vehicle; the information determining module is used for determining the rigidity information required by the bushing according to the application scene; and the control module is used for controlling the current signal to be input into the bushing according to the rigidity information.

In addition, the control device for a vehicle according to the above embodiment of the present invention may further have the following additional features:

in an embodiment of the present invention, the information determining module is specifically configured to: acquiring current game information of a vehicle-mounted game in an application scene of the vehicle-mounted game; and determining the rigidity information required by the bushing according to the game information.

In an embodiment of the present invention, the information determining module is specifically configured to: according to the game information, determining a game scene of the vehicle-mounted game, and determining rigidity information required by the bushing based on the game scene.

In an embodiment of the present invention, the information determining module is specifically configured to: and determining the rigidity adjusting time sequence of all the bushings in the vehicle and the rigidity change rule of each bushing according to the game scene.

In an embodiment of the present invention, the information determining module is specifically configured to: identifying the game scene as a first game scene needing to generate a bumpy feeling; determining that front and rear bushings in the vehicle are adjusted synchronously, and determining that the stiffness variation law for each bushing is to switch at least once between a first stiffness and a second stiffness.

In an embodiment of the present invention, the information determining module is specifically configured to: identifying the game scene as a second game scene needing to generate a tilting sense or a shaking sense; and determining that the left and right bushings in the vehicle are synchronously adjusted, and determining that the rigidity change laws of the left and right bushings are opposite.

In an embodiment of the present invention, the information determining module is specifically configured to: acquiring a running state of the vehicle in an application scene of the running of the vehicle; and determining rigidity information required by the bushing according to the driving state.

According to the embodiment of the invention, the rigidity-variable bushing is arranged on the vehicle, the control device of the vehicle firstly identifies the application scene of the vehicle through the scene identification module, then determines the rigidity information required by the bushing according to the application scene through the information determination module, and finally controls the current signal to be input into the bushing through the control module according to the rigidity information. Therefore, according to the application scene of the vehicle, the rigidity information such as the dynamic rigidity and the loss angle of the lining can be flexibly adjusted, and the function of optimizing the comfort and the maneuverability of the whole vehicle in real time is better realized. Particularly, in the application scene of the vehicle-mounted game, the dynamic stiffness and the loss angle of the bushing can be adjusted, so that the real feeling of the game scene can be brought to a user, and the reality, playability and interestingness of the vehicle-mounted game are improved.

In order to achieve the above object, a third aspect of the present invention provides a vehicle including the control device of the vehicle according to the second aspect of the present invention and a variable stiffness bushing. In order to achieve the above object, a fourth aspect of the present invention provides an electronic device, including a memory, a processor; wherein the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to implement the control method of the vehicle according to the embodiment of the first aspect of the present invention.

To achieve the above object, a fifth aspect of the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements a control method for a vehicle according to the first aspect of the present invention.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a cross-sectional view of a bushing according to an embodiment of the invention;

FIG. 2 is a schematic diagram of a bushing in accordance with an embodiment of the invention;

FIG. 3 is a top view of a bushing according to an embodiment of the invention;

FIG. 4 is a cross-sectional view of the body and stop block of the bushing according to an embodiment of the present invention;

FIG. 5 is a cross-sectional view of another embodiment of a bushing body and stop block according to an embodiment of the present invention;

FIG. 6 is a first trend graph of dynamic stiffness of a liner with fluid viscosity according to an embodiment of the present invention;

fig. 7 is a second trend graph of the loss angle of the liner with the viscosity of the liquid according to an embodiment of the present invention.

FIG. 8 is a third trend graph of the dynamic stiffness of the bushing with the stiffness of the magnetorheological elastomer according to the embodiment of the invention;

FIG. 9 is a fourth trend graph of loss angle of a bushing versus stiffness of a magnetorheological elastomer, according to an embodiment of the present invention;

fig. 10 is a flowchart of a control method of a vehicle according to an embodiment of the invention;

fig. 11 is a flowchart of a control method of a vehicle according to an embodiment of the invention;

fig. 12 is a flowchart of a control method of a vehicle according to an embodiment of the invention;

FIG. 13 is a schematic diagram of a wheel acceleration sensor in a vehicle according to an exemplary embodiment of the present invention;

FIG. 14 is a schematic illustration of a body acceleration sensor in a vehicle according to an exemplary embodiment of the present invention;

FIG. 15 is a schematic diagram of a central data processor ECU in a vehicle according to one embodiment of the present invention;

FIG. 16 is a schematic illustration of a control system of a vehicle according to an exemplary embodiment of the present invention;

FIG. 17 is a block schematic diagram of a control apparatus of a vehicle according to one embodiment of the invention; and

FIG. 18 is a block schematic diagram of a vehicle according to one embodiment of the present invention.

Reference numerals:

a bushing 10;

an inner tube 1;

an outer tube 2; a mounting groove 21;

a body 3; a communication passage 31; a stopper mounting groove 32; a first support portion 33; the second support portion 34; a connecting portion 35;

a conductive winding 4;

a first cavity 5; a second cavity 6; a limiting block 7; a support ring 8;

a cover plate 9; a harness via 91; a magnetorheological fluid 92; a step structure 93.

110: wheel acceleration sensor

120: vehicle body acceleration sensor

130: central data processor ECU

140: bushing

150: sensor body

160: mounting bracket

170: signal output interface

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

Referring now to fig. 1-5, an adjustable stiffness bushing 10 according to an embodiment of the present invention is described, the bushing 10 may be a hydraulic bushing 10.

As shown in fig. 1 to 5, a bushing 10 according to an embodiment of the present invention includes: an inner tube 1, an outer tube 2, an electrically conductive wire 4 and a magnetorheological fluid 92 for varying the stiffness of the bushing 10. The outer tube 2 is sleeved outside the inner tube 1, the conductive winding 4 is sleeved on the outer surface of the outer tube 1, and the magnetorheological fluid 92 is located between the inner tube 1 and the outer tube 2.

The magnetorheological fluid 92 is a suspension of magnetic soft particles formed by mixing fine soft magnetic particles having high magnetic permeability and low magnetic hysteresis, a non-magnetic conductive fluid, and a stabilizer, and the suspension exhibits a low viscosity characteristic under a zero magnetic field condition, and exhibits a high viscosity and low fluidity characteristic under a strong magnetic field, for example: the magnetorheological fluid 92 can be carbonyl iron powder magnetic fluid, pure iron powder magnetic fluid, iron alloy magnetic fluid and the like, and the controllability of the magnetorheological fluid 92 is just the rheological controllability, so that the rigidity and the loss angle of the bushing 10 can be adjusted.

In some embodiments of the present invention, the viscosity of the magnetorheological fluid 92 can be changed by changing the current value of the conductive wire 4 to change the magnetic field strength in the bushing 10.

Specifically, after the rigidity of the bush 10 is changed, the spacing distance between the inner pipe 1 and the outer pipe 2 is changed, and the shapes of the inner pipe 1 and the outer pipe 2 are not changed. When the current is introduced into the conductive winding 4, a magnetic field is generated inside the conductive winding 4, which can also be understood as that a magnetic field is provided in the bushing 10, the direction of the magnetic field is determined according to the ampere-right-hand rule, the magnetic field strength can be adjusted through the intensity of the current in the conductive winding 4, the generated magnetic field strength can be increased along with the increase of the current intensity in the conductive winding 4, the viscosity of the magnetorheological liquid 92 can be increased according to the increase of the magnetic field strength, so that the magnetorheological liquid 92 is changed from low viscosity to high viscosity, as shown in fig. 6 and 7, the peak values of the loss angle and the dynamic stiffness are reduced along with the increase of the viscosity of the magnetorheological liquid 92, and the frequency corresponding to the peak values of the loss angle and the dynamic stiffness is also. Through the change, the dynamic stiffness and the loss angle of the bushing 10 can be changed, the aim of actively adjusting the performance of the bushing 10 by the vehicle is fulfilled, and the function of optimizing the comfort and the maneuverability of the whole vehicle in real time is realized.

Also, both the inner tube 1 and the outer tube 2 of the bushing 10 may be provided as a metal member, for example: the inner tube 1 and the outer tube 2 can be made of iron materials, after the conductive winding 4 is electrified, the magnetic field intensity generated by the conductive winding 4 can be enhanced under the action of the inner tube 1 and the outer tube 2, the viscosity of the magnetorheological fluid 92 can be changed rapidly, the dynamic stiffness and the loss angle change speed of the bushing 10 can be increased, and the functions of optimizing the comfort and the maneuverability of the whole vehicle in real time can be realized better.

Therefore, the magnetorheological fluid 92 is matched with the conductive winding 4, the dynamic stiffness of the bushing 10 can be changed, the loss angle of the bushing 10 can be adjusted, and the maneuverability and the comfort of a vehicle can be effectively improved.

In some embodiments of the present invention, as shown in fig. 1, the bushing may further include: the body 3, body 3 can set up to the rubber spare, and body 3 supports between inner tube 1 and outer tube 2, in other words, body 3 connects between inner tube 1 and outer tube 2, and body 3 can vulcanize together with inner tube 1, outer tube 2, and body 3 and inner tube 1, outer tube 2 also can be installed together through other modes certainly, as long as play with the connected mode of vulcanizing play the same effect can. The outer tube 2 and the body 3 jointly define a first cavity 5 and a second cavity 6, and the first cavity 5 and the second cavity 6 are formed between the outer tube 2 and the body 3 in a sealed mode. The first cavity 5 is communicated with the second cavity 6, the magnetorheological liquid 92 is arranged in the first cavity 5 and the second cavity 6, the amount of the magnetorheological liquid 92 arranged in the first cavity 5 and the second cavity 6 is controlled according to the use requirement of the actual lining sleeve 10, and the magnetorheological liquid 92 can flow between the first cavity 5 and the second cavity 6.

Wherein the first and second cavities 5, 6 may be symmetrically arranged with respect to the body 3. Specifically, the magnetorheological fluid 92 is encapsulated between the outer tube 2 and the body 3, it can also be understood that the magnetorheological fluid 92 is encapsulated in the first cavity 5 and the second cavity 6, and the magnetorheological fluid 92 can flow between the first cavity 5 and the second cavity 6. In addition, the magnetorheological fluid 92 can be packaged in the bushing 10 in a manner of being pressed under liquid, specifically, the body 3 and the outer tube 2 are placed in the magnetorheological fluid 92 special for the bushing 10 together (below the liquid level of the magnetorheological fluid 92), and then the outer tube 2 is pressed on the body 3 through a tool, that is, the outer tube 2 and the body 3 are connected together through the tool, so that the packaging of the magnetorheological fluid 92 is realized in the process, that is, the magnetorheological fluid 92 is packaged in the first cavity 5 and the second cavity 6.

When the bushing 10 is stressed, the magnetorheological fluid 92 can flow between the first cavity 5 and the second cavity 6, in the flowing process of the magnetorheological fluid 92, through the mutual contact action of the magnetorheological fluid 92 and the body 3 and the interaction between the magnetorheological fluid 92 and the magnetorheological fluid 92, the energy transmitted by external force applied to the bushing 10 can be consumed, the bushing 10 can generate damping force, and the body 3 also provides certain damping force due to the viscoelastic property of the body. Meanwhile, the conductive winding 4 is electrified, so that the viscosity of the magnetorheological fluid 92 is increased, the fluidity of the magnetorheological fluid 92 is reduced, and the rigidity of the bushing 10 can be improved.

In some embodiments of the present invention, as shown in fig. 1, the body 3 may be provided with an inner pipe mounting hole, and the body 3 may include: a first support part 33, a second support part 34 and a connecting part 35, the connecting part 35 being connected between the first support part 33 and the second support part 34, for example: one end of the connecting portion 35 is connected with the first supporting portion 33, the other end of the connecting portion 35 is connected with the second supporting portion 34, the first supporting portion 33, the second supporting portion 34 and the connecting portion 35 are jointly constructed into an integrally formed part, the first supporting portion 33, the second supporting portion 34 and the connecting portion 35 can be of a circular structure, the outer surface of the inner tube 1 is sleeved with the first supporting portion 33, the second supporting portion 34 and the connecting portion 35, specifically, the inner tube mounting hole penetrates through the first supporting portion 33, the second supporting portion 34 and the connecting portion 35 simultaneously, the inner tube 1 is mounted in the inner tube mounting hole, the first supporting portion 33 and the second supporting portion 34 can be supported between the inner tube 1 and the outer tube 2, when the bushing 10 is stressed, the body 3 can support the inner tube 1 and the outer tube 2, and the damping force generated by the bushing 10 can be further improved.

In some embodiments of the invention, as shown in fig. 1 and 2, the connecting portion 35 is spaced from the outer tube 2 in a radial direction of the liner 10, such arrangement ensuring that the outer tube 2, the first support portion 33, the second support portion 34 and the connecting portion 35 together define the first and second chambers 5, 6, and ensuring that the magnetorheological fluid 92 is disposed within the liner 10.

In some embodiments of the present invention, as shown in fig. 3 to 5, the connecting portion 35 may be provided with a communication channel 31, the communication channel 31 communicates the first cavity 5 and the second cavity 6, wherein the cross-sectional shape, the cross-sectional area, the length, the number of flow channels, etc. of the communication channel 31 may be designed according to the damping requirement, for example: the communication channel 31 can be configured as a channel with a constant cross section or a channel with a variable cross section, the communication channel 31 can be a channel with a plurality of bends, and the communication channel 31 can communicate the first cavity 5 with the second cavity 6, so that the working purpose of communicating the first cavity 5 with the second cavity 6 can be realized, the magnetorheological fluid 92 can be ensured to flow between the first cavity 5 and the second cavity 6, and the adjustment range of the rigidity and the loss angle of the bushing 10 can be enlarged.

In some embodiments of the present invention, the communication channel 31 is provided as at least one of: as shown in fig. 4, the number of the communication passages 31 is 1, as shown in fig. 5, the number of the communication passages 31 is 2, but the number of the communication passages 31 may be 3, which enables the first chamber 5 and the second chamber 6 to reliably communicate with each other.

In some embodiments of the present invention, as shown in fig. 1, the bushing 10 may further include: stopper 7, connecting portion 35 can have the opening towards the open stopper mounting groove 32 of outer tube 2, and stopper 7 sets up in stopper mounting groove 32, and stopper 7 and outer tube 2 are between certain distance apart. Wherein, stopper 7 can be in the same place through interference fit and body 3 installation, so set up and can assemble stopper 7 and body 3 reliably together, can avoid stopper 7 to break away from stopper mounting groove 32, and, when bush 10 receives radial force, on the radial direction of bush 10, stopper 7 can play limiting displacement to the motion of body 3 in radial direction, stopper 7 can avoid bush 10 excessively to warp, can guarantee that bush 10 has the accurate deflection that just accords with the designing requirement, thereby can avoid bush 10 excessively to warp the change that influences chassis dynamics parameter, and then can guarantee the stability of traveling of vehicle.

In some embodiments of the present invention, as shown in fig. 1, the bushing 10 may further include: a support ring 8, the support ring 8 may be located between the junctions of the first and second supports 33, 34 and the outer tube 2. The support ring 8 can be embedded on the first support part 33 and the second support part 34, the support ring 8 is vulcanized and connected with the first support part 33 and the second support part 34, and the outer tube 2 and the support ring 8 are tightly installed together, so that the sealing performance between the outer tube 2 and the support ring 8 can be ensured, the sealing performance of the first cavity 5 and the second cavity 6 can be improved, and further, liquid can be prevented from flowing out from the space between the outer tube 2 and the support ring 8.

In some embodiments of the present invention, the bushing 10 may further include: the sealing element, the sealing element is located between the junction of the support ring 8 and the outer tube 2, that is, the sealing element is disposed between the junction of the support ring 8 and the outer tube 2, the sealing element can be vulcanized together with the support ring 8, the sealing element can play a role of sealing, and after the bushing 10 is assembled, the sealing performance of the first cavity 5 and the second cavity 6 can be further improved. And, the outer end of the hookup location of support ring 8 and outer tube 2 on outer tube 2 can be provided with the tightening part, the tightening part can be annular protruding, of course the tightening part also can set up to the structure that plays the same effect with annular protruding, the tightening part is used for sheltering from the junction of support ring 8 and outer tube 2, set up like this and can increase the pressure between outer tube 2 and the support ring 8, can make the assembly of support ring 8 and outer tube 2 compacter, thereby can increase the leakproofness of support ring 8 and outer tube 2 junction.

In some embodiments of the present invention, as shown in fig. 1, an annular mounting groove 21 may be disposed on an outer surface of the outer tube 2, the conductive winding 4 is sleeved on the outer tube 2 and located in the mounting groove 21, and in an axial direction of the bushing 10, the conductive winding 4 covers an entire bottom wall of the mounting groove 21, so that an operation purpose of mounting the conductive winding 4 can be achieved, the conductive winding 4 can be reliably mounted on the outer tube 2, and an arrangement area of the conductive winding 4 on the bushing 10 can also be increased, and after the conductive winding 4 is connected with an electric current, a sufficient magnetic field strength in the bushing 10 can be ensured, so as to ensure that a viscosity of the magnetorheological fluid 92 can be changed, thereby ensuring that a stiffness and a loss angle of the bushing 10 can be changed, and an operation reliability of the bushing 10 can.

In some embodiments of the present invention, as shown in fig. 1, the bushing 10 may further include: the cover plate 9, the cover plate 9 can be covered and arranged in the mounting groove 21, moreover, the cover plate 9 is positioned outside the conductive winding 4, and the cover plate 9 can shield the conductive winding 4. Wherein, apron 9 can be through interference fit pressure equipment assembly on outer tube 2, and of course apron 9 also can link together with outer tube 2 through other mounting means, and apron 9 can play the effect of bearing the electrically conductive wire winding 4 of external force protection to can avoid electrically conductive wire winding 4 to receive the damage, and then can prolong the life of electrically conductive wire winding 4. And, after apron 9 was installed in mounting groove 21, the surface of apron 9 and the surface parallel and level of outer tube 2, so set up and to make the surface of bush 10 more level and more smooth, can reduce the volume of bush 10.

And, can set up stair structure 93 in mounting groove 21, on the axial direction of bush 10, stair structure 93 sets up the both ends at mounting groove 21 simultaneously, apron 9 installs back on bush 10, on the radial direction of bush 10, apron 9 ends with stair structure 93's surface, set up like this and to avoid apron 9 extrusion electrically conductive wire winding 4, can avoid electrically conductive wire winding 4 to be crushed, also can avoid electrically conductive wire winding 4 to take place the short circuit, thereby can promote electrically conductive wire winding 4's safety in utilization, and then can promote bush 10's safety in utilization.

In some embodiments of the present invention, as shown in fig. 1, the cover plate 9 may have a harness through hole 91, the conductive winding 4 is connected to a power source of the vehicle after passing through the harness through hole 91, and a controller of the vehicle is used for controlling a current signal input into the conductive winding 4 by the vehicle. The bushing 10 actively adjusts the dynamic stiffness and the loss angle according to a current signal sent by a controller control power supply of the vehicle, so that the bushing 10 is suitable for vehicle-mounted games, such as sports games like racing cars and running games, and even non-sports games requiring the vehicle to perform real-time simulation feedback game scenes. When a passenger plays a vehicle-mounted game in the vehicle, the bushing 10 can actively adjust the dynamic stiffness and the damping angle in real time according to the current intensity signal input by the vehicle-mounted game, for example, the compression amount of the bushing 10 is changed by adjusting the dynamic stiffness, so that the vehicle generates posture adjustment (inclination, shaking and the like) so as to enable the passenger to obtain real game scene feedback in the vehicle-mounted game, and increase the reality, playability, interestingness and the like of the vehicle-mounted game.

When the vehicle inputs current to the conductive winding 4, a magnetic field is generated according to the right-hand ampere rule, the generated magnetic field intensity is increased along with the increase of the current intensity, and the viscosity of the magnetorheological fluid 92 is increased according to the increase of the magnetic field intensity. As shown in fig. 6 and 7, fig. 6 is a graph showing a variation tendency of the dynamic stiffness of the bushing 10 with the liquid viscosity, fig. 7 is a graph showing a variation tendency of the loss angle of the bushing 10 with the liquid viscosity, and in a partial current frequency interval, as the viscosity of the magnetorheological liquid 92 increases, the loss angle of the bushing 10 and the peak frequency of the dynamic stiffness decrease, and the loss angle and the peak frequency of the dynamic stiffness decrease, wherein the larger the dynamic stiffness of the bushing 10 is, the smaller the compression amount of the bushing 10 is when the bushing 10 is subjected to a force, and conversely, the smaller the dynamic stiffness of the bushing 10 is, the larger the compression amount of the bushing 10 is when the bushing 10 is subjected to a force. Through the change, the purpose of adjusting the rigidity and the loss angle of the bushing 10 in real time according to the vehicle input signal is achieved, and the maneuverability and the comfort of the vehicle can be effectively improved.

According to the vehicle of the embodiment of the invention, the bushing 10 is provided and installed on the vehicle, and the bushing 10 can be used for vehicle suspensions, such as the connecting position of a swing arm and a subframe, the connecting position of the subframe and a vehicle body, the connecting position of a rear torsion beam and the vehicle body and the like. The arrangement can effectively improve the maneuverability and the comfort of the vehicle, thereby improving the satisfaction degree of passengers.

In the embodiment of the present invention, as the current intensity increases, the generated magnetic field intensity also increases, and the viscosity of the magnetorheological fluid 92 also increases according to the increase of the magnetic field intensity. As shown in fig. 6 and 7, as the viscosity of the liquid increases, the peak values of the loss angle and the dynamic stiffness decrease, and the frequency corresponding to the peak values of the loss angle and the dynamic stiffness also decreases.

With continued reference to fig. 1-5, another adjustable stiffness bushing 10 is provided in an embodiment of the present invention. The bushing 10 includes: the magnetorheological elastomer comprises an inner tube 1, an outer tube 2, a conductive winding 4 and a magnetorheological elastomer 3. The outer tube 2 is sleeved outside the inner tube 1, the conductive winding 4 is sleeved on the outer surface of the outer tube 1, and the magnetorheological elastomer 3 is supported between the inner tube 1 and the outer tube 2, in other words, the magnetorheological elastomer 3 is connected between the inner tube 1 and the outer tube 2, the magnetorheological elastomer 3 can be vulcanized with the inner tube 1 and the outer tube 2, of course, the magnetorheological elastomer 3 can be installed with the inner tube 1 and the outer tube 2 in other manners, as long as the same effect as the vulcanized connection manner is achieved. The rigidity of the magnetorheological elastomer 3 is adjustable.

It should be noted that the magnetorheological elastomer 3 is obtained by doping micrometer-sized ferromagnetic particles into a high-molecular polymer matrix and curing the mixture in a magnetic field environment, the high-molecular polymer matrix generally includes natural rubber or silicone rubber, and the ferromagnetic particles are made of a material with high magnetic permeability, for example: carbonyl iron powder, etc., and the magnetorheological elastomer 3 may be prepared by mixing carbonyl iron powder with silicone rubber. Under the action of a magnetic field, the mechanical properties of the magnetorheological elastomer 3, such as rigidity, change along with the change of the magnetic field, and the rigidity variability of the magnetorheological elastomer 3 enables the rigidity and the loss angle of the bushing 10 to be adjustable.

In some embodiments of the present invention, by changing the current value of the conductive wire 4, the magnetic field strength in the bushing 10 can be changed, so that the rigidity of the magnetorheological elastomer 3 can be changed.

Under the stress condition of the bushing, after the rigidity of the bushing 10 is changed, the spacing distance between the inner pipe 1 and the outer pipe 2 is changed, and the shapes of the inner pipe 1 and the outer pipe 2 are not changed. After the conductive winding 4 is electrified, a magnetic field can be generated inside the conductive winding 4, the magnetic field can be understood to be arranged in the lining 10, the direction of the magnetic field is judged according to the ampere right-hand rule, the intensity of the current in the conductive winding 4 can be adjusted through the magnetic field intensity, the generated magnetic field intensity can be increased along with the increase of the current intensity in the conductive winding 4, the magnetorheological elastomer 3 can generate different rigidity according to the intensity change of the magnetic field intensity, so that the dynamic rigidity and the loss angle of the lining 10 are changed, the purpose of actively adjusting the performance of the lining 10 by a vehicle is achieved, and the functions of optimizing the comfort and the maneuverability of the whole vehicle in real time are realized.

Also, both the inner tube 1 and the outer tube 2 of the bushing 10 may be provided as a metal member, for example: the inner tube 1 and the outer tube 2 can be made of iron materials, after the conductive winding 4 is electrified, the magnetic field intensity generated by the conductive winding 4 can be enhanced under the action of the inner tube 1 and the outer tube 2, the rigidity of the magnetorheological elastomer 3 can be changed, the dynamic rigidity and the loss angle changing speed of the bushing 10 can be increased, and the functions of optimizing the comfort and the maneuverability of the whole vehicle in real time can be better realized.

Therefore, by arranging the magnetorheological elastomer 3 and the conductive winding 4 to be matched, the dynamic stiffness of the bushing 10 can be changed, and the loss angle of the bushing 10 can be adjusted, so that the maneuverability and the comfort of a vehicle can be effectively improved.

In some embodiments of the present invention, as shown in fig. 1, the outer tube 2 and the magnetorheological elastomer 3 together define a first cavity 5 and a second cavity 6, and the first cavity 5 and the second cavity 6 are formed by sealing the outer tube 2 and the magnetorheological elastomer 3. The first cavity 5 is communicated with the second cavity 6, liquid 92 can be arranged in the first cavity 5 and the second cavity 6, the amount of the liquid 92 arranged in the first cavity 5 and the second cavity 6 is controlled according to the use requirement of the actual lining 10, and the liquid 92 can flow between the first cavity 5 and the second cavity 6. .

The first cavity 5 and the second cavity 6 are symmetrically arranged with respect to the magnetorheological elastomer 3, the first cavity 5 and the second cavity 6 can store liquid 92, and the liquid 92 can be ethylene glycol or a mixed solution of ethylene glycol and propylene glycol. In particular, the liquid 92 is enclosed between the outer tube 2 and the magnetorheological elastomer 3, it being understood that the liquid 92 is enclosed in the first cavity 5 and the second cavity 6, and the liquid 92 can flow between the first cavity 5 and the second cavity 6. Moreover, the liquid 92 of the present application may be encapsulated in the bushing 10 by a hydraulic press-fitting method, specifically, the magnetorheological elastomer 3 and the outer tube 2 are placed in the liquid 92 dedicated to the bushing 10 together (below the liquid level of the liquid 92), and then the outer tube 2 is press-fitted onto the magnetorheological elastomer 3 by a tool, that is, the outer tube 2 and the magnetorheological elastomer 3 are connected together by the tool, so that the encapsulation of the liquid 92 is realized in this process, that is, the liquid 92 is encapsulated in the first cavity 5 and the second cavity 6.

When the liner 10 is stressed, the liquid 92 can flow between the first cavity 5 and the second cavity 6, during the flowing process of the liquid 92, the external force applied to the liner 10 can be consumed through the mutual contact action of the liquid 92 and the magnetorheological elastomer 3 and the interaction between the liquid 92 and the liquid 92, the liner 10 can generate a damping force, and the magnetorheological elastomer 3 provides a certain damping force due to the viscoelastic property of the magnetorheological elastomer 3. Meanwhile, the conductive winding 4 is electrified, so that the viscosity of the magnetorheological elastomer 3 is increased, the rigidity of the magnetorheological elastomer 3 is increased, and the rigidity of the bushing 10 can be improved.

In some embodiments of the present invention, as shown in fig. 1, the magnetorheological elastomer 3 may be provided with an inner tube mounting hole, and the magnetorheological elastomer 3 may include: a first support part 33, a second support part 34 and a connecting part 35, the connecting part 35 being connected between the first support part 33 and the second support part 34, for example: one end of the connecting portion 35 is connected with the first supporting portion 33, the other end of the connecting portion 35 is connected with the second supporting portion 34, the first supporting portion 33, the second supporting portion 34 and the connecting portion 35 are constructed together as an integrally formed part, the first supporting portion 33, the second supporting portion 34 and the connecting portion 35 can be of a circular structure, the outer surface of the inner tube 1 is sleeved with the first supporting portion 33, the second supporting portion 34 and the connecting portion 35, specifically, the inner tube mounting hole penetrates through the first supporting portion 33, the second supporting portion 34 and the connecting portion 35 simultaneously, the inner tube 1 is mounted in the inner tube mounting hole, the first supporting portion 33 and the second supporting portion 34 can be supported between the inner tube 1 and the outer tube 2, when the bushing 10 is stressed, the magnetorheological elastomer 3 can support the inner tube 1 and the outer tube 2, and the damping force generated by the bushing 10 can be further improved.

In some embodiments of the invention, as shown in fig. 1 and 2, the connecting portion 35 is spaced from the outer tube 2 in a radial direction of the liner 10, and this arrangement ensures that the outer tube 2, the first support 33, the second support 34 and the connecting portion 35 together define the first cavity 5 and the second cavity 6, and that the liquid 92 is disposed in the liner 10.

In some embodiments of the present invention, as shown in fig. 3 to 5, the connecting portion 35 may be provided with a communication channel 31, the communication channel 31 communicates the first cavity 5 and the second cavity 6, wherein the cross-sectional shape, the cross-sectional area, the length, the number of flow channels, etc. of the communication channel 31 may be designed according to the damping requirement, for example: the communication channel 31 can be configured as a channel with a constant cross section or a channel with a variable cross section, the communication channel 31 can be a channel with a plurality of bends, and the communication channel 31 can communicate the first cavity 5 with the second cavity 6, so that the working purpose of communicating the first cavity 5 with the second cavity 6 can be realized, the liquid 92 can be ensured to flow between the first cavity 5 and the second cavity 6, and the adjustment range of the rigidity and the loss angle of the bushing 10 can be enlarged.

In some embodiments of the present invention, as shown in fig. 1, the bushing 10 may further include: stopper 7, connecting portion 35 can have the opening towards the open stopper mounting groove 32 of outer tube 2, and stopper 7 can set up in stopper mounting groove 32, and stopper 7 and outer tube 2 are at a certain distance in the interval. Wherein, stopper 7 can be installed together with magnetic current becomes elastomer 3 through interference fit, so set up and can assemble stopper 7 and magnetic current becomes elastomer 3 together reliably, can avoid stopper 7 to break away from stopper mounting groove 32, and, when bush 10 receives radial force, in the radial direction of bush 10, stopper 7 can play limiting displacement to the motion of magnetic current becomes elastomer 3 in radial, stopper 7 can avoid bush 10 excessively to warp, can guarantee that bush 10 has the accuracy and accords with the deflection of designing requirement, thereby can avoid the change that the excessive deformation of bush 10 influences chassis dynamics parameter, and then can guarantee the stability of traveling of vehicle.

In some embodiments of the present invention, as shown in fig. 1, the bushing 10 may further include: a support ring 8, the support ring 8 may be located between the junctions of the first and second supports 33, 34 and the outer tube 2. The support ring 8 can be embedded in the first support part 33 and the second support part 34, the support ring 8 is vulcanized and connected with the first support part 33 and the second support part 34, and the outer tube 2 and the support ring 8 are tightly mounted together, so that the sealing performance between the outer tube 2 and the support ring 8 can be ensured, the sealing performance between the first cavity 5 and the second cavity 6 can be improved, and the liquid 92 can be prevented from flowing out from between the outer tube 2 and the support ring 8.

In some embodiments of the present invention, the bushing 10 may further include: the sealing element, which is located between the connection of the support ring 8 and the outer tube 2, i.e. the sealing element is disposed between the connection of the support ring 8 and the outer tube 2, may be vulcanized together with the support ring 8, wherein the sealing element can play a role of sealing, and after the bushing 10 is assembled, the sealing performance of the first cavity 5 and the second cavity 6 may be further improved. And, the outer end of the hookup location of support ring 8 and outer tube 2 on outer tube 2 can be provided with the tightening part, the tightening part can be annular protruding, of course the tightening part also can set up to the structure that plays the same effect with annular protruding, the tightening part is used for sheltering from the junction of support ring 8 and outer tube 2, set up like this and can increase the pressure between outer tube 2 and the support ring 8, can make the assembly of support ring 8 and outer tube 2 compacter, thereby can increase the leakproofness of support ring 8 and outer tube 2 junction.

In some embodiments of the present invention, as shown in fig. 1, an annular mounting groove 21 may be disposed on an outer surface of the outer tube 2, the conductive winding 4 is sleeved on the outer tube 2 and located in the mounting groove 21, and in an axial direction of the bushing 10, the conductive winding 4 covers an entire bottom wall of the mounting groove 21, so that an operation purpose of mounting the conductive winding 4 can be achieved, the conductive winding 4 can be reliably mounted on the outer tube 2, and an arrangement area of the conductive winding 4 on the bushing 10 can also be increased, and after the conductive winding 4 is connected with an electric current, a sufficient magnetic field strength in the bushing 10 can be ensured, so that a change in a rigidity of the magnetorheological elastomer 3 can be ensured, a change in a rigidity and a loss angle of the bushing 10 can be ensured, and an operation reliability of the bushing 10 can.

When the vehicle inputs current to the conductive winding 4, a magnetic field can be generated according to the right-hand ampere rule, the generated magnetic field intensity can be increased along with the increase of the current intensity, and the rigidity of the magnetorheological elastomer 3 can be increased according to the increase of the magnetic field intensity. As shown in fig. 8 and 9, fig. 8 is a graph of a variation trend of the dynamic stiffness of the bushing 10 with the stiffness of the magnetorheological elastomer 3, fig. 9 is a graph of a variation trend of the loss angle of the bushing 10 with the stiffness of the magnetorheological elastomer 3, the peak value of the dynamic stiffness is larger and the peak value of the loss angle is smaller as the stiffness of the magnetorheological elastomer 3 is increased, and the reason for the variation is that the total output force of the bushing 10 is larger under the same displacement excitation after the stiffness of the magnetorheological elastomer 3 is increased, so that the peak value of the dynamic stiffness is larger, the specific gravity of the elastic force in the total output force is larger, and no phase difference exists between the elastic force and the excitation, that is, the loss angle is zero, so that the total peak value of the loss. Through the change, the purpose of adjusting the rigidity and the loss angle of the bushing 10 in real time according to the vehicle input signal is achieved, and the maneuverability and the comfort of the vehicle can be effectively improved.

In the embodiment of the invention, the generated magnetic field intensity is increased along with the increase of the current intensity, the viscosity of the magnetorheological elastomer 3 is increased according to the increase of the magnetic field intensity, and the rigidity is increased along with the increase of the magnetic field intensity. As shown in fig. 8 and 9, the peak value of the dynamic stiffness is larger and the peak value of the loss angle is smaller as the stiffness of the magnetorheological elastomer is increased. .

A control method of a vehicle, a control apparatus of a vehicle, an electronic device, and a computer-readable storage medium according to embodiments of the invention are described below with reference to the drawings.

Fig. 10 is a flowchart of a control method of a vehicle according to an embodiment of the invention. In the embodiment of the present invention, the vehicle may include an electric vehicle, a fuel vehicle, and the like, and the variable-stiffness bush in the above embodiment is provided on the vehicle. The bushings with variable rigidity can be multiple and can be installed at appropriate positions of the suspension as required, such as connection positions of a left swing arm, a right swing arm and a subframe under a front suspension, connection positions of the left swing arm, the right swing arm and the subframe under a rear suspension and the like.

As shown in fig. 10, a control method for a vehicle according to an embodiment of the present invention includes the steps of:

s101, identifying an application scene of the vehicle.

It should be noted that the application scenes include an application scene in which the vehicle is in a running state and an application scene in which the vehicle is in a parking state, where the application scene in which the vehicle is in the parking state is an application scene of a vehicle-mounted game, that is, a driver and a passenger perform simulated driving entertainment through the vehicle or play games through a whole vehicle device to perform entertainment when the vehicle is parked.

And S102, determining rigidity information required by the bushing according to an application scene.

The stiffness information may include information such as dynamic stiffness, loss angle, etc. of the bushing. Therefore, the rigidity of the bushing can be determined according to different application scenarios, and the flexibility is high.

In general, different application scenarios may correspond to different adjustment requirements for the bushing, i.e. different stiffness information required for the bushing. Optionally, in an application scenario of vehicle driving, it is often necessary to determine stiffness information required for the bushing according to a driving state of the vehicle. For example, the driving state of the vehicle can be determined according to the road surface condition of the vehicle, and the driving state can be a bump state, a start-stop state, a steering state, a braking state and the like. The rigidity requirement of the vehicle for the lining is different under different driving states, so that the rigidity information required by the lining is determined by detecting the driving state of the vehicle in the application scene of vehicle driving.

Alternatively, in the application scenario of the vehicle-mounted game, it is often necessary to determine the stiffness information required by the bushing according to the current game information of the vehicle-mounted game. For example, in the case of a racing game, the game information indicates that the racing car is currently in a dimpled road, an inclined road, a sloshing state, a bumpy state, or the like, and since the current states of the racing cars are different, in order to make the driver and the passengers feel the reality of the game, the liner needs to be adjusted with different dynamic stiffness and loss angles according to different states, that is, the stiffness information required by the liner is matched with the game information in the vehicle-mounted game.

And S103, controlling to input a current signal to the bushing according to the rigidity information.

Further, after the rigidity information is acquired, a current signal can be input into the bushing according to the rigidity information to adjust the rigidity of the bushing. The stiffness-adjustable bushing in this embodiment is one of the bushings in the above-mentioned embodiments, for example, the stiffness of the bushing is adjustable due to a magnetorheological elastomer, and the stiffness of the bushing is adjustable due to a magnetorheological fluid. The principle that the rigidity of the bushing can be adjusted is not described herein again, and reference may be made to the description of the related contents in the above embodiments, and further description is not given here.

The following takes an application scenario of an in-vehicle game as an example, and further explains the control method of the vehicle in the above embodiment. As shown in fig. 11, a control method for a vehicle according to an embodiment of the present invention includes the steps of:

s201, identifying an application scene of the vehicle.

S202, acquiring current game information of the vehicle-mounted game in the application scene of the vehicle-mounted game.

The vehicle-mounted game can comprise sports vehicle-mounted games such as racing cars, running coolness and the like and even non-sports vehicle-mounted games. The game information may include the type of in-vehicle game, the real-time scene of the game, and the like. In this embodiment, the in-vehicle game may feed back the current progress of the game to the vehicle, and the game information may be acquired through the current progress, for example, in a racing game, the game information may include information such as a running state of a racing car, a pitch, a depression, and an inclination of a running road of the racing car, an obstacle on a running route, and a direction of the running road.

S203, determining the game scene of the vehicle-mounted game according to the game information, and determining the rigidity information required by the bushing based on the game scene.

In this embodiment, the game information may be analyzed to determine a game scene of the in-vehicle game, and in order to better feed back the game experience to the user, the bushing often needs to match different stiffness information for different game scenes. For example, a game scene with inclination, shaking and other feelings and a game scene with a bumpy feeling in the game scene are different from each other in rigidity information needed by the bushing, so that real game scene feedback can be brought to a user, and further the sense of reality, the playability and the interestingness of the vehicle-mounted game are improved.

In this embodiment, the number of the bushings may be plural, and the bushings may be installed at appropriate positions of the suspension as needed, so that the purpose of tilting, shaking, and the like of the vehicle can be achieved by adjusting the rigidity of the plural bushings.

Due to the fact that different game scenes have different game feelings and different requirements on the bushings, the adjusting sequence and the rigidity changing rule of each bushing need to be determined according to the game scenes. As a possible implementation manner, the stiffness adjustment timing sequence of all the bushings in the vehicle and the stiffness change law of each bushing can be determined according to a game scene.

Optionally, the method comprises the steps of identifying a game scene as a first game scene needing to generate a bumpy feeling, determining that front and rear bushings in the vehicle are synchronously adjusted, and determining that the rigidity change rule of each bushing is at least once switched between a first rigidity and a second rigidity. It should be noted that the front and rear bushings may be respectively installed at the connecting positions of the left and right swing arms and the sub-frame under the front suspension of the vehicle, the connecting positions of the left and right swing arms and the sub-frame under the rear suspension, and the like, and the first stiffness and the second stiffness of each bushing may be the same or different, and may be calibrated according to actual conditions.

The explanation will be given taking the first game scene in the car-mounted game as an example. Firstly, scene configuration information is extracted from game information, and the current game scene of the racing car is identified to be a bumpy road surface or a hollow road surface from the scene configuration information. In practical application, a bumpy road surface is formed by a plurality of hollow road surfaces in succession, so that when a racing car runs on the bumpy road surface or the hollow road surface, the vehicle needs to generate a bumpy feeling so as to give a user a real game feeling, namely the bumpy feeling is ignored, and therefore the vehicle needs to be in a bumpy state up and down.

If the game scene is identified as a slope-climbing road surface, further, the game scene can be identified as a first game scene needing to generate a bumpy feeling, and the front and rear bushings can be controlled to synchronously generate cyclic changes of rigidity increase and reduction, so that the compression amount of the front and rear bushings synchronously generate cyclic changes of reduction and increase correspondingly, the vehicle can move vertically, and a user can feel that the user passes through the bumpy road surface.

If the game scene is identified to be the hollow road surface, the game scene can be further identified to be the first game scene needing to generate bumpiness, and the feeling of passing through the hollow road surface can be generated through the process that the front suspension posture and the rear suspension posture of the vehicle are sequentially reduced and then recovered. For example, the front bushing may be controlled to change stiffness in a decreasing-returning manner, the rear bushing may be controlled to change stiffness in a decreasing-returning manner, the front bushing may be compressed in an increasing-returning manner, and the rear bushing may be compressed in an increasing-returning manner, so that the front and rear suspension postures of the vehicle may be sequentially lowered and restored, and the user may feel the vehicle may get across the dimpled road surface. It should be noted that under potholes, the liner is often adjusted once, rather than cyclically, in

Optionally, the game scene is identified as a second game scene needing to generate a tilting feeling or a shaking feeling, the left and right bushings in the vehicle are determined to be synchronously adjusted, and the rigidity change rules of the left and right bushings are determined to be opposite.

It should be noted that the left and right bushings may be respectively installed at the connecting positions of the left and right swing arms and the subframe under the front suspension of the vehicle, the connecting positions of the left and right swing arms and the subframe under the rear suspension, and the like, and the stiffness variation values of each bushing may be the same or different, and may be calibrated according to actual conditions.

The explanation is continued by taking the second game scene in the car-mounted game as an example. In a racing game, when a racing car runs on an inclined road surface, it is necessary for the vehicle to generate a sense of inclination, and for the user to be fed back a game feel that the vehicle is in an inclined state. When the racing car collides, the vehicle is often required to generate shaking sense, and the game feeling that the vehicle is in a shaking state is fed back to the user.

If the game scene is identified as the inclined road surface, the game scene can be further identified as a second game scene needing to generate the inclined feeling. For example, the left suspension attitude is lowered and the right suspension attitude is raised, and the corresponding change in the compression amount of the bushing is: the left suspension bush compression amount is increased, the right suspension bush compression amount is reduced, and therefore according to the rigidity change rule, matched current signals are generated, corresponding current signals are sent to the bushes corresponding to the left and right suspensions, the bushes corresponding to the left and right suspensions correspondingly generate changes of rigidity reduction and increase according to the current signals, the bush compression amount correspondingly generates changes of reduction and increase, and therefore the left suspension posture of the vehicle is lowered, the right suspension posture of the vehicle is raised, the whole vehicle posture is inclined, and passengers also have experience of an inclined road surface.

If the game scene is identified as collision and shake, the game scene is further identified as a second game scene needing to generate shake feeling, and the feeling of the collision working condition can be generated by the shake of the vehicle around the X axis, and particularly can be generated by continuous inclination change. For example, the left suspension attitude produces a cyclic change of drop-rise-fall-rise, and the right suspension attitude produces a cyclic change of rise-fall-rise-fall, and the corresponding change in the compression amount of the bush is: the compression amount of the left suspension bush is increased, reduced, increased and reduced, the compression amount of the right suspension bush is reduced, increased, reduced and increased, therefore, according to the rigidity change rule, a matched current signal is further generated, corresponding current signals are sent to the bushes corresponding to the left and right suspensions, the bushes corresponding to the left and right suspensions correspondingly generate rigidity cyclic changes according to the current signals, and the compression amount of the bushes correspondingly generate cyclic changes, so that the left suspension attitude of the vehicle generates cyclic changes of descending, ascending, descending and ascending, the right suspension attitude generates cyclic changes of ascending, descending, ascending and descending, the whole vehicle attitude accordingly shakes, and passengers also have the feeling of shaking the vehicle after collision. Other game scenes can be extended from the game scenes described in the above embodiments, for example, if the game scene is recognized as a sharp turning road, the game scene can be recognized as a second game scene needing to generate a feeling of inclination, the ECU can control the left bushing to generate an increase-decrease change of rigidity, and synchronously control the right bushing to generate a decrease-increase change of rigidity, so that the compression amount of the left bushing correspondingly generates a decrease-increase change, the compression amount of the right bushing correspondingly generates an increase-decrease change synchronously, so that the left suspension attitude of the vehicle generates an ascending-descending change, the right suspension attitude synchronously generates a descending-ascending change, the whole vehicle attitude is inclined, and passengers also have the feeling of a sharp turning road.

And S204, controlling to input a current signal to the bushing according to the rigidity information.

After the rigidity information is obtained, a current signal aiming at the bushing can be generated according to the rigidity information, and then the current signal is input into the bushing, so that the magnetofluid elastic liquid and/or the magnetofluid elastic body generate different rigidities according to the strength change of the magnetic field intensity, the dynamic rigidity and the loss angle of the bushing are changed, and the aim of actively adjusting the performance of the bushing by a vehicle is fulfilled. For example, it is recognized that a racing car is passing through a bumpy road surface, and at the moment, the vehicle is required to generate a bumpy feeling, namely, the vertical movement of the whole car, which can be generated through the cyclic change of the reduction, the increase, the decrease and the increase of the compression amount of the hydraulic bushing, so that a sine function current signal can be generated according to the change rule and input into the bushing, the bushing generates the cyclic change of the increase and the decrease of the rigidity according to the current signal, and the compression amount of the bushing correspondingly generates the cyclic change of the decrease and the increase, so that the vehicle generates the vertical movement, and passengers also have the bumpy feeling.

Therefore, when the application scene of the vehicle is identified as the vehicle-mounted game, the vehicle can acquire and determine the rigidity information required by the lining according to the real-time game information of the vehicle-mounted game, so that the vehicle can generate actions such as inclination and shaking, real game scene feedback is brought to a user, and the reality, playability, interestingness and the like of the vehicle-mounted game are improved.

In an embodiment of the present invention, the stiffness information required for the bushing is determined according to an application scenario, and the method for controlling the vehicle in the above embodiment is further explained below by taking the application scenario of the vehicle as an example in the application scenario of the vehicle running. As shown in fig. 12, a control method for a vehicle according to an embodiment of the present invention includes the steps of:

s301, identifying an application scene of the vehicle.

S302, under the application scene of vehicle running, the running state of the vehicle is acquired.

The driving state of the vehicle may be detected by mounting a detection device such as a sensor on the vehicle, wherein the driving state may include information such as a speed of the vehicle, a vertical acceleration of wheels, a vertical acceleration of a vehicle body, a front-rear or left-right inclination of the vehicle body, a brake signal, a steering angle signal, and a driving mode of the vehicle.

In an embodiment of the present invention, a wheel acceleration sensor shown in fig. 13 may be mounted on the vehicle to detect the vertical acceleration of the wheel, convert the detected vertical acceleration of the wheel into an electrical signal, and transmit the electrical signal to the central control processor ECU through the signal output interface, and the ECU identifies the roughness (bump value) of the driving road surface according to the electrical signal. The sensor can be arranged on the front wheel of the vehicle, and can be respectively arranged on the left front wheel and the right front wheel of the vehicle.

In an embodiment of the present invention, a vehicle body acceleration sensor shown in fig. 14 may be mounted on the vehicle to detect information such as vertical acceleration of the vehicle body, front-rear inclination of the vehicle body, and left-right inclination of the vehicle body, and then convert the detected information into an electric signal, and transmit the electric signal to the central control processor ECU through the signal output interface, and the ECU recognizes information such as roughness (bump value) of the traveling road surface based on the electric signal. The sensor can be mounted in a manner of "front 2 and rear 1", namely, one sensor is mounted above the front left and right wheels and one sensor is mounted above the rear wheels (any one of the rear left and rear wheels) of the vehicle, and the sensor can be mounted on the vehicle body through a bracket, so that the mounting position of the sensor is as close to the outer side of the vehicle body as possible in order to effectively detect information such as vertical acceleration of the vehicle body, front-rear inclination of the vehicle body, left-right inclination of the vehicle body and the like, for example, if the sensor is mounted in a manner of "front 2 and rear 1", 2 sensors in the front of the vehicle body can be mounted at the vehicle body position near the mounting point on the front shock absorber, and 1 sensor in the rear of the vehicle body can be mounted at the vehicle body position near the mounting point on.

For example, fig. 16 is a schematic diagram of a control system of a vehicle including a variable stiffness bushing, a wheel acceleration sensor, a body acceleration sensor, a central control processor ECU (shown in fig. 15), and a CAN bus according to an embodiment of the present invention. The rigidity-variable bush, the wheel acceleration sensor and the vehicle body acceleration sensor are respectively connected with the central control processor ECU through the CAN bus so that the central control processor ECU receives electric signals of vehicle running information, wherein the running information CAN comprise information such as the speed of a vehicle, the vertical acceleration of wheels, the vertical acceleration of a vehicle body, the front-back or left-right inclination condition of the vehicle body, a brake signal, a steering angle signal and the like. It should be noted that the central control processor ECU may be mounted in a suitable position of the vehicle through a bracket.

In an application scenario in which the vehicle is traveling, the traveling state of the vehicle can be acquired based on the control system of the vehicle as shown in fig. 16. Further, according to the real-time driving state and the driving intention of a driver, the ECU of the control system processes and makes judgment, and the dynamic stiffness and the loss angle of the bushing which are most suitable at present are selected, so that the optimal vehicle comfort or maneuverability is realized.

And S303, determining rigidity information required by the bushing according to the driving state.

In an embodiment of the present invention, in an application scenario of vehicle driving, based on a control system of a vehicle as shown in fig. 16, a user may actively set a driving mode of the vehicle, which may include a normal mode, a steering mode, and a comfort mode.

Wherein when the user actively sets the control system to the normal mode, the control system will adjust the stiffness of the bushing to be at an intermediate value, e.g., adjust the dynamic stiffness and loss angle of the bushing to be at an intermediate value, such that the vehicle has balanced comfort and handling.

When a user actively sets the control system to a steering mode, the control system adjusts the rigidity of the bushing, for example, the dynamic rigidity of the bushing is larger than a middle value, so that the suspension can better respond to the driving intention of the user, but the damping and buffering effects of the bushing are weakened, namely, the steering mode has enhanced steering performance and reduced comfort.

Wherein when the user actively sets the control system to a comfort mode, the control system will adjust the stiffness of the bushing, for example, to make the dynamic stiffness of the bushing less than a neutral value, so that the damping and cushioning effect of the bushing is enhanced, but also the suspension is slowed down in response to the user's driving intention, i.e., in a comfort mode, the comfort of the vehicle is enhanced and the handling is reduced.

In one embodiment of the present invention, based on the control system of the vehicle as shown in fig. 16, the control system may also acquire the rigidity required for the bush in real time according to the driving state of the vehicle. The control system generally adopts electric signals, the response speed can reach millisecond level, and the sensitivity is high.

When the control system identifies that the road surface on which the vehicle runs is a bumpy road surface according to the running state of the vehicle, the control system can control and increase the loss angle of the lining so as to enhance the damping and buffering effects of the lining and ensure the comfort of the vehicle.

When the control system identifies that the vehicle is started or parked currently according to the running state of the vehicle, the control system can control and increase the dynamic stiffness of the bushing so as to improve the speed of the suspension responding to the driving intention of a user, reduce the shaking of the vehicle during starting or parking and ensure the comfort of the vehicle.

When the control system identifies that the vehicle is currently steered according to the driving state of the vehicle, particularly high-speed steering, the control system can control the dynamic stiffness of the bushing to be increased so as to improve the speed of the suspension responding to the driving intention of a user and ensure the maneuverability of the vehicle.

When the control system identifies the current braking of the vehicle according to the running state of the vehicle, the control system can control and increase the loss angle of the lining so as to enhance the damping and buffering effects of the lining, effectively buffer the longitudinal vibration of the wheel and ensure the maneuverability of the vehicle.

And S304, controlling to input a current signal to the bushing according to the rigidity information.

Therefore, when the application scene of the vehicle is identified as driving, a user can actively set the rigidity information of the bushing, or the vehicle can obtain the rigidity information required by the bushing according to the real-time driving state of the vehicle, namely the rigidity of the bushing can be adjusted according to the real-time working condition of the vehicle and the will of the user, the flexibility is high, and the comfort and the maneuverability of the vehicle can be adjusted.

In summary, according to the control method of the vehicle, the application scene of the vehicle is firstly identified, then the rigidity information required by the bushing is determined according to the application scene, and finally the current signal is controlled to be input into the bushing according to the rigidity information. Therefore, the control method can be applied to the field of vehicle-mounted games, can bring real game scene feedback to users, and increases the sense of reality, playability and interestingness of the vehicle-mounted games. Furthermore, the rigidity of the lining can be adjusted according to the real-time working condition of the vehicle and the will of a user, the flexibility is high, and the comfort and the maneuverability of the vehicle can be adjusted.

Fig. 17 is a block diagram schematically illustrating a control apparatus of a vehicle according to an embodiment of the present invention. It should be noted that the vehicle of the embodiment of the present invention is provided with a variable-rigidity bush.

As shown in fig. 17, a control apparatus 1000 of a vehicle according to an embodiment of the present invention includes a scene recognition module 100, an information determination module 200, and a control module 300.

The scene recognition module 100 is used for recognizing an application scene of the vehicle.

The information determining module 200 is configured to determine stiffness information required for the liner according to the application scenario.

The control module 300 is configured to control the input of the current signal to the bushing based on the stiffness information.

In an embodiment of the present invention, the information determining module 200 is specifically configured to, in an application scenario of a vehicle-mounted game, obtain current game information of the vehicle-mounted game; and determining the rigidity information required by the bushing according to the game information.

In an embodiment of the present invention, the information determining module 200 is specifically configured to determine a game scenario of the in-vehicle game according to the game information, and determine the stiffness information required for the bushing based on the game scenario.

In an embodiment of the present invention, the information determining module 200 is specifically configured to determine, according to the game scenario, a stiffness adjustment timing sequence of all bushings in the vehicle and a stiffness variation rule of each bushing.

In an embodiment of the present invention, the information determining module 200 is specifically configured to identify that the game scene is a first game scene that needs to generate a bumpy feeling; determining that front and rear bushings in the vehicle are adjusted synchronously, and determining that the stiffness variation law for each bushing is to switch at least once between a first stiffness and a second stiffness.

In an embodiment of the present invention, the information determining module 200 is specifically configured to identify that the game scene is a second game scene that needs to generate a sense of tilt or a sense of trembling; and determining that the left and right bushings in the vehicle are synchronously adjusted, and determining that the rigidity change laws of the left and right bushings are opposite.

In an embodiment of the present invention, the information determining module 200 is specifically configured to, in an application scenario where the vehicle is running, obtain a running state of the vehicle; and determining rigidity information required by the bushing according to the driving state.

It should be noted that, for details that are not disclosed in the control device of the vehicle according to the embodiment of the present invention, please refer to details that are disclosed in the control method of the vehicle according to the embodiment of the present invention, and details are not repeated herein.

To sum up, the vehicle provided by the embodiment of the invention is provided with the bush with variable rigidity, the control device of the vehicle firstly identifies the application scene of the vehicle through the scene identification module, then determines the rigidity information required by the bush according to the application scene through the information determination module, and finally controls the input of the current signal to the bush through the control module according to the rigidity information. Therefore, the control device can be applied to the field of vehicle-mounted games, can bring real game scene feedback to users, and increases the sense of reality, playability and interestingness of the vehicle-mounted games. Furthermore, the rigidity of the lining can be adjusted according to the real-time working condition of the vehicle and the will of a user, the flexibility is high, and the comfort and the maneuverability of the vehicle can be adjusted.

In order to implement the above embodiment, the present invention also proposes a vehicle, as shown in fig. 18, a vehicle 10000 including a control device 1000 of the above vehicle and a rigidity-variable bush 2000.

The vehicle provided by the embodiment of the invention can be applied to the field of vehicle-mounted games through the control device of the vehicle and the bush with variable rigidity, can bring real game scene feedback to users, and increases the sense of reality, playability and interestingness of the vehicle-mounted games. Furthermore, the rigidity of the lining can be adjusted according to the real-time working condition of the vehicle and the will of a user, the flexibility is high, and the comfort and the maneuverability of the vehicle can be adjusted.

In order to implement the above embodiments, the present invention further provides an electronic device, which includes a memory and a processor; wherein the processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, for implementing the control method of the vehicle described above.

The electronic equipment of the embodiment of the invention executes the computer program stored on the memory through the processor, can be applied to the field of vehicle-mounted games, can bring real game scene feedback to users, increases the reality, playability and interestingness of the vehicle-mounted games, can adjust the rigidity of the lining according to the real-time working condition of the vehicle and the will of the users, has high flexibility, and can adjust the comfort and the maneuverability of the vehicle.

In order to achieve the above embodiments, the present invention also proposes a computer-readable storage medium storing a computer program which, when executed by a processor, implements the above-described control method of the vehicle.

The computer-readable storage medium of the embodiment of the invention can be applied to the field of vehicle-mounted games by storing a computer program and executing the computer program by a processor, can bring real game scene feedback to a user, increases the sense of reality, playability and interest of the vehicle-mounted games, can adjust the rigidity of the bushing according to the real-time working condition of the vehicle and the will of the user, has high flexibility, and can adjust the comfort and the maneuverability of the vehicle.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

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