CN115742652B - An electronically controlled suspension control method, device and storage medium - Google Patents

Abstract

The present invention relates to an electronically controlled suspension control method, device and storage medium. In the present application, a controller is electrically connected to a height sensor for measuring the height of a single side of a frame and the height of a whole vehicle, the controller is electrically connected to an air pressure sensor for measuring the air pressure of an electronically controlled suspension airbag assembly, and the controller is electrically connected to an automobile ECU; the controller is electrically connected to a solenoid valve module, and the solenoid valve module is connected to an air storage device and an electronically controlled suspension airbag assembly through an air supply pipeline. The controller controls the state of the solenoid valve module to inflate and deflate the electronically controlled suspension airbag assembly, thereby realizing adaptive suspension height adjustment in a vehicle running state, suspension height adjustment in a vehicle stationary state and adaptive suspension airbag assembly pressure adjustment in a vehicle running state, thereby ensuring the smoothness, comfort and handling stability of the vehicle under different working conditions and on different paved roads.

Description

An electronically controlled suspension control method, device and storage medium

Technical Field

The present invention relates to the field of automobile suspension control, and in particular to an electronically controlled suspension control method, device and storage medium.

Background technique

The suspension system is a device that elastically connects the vehicle frame and the axle, which can greatly reduce the impact of the road on the frame, ensuring the smoothness of the car's driving and the comfort of the driver. The traditional suspension system is mainly based on leaf springs, which are low-cost and easy to assemble, but the shock absorption effect depends on the leaf spring material and the height cannot be adjusted. The use of air suspension can better reduce the high-frequency excitation of the road surface and can adjust the vehicle height according to the actual usage scenario when combined with electronic control.

At present, electronically controlled air suspension has been widely used in passenger cars, commercial vehicles and some special trailers. Electronically controlled air suspension often adjusts the suspension height and suspension pressure bearing capacity according to the user's control. However, due to the diversity of automobile usage scenarios, the functions of existing electronically controlled air suspensions cannot meet the adjustment of the car frame under different working conditions and different road scenarios, resulting in poor stability, comfort and operational stability of the car.

Summary of the invention

In order to solve the above technical problem or at least partially solve the above technical problem, the present invention provides an electronically controlled suspension control method, device and storage medium.

In a first aspect, the present invention provides an electronically controlled suspension control method, which includes: adaptive suspension height adjustment in a vehicle running state, adaptive suspension height adjustment in a vehicle stationary state, and adaptive airbag assembly pressure adjustment in a vehicle running state;

Execute adaptive height adjustment of suspension in vehicle running state: when the vehicle is in running state, the engine speed signal is valid and the vehicle speed is greater than the set first vehicle speed threshold, and the overall height of the vehicle body is detected to be at a non-calibrated target height, the electronically controlled suspension airbag assembly is automatically inflated and deflated to change the height of the electronically controlled suspension to the calibrated target height;

Execute suspension height adjustment in the stationary state of the vehicle: when the vehicle is stationary, the vehicle power signal is valid and the vehicle speed is less than the set second vehicle speed threshold, and the overall height of the vehicle body or one side of the vehicle body is detected to be at a non-target height, the corresponding electronically controlled suspension airbag assembly is inflated or deflated in response to the double-sided or single-sided height adjustment signal to change the electronically controlled suspension height to the target height;

Execute adaptive airbag assembly pressure adjustment of the suspension in the vehicle running state: During the process of executing adaptive height adjustment of the suspension in the vehicle running state, if the vibration causes the suspension pressure signal and the height signal to change continuously for a period of set data, the current road spectrum information is collected and compared with the pre-stored reference road spectrum, wherein each reference road spectrum is set with a corresponding airbag assembly pressure strategy; select the airbag assembly pressure strategy of the reference road spectrum with the highest match to the current road spectrum information, and adjust the air pressure of the electronically controlled suspension airbag assembly in real time according to the selected air pressure strategy.

Furthermore, executing suspension height adjustment when the vehicle is at rest includes custom memory height adjustment: the vehicle is at rest, the vehicle power signal is valid, the vehicle body is detected to be at a non-target height, the target height is defined as a preset custom memory height, and the double-sided height adjustment signal of the height switch or remote control is responded to. The electronically controlled suspension airbag assembly is controlled to inflate and deflate to change the electronically controlled suspension height until the entire vehicle body is at the custom memory height.

Furthermore, executing suspension height adjustment when the vehicle is stationary includes unilateral height adjustment: the vehicle is stationary, the vehicle power signal is valid, it is detected that one side of the vehicle body is at a non-preset target height, and in response to the unilateral height adjustment signal of the unilateral height switch or remote control, the corresponding electronically controlled suspension airbag assembly is controlled to inflate and deflate to change the electronically controlled suspension height to the target height on one side of the vehicle body.

Furthermore, three fixed heights of the electronically controlled suspension are preset, and the three fixed heights of the electronically controlled suspension correspond to the three states of the height switch: high level, low level and suspended, respectively, and one of the fixed heights is the target height.

Furthermore, the first vehicle speed threshold is 25 km/h, and the second vehicle speed threshold is 2 km/h.

Furthermore, the height and pressure of the electronically controlled suspension airbag assembly are controlled through a PID algorithm.

In a second aspect, the present invention provides an electronically controlled suspension control device, comprising: a controller, the controller is electrically connected to a height sensor for measuring the height of a single side of a frame and the height of a whole vehicle, the controller is electrically connected to a pressure sensor for measuring the air pressure of an electronically controlled suspension airbag assembly, the controller is electrically connected to an automobile ECU for obtaining the vehicle speed state, engine speed, vehicle power state and air supply pressure request of the automobile, and feeding back the measured values of the height sensor and the air pressure sensor to the automobile ECU; the controller is electrically connected to a solenoid valve module, the solenoid valve module is connected to an air storage device and an electronically controlled suspension airbag assembly through an air supply pipeline, and the controller controls the state of the solenoid valve module to inflate and deflate the electronically controlled suspension airbag assembly, and adjust the air pressure of the electronically controlled suspension airbag assembly;

The controller and the automobile ECU are respectively connected to at least one memory, the memory is configured with a computer program, and the controller and the ECU execute the computer program to implement the electronically controlled suspension control method.

Furthermore, the controller is electrically connected to the height switch, the single-sided height switch and the remote controller, and receives double-sided height adjustment signals or single-sided height adjustment signals from the height switch, the single-sided height switch and the remote controller.

Furthermore, the solenoid valve module includes a first two-position two-way valve, a second two-position two-way valve and a two-position three-way valve, wherein the two-position three-way valve selectively connects an air inlet and an air outlet, or an air outlet and an exhaust port, the exhaust port is connected to the outside, the air inlet of the two-position three-way valve is connected to an air storage device with adjustable air supply pressure, the air outlet of the two-position three-way valve is respectively connected to the air inlets of the first two-position two-way valve and the second two-position two-way valve, and the air outlets of the first two-position two-way valve and the second two-position two-way valve are respectively connected to the electronically controlled suspension airbag assembly via a pressure regulating valve.

In a third aspect, the present invention provides a storage medium for implementing an electronically controlled suspension control method, wherein the storage medium for implementing an electronically controlled suspension control method stores at least one instruction, and the electronically controlled suspension control method is implemented by reading and executing the instruction.

The above technical solution provided by the embodiment of the present invention has the following advantages compared with the prior art:

The present invention relates to an electronically controlled suspension control method, device and storage medium. The controller of the present application is electrically connected to a height sensor for measuring the height of a single side of a frame and the height of a whole vehicle, the controller is electrically connected to a pressure sensor for measuring the air pressure of an electronically controlled suspension airbag assembly, and the controller is electrically connected to an automobile ECU; the controller is electrically connected to a solenoid valve module, the solenoid valve module is connected to an air storage device and an electronically controlled suspension airbag assembly through an air supply pipeline, and the controller controls the state of the solenoid valve module to inflate and deflate the electronically controlled suspension airbag assembly, so as to realize the self-adaptive height adjustment of the suspension in the vehicle running state, the height adjustment of the suspension in the vehicle stationary state and the pressure adjustment of the self-adaptive airbag assembly in the vehicle running state. The pressure and height of the airbag assemblies on both sides of the frame can be dynamically adjusted to meet the requirements of raising and lowering the electronically controlled suspension and driving smoothness during the operation of the vehicle, and to ensure the smoothness, comfort and handling stability of the vehicle under different working conditions and different paved roads.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

FIG1 is a flow chart of executing adaptive height adjustment of suspension in a vehicle running state in an electronically controlled suspension control method provided by an embodiment of the present invention;

FIG2 is a flow chart of a custom memory height adjustment for performing suspension height adjustment in a stationary state of a vehicle in an electronically controlled suspension control method provided by an embodiment of the present invention;

3 is a flow chart of a single-side height adjustment for adjusting the suspension height of a vehicle in a stationary state in an electronically controlled suspension control method provided by an embodiment of the present invention;

4 is a flow chart of performing pressure adjustment of a suspension adaptive airbag assembly in a vehicle running state in an electronically controlled suspension control method provided by an embodiment of the present invention;

FIG5 is a schematic diagram of an electronically controlled suspension control device provided by an embodiment of the present invention;

FIG6 is a schematic diagram of a solenoid valve module provided in an embodiment of the present invention;

FIG. 7 is a schematic diagram of the controller according to an embodiment of the present invention adjusting the air pressure and height of the electronically controlled suspension airbag assembly based on the PID algorithm.

Detailed ways

In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

Example 1

The embodiment of the present invention provides an electronically controlled suspension control method, which includes: adaptive suspension height adjustment in a vehicle running state, adaptive suspension height adjustment in a vehicle stationary state, and adaptive airbag assembly pressure adjustment in a vehicle running state;

Referring to FIG. 1 , the adaptive height adjustment of the suspension in the running state of the vehicle is performed: a calibrated target height is preset, and the controller controlling the electronically controlled suspension analyzes whether the vehicle is in the running state, whether the engine speed signal is valid and the vehicle speed is greater than the set first vehicle speed threshold, and the first vehicle speed threshold is 25 km/h. If the three conditions are not met, the adaptive height adjustment of the suspension in the running state of the vehicle is terminated; if the three conditions are met at the same time, it is detected whether the overall height of the vehicle body is at a non-calibrated target height. If so, the electronically controlled suspension airbag assembly is automatically inflated and deflated to change the height of the electronically controlled suspension to the calibrated target height, and the height control of the electronically controlled suspension airbag assembly is achieved through the PID algorithm.

Execute suspension height adjustment when the vehicle is stationary: when the vehicle is stationary, the vehicle power signal is valid and the vehicle speed is less than the set second vehicle speed threshold, the second vehicle speed threshold is 2km/h. When the overall height of the vehicle body or one side of the vehicle body is detected to be at a non-target height, the corresponding electronically controlled suspension airbag assembly is inflated or deflated in response to the double-sided or single-sided height adjustment signal to change the electronically controlled suspension height to the target height, and the height control of the electronically controlled suspension airbag assembly is achieved through the PID algorithm.

During the specific implementation process, referring to FIG. 2 , the suspension height adjustment when the vehicle is stationary includes the custom memory height adjustment, and the custom memory height adjustment includes: setting the target height as the custom memory height, and controlling the controller of the electronically controlled suspension to analyze whether the vehicle is stationary, whether the power signal of the vehicle is valid, and whether the vehicle speed is less than the set second vehicle speed threshold. If any of the three conditions are not met, the custom memory height adjustment is stopped. If all three conditions are met, it is detected whether the vehicle body is at the custom memory height. Otherwise, it responds to the double-sided height adjustment signal of the height switch or the remote control, controls the electronically controlled suspension airbag assembly to inflate and deflate, and changes the height of the electronically controlled suspension until the vehicle body as a whole is at the custom memory height. The height control of the electronically controlled suspension airbag assembly is achieved through the PID algorithm.

During the specific implementation, three fixed heights of the electronically controlled suspension are preset, and the three fixed heights of the electronically controlled suspension correspond to the three states of the height switch: high level, low level and suspended, respectively, and one of the fixed heights is the target height.

Referring to FIG. 3 , the suspension height adjustment in the stationary state of the vehicle includes unilateral height adjustment, which includes: determining the target height of the unilateral side, as a preferred embodiment, monitoring whether the two sides of the frame are at the same level through the attitude sensor, if the two sides of the frame are not at the same level, taking the level of one side of the frame as the target height, adjusting the level of the other side of the frame. The controller for controlling the electronically controlled suspension analyzes whether the vehicle is in a stationary state, whether the vehicle power signal is valid, and whether the vehicle speed is less than the set second vehicle speed threshold. If the three conditions are not met, the unilateral height adjustment is stopped. If the three conditions are met, it is detected whether the single side of the vehicle body is at the preset target height, otherwise, in response to the unilateral height adjustment signal of the unilateral height switch or the remote controller, the corresponding electronically controlled suspension airbag assembly is controlled to inflate and deflate to change the height of the electronically controlled suspension to the target height of the single side of the vehicle body, and the height control of the electronically controlled suspension airbag assembly is realized through the PID algorithm.

Referring to FIG. 4 , executing the adaptive airbag assembly pressure regulation of the suspension in the vehicle running state includes: in the process of executing the adaptive height adjustment of the suspension in the vehicle running state, that is, the vehicle is in the running state, the engine speed signal is valid and the vehicle speed is greater than the set first vehicle speed threshold, detecting whether the suspension pressure signal and the height signal changes caused by vibration continuously reach the set data period, and if so, collecting the current road spectrum information and comparing it with the pre-stored reference road spectrum, wherein each of the reference road spectrums corresponds to a corresponding airbag assembly pressure strategy; selecting the airbag assembly pressure strategy of the reference road spectrum with the highest matching degree with the current road spectrum information, adjusting the air pressure of the electronically controlled suspension airbag assembly in real time according to the selected air pressure strategy, and realizing the pressure control of the electronically controlled suspension airbag assembly through the PID algorithm.

Example 2

Referring to FIG. 5 , an embodiment of the present invention provides an electronically controlled suspension control device, comprising: a controller, wherein the controller adopts an ECAS controller, wherein the controller is electrically connected to a height sensor for measuring the height of a single side of a vehicle frame and the height of the entire vehicle, wherein the height sensor causes a change in internal electromagnetic induction due to an angle change, and the output voltage value changes so that the controller can determine the height of the vehicle frame according to the voltage change; wherein the controller is electrically connected to an air pressure sensor for measuring the air pressure of an electronically controlled suspension airbag assembly, wherein the air pressure sensor adopts a capacitive induction air pressure sensor, wherein the capacitance changes due to a change in the internal pressure of the airbag assembly, and the capacitance changes, and a PWM wave duty cycle changes accordingly, and the controller determines the airbag assembly pressure according to the PWM change.

The controller is electrically connected to the solenoid valve module, and the solenoid valve module is connected to the gas storage device and the electronically controlled suspension airbag assembly through the air supply pipeline. The controller controls the state of the solenoid valve module to inflate and deflate the electronically controlled suspension airbag assembly and adjust the air pressure of the electronically controlled suspension airbag assembly. In the specific implementation process, referring to FIG5, the solenoid valve module includes a first two-position two-way valve, a second two-position two-way valve and a two-position three-way valve, wherein the two-position three-way valve selectively connects the air inlet and the air outlet, or the air outlet and the exhaust port, the exhaust port is connected to the outside, the air inlet of the two-position three-way valve is connected to the gas storage device with adjustable air supply pressure, the air outlet of the two-position three-way valve is respectively connected to the air inlet of the first two-position two-way valve and the second two-position two-way valve, and the air outlet of the first two-position two-way valve and the second two-position two-way valve is respectively connected to the electronically controlled suspension airbag assembly through the pressure regulating valve. The control ends of the two-position three-way valve, the first two-position two-way valve, the second two-position two-way valve and the pressure regulating valve are connected to the controller.

When inflating, the controller controls the control end of the two-position three-way valve to be powered on, and the two-position three-way valve is actuated to connect the air inlet to the air outlet; when the control end of the first two-position two-way valve and/or the second two-position two-way valve is powered on, the electronically controlled suspension airbag assembly on both sides of the electronically controlled suspension or the electronically controlled suspension airbag assembly on one side is inflated. When deflation occurs, the controller controls the control end of the two-position three-way valve to be powered off, and the two-position three-way valve connects the air outlet to the exhaust port; the controller controls the first two-position two-way valve and/or the second two-position two-way valve to be powered on, and the electronically controlled suspension airbag assembly on both sides or the electronically controlled suspension airbag assembly on one side is deflated.

The controller is electrically connected to the height switch, the single-side height switch and the remote controller, and receives double-side height adjustment signals or single-side height adjustment signals from the height switch, the single-side height switch and the remote controller.

The controller is electrically connected to the automobile ECU. It is used to obtain the vehicle speed state, engine speed, vehicle power state and air supply pressure request of the vehicle and to feed back the measured values of the height sensor and the air pressure sensor to the automobile ECU. The controller and the automobile ECU are respectively connected to at least one memory, the memory is configured with a computer program, and the controller and the automobile ECU execute the computer program to implement the electronic suspension control method.

Execute adaptive height adjustment of the suspension in the vehicle running state: When the controller determines that the vehicle is in the running state, the engine speed signal is valid and the vehicle speed is greater than the set first vehicle speed threshold, and detects that the overall height of the vehicle body is at a non-calibrated target height, the electronically controlled suspension airbag assembly is automatically inflated and deflated to change the height of the electronically controlled suspension to the calibrated target height.

Execute suspension height adjustment in the stationary state of the vehicle: when the vehicle is stationary, the vehicle power signal is valid and the vehicle speed is less than the set second vehicle speed threshold, and the overall height of the vehicle body or one side of the vehicle body is detected to be at a non-target height, the corresponding electronically controlled suspension airbag assembly is inflated or deflated in response to the double-sided or single-sided height adjustment signal to change the electronically controlled suspension height to the target height;

Execute the adaptive airbag assembly pressure adjustment of the suspension in the running state of the vehicle: During the process of executing the adaptive height adjustment of the suspension in the running state of the vehicle, if the vibration causes the suspension pressure signal and the height signal to change continuously to the period of the set data, the current road spectrum information is collected and compared with the pre-stored reference road spectrum, wherein each of the reference road spectrums is corresponding to the corresponding airbag assembly pressure strategy; the airbag assembly pressure strategy of the reference road spectrum with the highest matching degree with the current road spectrum information is selected, and the air pressure of the electronically controlled suspension airbag assembly is adjusted in real time according to the selected air pressure strategy. In the specific implementation process, the automobile ECU determines whether the suspension pressure signal and the height signal change continuously reach the period of the set data based on the measured values of the height sensor and the air pressure sensor fed back by the controller. If yes, the current road spectrum information is collected and compared with the pre-stored reference road spectrum, wherein each of the reference road spectrums is corresponding to the corresponding airbag assembly pressure strategy, and the air pressure in the airbag assembly pressure strategy is fed back to the controller in the form of air supply pressure request, as shown in FIG7, and the controller realizes the height and pressure control of the electronically controlled suspension airbag assembly through the PID algorithm.

Example 3

An embodiment of the present invention provides a storage medium for implementing an electronically controlled suspension control method. The storage medium for implementing an electronically controlled suspension control method stores at least one instruction, and the electronically controlled suspension control method is implemented by reading and executing the instruction.

In the embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

The foregoing is merely a specific embodiment of the present invention, which enables those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features claimed herein.

Claims (10)

1. An electric control suspension control method is characterized by comprising the following steps: vehicle running state suspension self-adaptive height adjustment, vehicle stationary state suspension height adjustment and vehicle running state suspension self-adaptive air bag assembly pressure adjustment;

performing vehicle running state suspension adaptive height adjustment: when the vehicle is in a running state, an engine rotating speed signal is effective, the vehicle speed is greater than a set first vehicle speed threshold value, and the whole height of the vehicle body is detected to be at a non-calibration target height, the electric control suspension air bag assembly is automatically inflated and deflated to change the height of the electric control suspension to the calibration target height;

Performing vehicle stationary state suspension height adjustment: when the vehicle is in a static state, the power supply signal of the whole vehicle is effective, the vehicle speed is smaller than a set second vehicle speed threshold value, and the whole height of the vehicle body or a single side of the vehicle body is detected to be at a non-target height, the corresponding electric control suspension air bag assembly is inflated and deflated to change the electric control suspension height to the target height in response to the double-side or single-side height adjusting signal;

Performing vehicle run state suspension adaptive air bag assembly pressure adjustment: in the process of executing the self-adaptive height adjustment of the suspension in the running state of the vehicle, vibration causes the suspension pressure signal and the height signal to change continuously to reach the period of the set data, the current road spectrum information is collected and compared with the prestored reference road spectrum, wherein each reference road spectrum is correspondingly provided with a corresponding air bag assembly pressure strategy; and selecting an air bag assembly pressure strategy of a reference road spectrum with highest matching degree with the current road spectrum information, and adjusting the air pressure of the air bag assembly of the electric control suspension in real time according to the selected air pressure strategy.

2. The electrically controlled suspension control method according to claim 1 wherein performing a vehicle stationary state suspension height adjustment includes a custom memory height adjustment: the vehicle is in a static state, the power supply signal of the whole vehicle is effective, the vehicle body is detected to be at a non-target height, the target height is defined as a preset self-defined memory height, and the electric control suspension air bag assembly is controlled to be inflated and deflated to change the electric control suspension height to the self-defined memory height of the whole vehicle body in response to the double-side height adjusting signal of the height switch or the remote controller.

3. The electrically controlled suspension control method according to claim 1 wherein performing a vehicle stationary state suspension height adjustment includes a one-sided height adjustment: the vehicle is in a static state, the power supply signal of the whole vehicle is effective, the single side of the vehicle body is detected to be at a non-preset target height, and the single side height adjusting signal of a single side height switch or a remote controller is responded to control the corresponding electric control suspension air bag assembly to charge and discharge to change the height of the electric control suspension to the target height of the single side of the vehicle body.

4. The method for controlling an electrically controlled suspension according to claim 2, wherein the fixed heights of three electrically controlled suspensions are preset, and the fixed heights of the three electrically controlled suspensions correspond to three states of high level, low level and suspension of the height switch, respectively, wherein one of the fixed heights is a target height.

5. The method of electrically controlled suspension control according to claim 1, wherein the first vehicle speed threshold is 25km/h and the second vehicle speed threshold is 2km/h.

6. The method of controlling an electrically controlled suspension according to claim 1, wherein the control of the height and pressure of the electrically controlled suspension air bag assembly is achieved by a PID algorithm.

7. An electrically controlled suspension control device, comprising: the controller is electrically connected with a height sensor for measuring the height of one side of the frame and the height of the whole vehicle, the controller is electrically connected with an air pressure sensor for measuring the air pressure of the air bag assembly of the electric control suspension, and the controller is electrically connected with an automobile ECU for acquiring the speed state of the automobile, the engine rotating speed, the power supply state of the whole vehicle and the air supply pressure request of the air supply and feeding back the measured values of the height sensor and the air pressure sensor to the automobile ECU; the controller is electrically connected with the electromagnetic valve module, the electromagnetic valve module is connected with the gas storage device and the electric control suspension air bag assembly through a gas supply pipeline, and controls the state of the electromagnetic valve module to charge and discharge the electric control suspension air bag assembly, so that the air pressure of the electric control suspension air bag assembly is adjusted;

the controller and the automobile ECU are respectively connected with at least one memory, the memory is provided with a computer program, and the controller and the ECU execute the computer program to realize the electric control suspension control method according to any one of claims 1-6.

8. The electrically controlled suspension control device of claim 7 wherein the controller is electrically connected to the height switch, the one-sided height switch and the remote control and receives a two-sided height adjustment signal or a one-sided height adjustment signal of the height switch, the one-sided height switch and the remote control.

9. The electrically controlled suspension control device according to claim 7, wherein the solenoid valve module includes a first two-way valve, a second two-way valve, and a two-way three-way valve, wherein the two-way three-way valve is selectively connected to the air inlet and the air outlet, or the air outlet and the air outlet, the air outlet is connected to the outside, the air inlet of the two-way three-way valve is connected to the air storage device with adjustable air supply pressure, the air outlet of the two-way three-way valve is connected to the air inlets of the first two-way valve and the second two-way valve, and the air outlets of the first two-way valve and the second two-way valve are connected to the electrically controlled suspension air bag assembly via pressure regulating valves, respectively.

10. A storage medium for implementing an electrically controlled suspension control method, wherein the storage medium for implementing an electrically controlled suspension control method stores at least one instruction, and reading and executing the instruction implements the electrically controlled suspension control method according to any one of claims 1 to 6.