CN112572084B - Vehicle and control method and device thereof - Google Patents

Abstract

The present application proposes a vehicle and a control method and device thereof, wherein the vehicle is provided with an independent electromagnetic suspension, and each electromagnetic suspension is provided with a first electromagnet assembly and a second electromagnet assembly facing each other, The method includes the following steps: identifying an application scenario of the vehicle, and acquiring current demand information under the application scenario; generating an adjustment instruction for the electromagnetic suspension according to the demand information; and according to the adjustment instruction, The electromagnetic force between the first electromagnet assembly and the second electromagnet assembly is controlled to suppress the body tilt in the vehicle driving scene or simulate the body tilt in the in-vehicle entertainment scene, which not only ensures the safety of the vehicle Sex and comfort, and added entertainment.

Description

Vehicle and its control method and device

technical field

The present invention relates to the technical field of vehicles, and in particular, to a vehicle and a control method and device thereof.

Background technique

In the related art, an electric vehicle usually adopts an independent suspension to achieve vibration reduction, energy recovery and other purposes through the suspension. However, the problem in the related art is that the suspension can only be passively adjusted according to environmental factors to achieve the purpose of damping vibration, so that the driver and passengers can still feel the vibration, and the entertainment is poor.

SUMMARY OF THE INVENTION

The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

Therefore, the first object of the present invention is to propose a vehicle control method, so as to suppress the body tilt in the vehicle driving scene or simulate the body tilt in the in-vehicle entertainment scene, which not only ensures the safety and comfort of the vehicle, Added entertainment.

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

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

A fourth object of the present invention is to provide a computer-readable storage medium.

In order to achieve the above purpose, the embodiment of the first aspect of the present invention provides a control method for a vehicle. The vehicle is provided with an independent electromagnetic suspension, and each electromagnetic suspension is provided with a first electromagnet assembly and a second electromagnet assembly facing each other. Second electromagnet assembly, the method includes the following steps: identifying an application scenario of the vehicle, and acquiring current demand information in the application scenario; generating an adjustment instruction for the electromagnetic suspension according to the demand information; According to the adjustment command, the electromagnetic force between the first electromagnet assembly and the second electromagnet assembly is controlled.

According to an embodiment of the present invention, the acquiring the current demand information in the application scenario includes: in the application scenario where the vehicle is driving, acquiring the road surface information in front of the driving road and/or the driving instructions of the driver and passengers, respectively, Based on the road surface information and/or the driving instructions, the first demand information is formed; in the application scenario of in-vehicle entertainment, entertainment information and/or entertainment control instructions of the driver and passengers are respectively obtained, based on the entertainment information and/or The entertainment control instructions form second demand information.

According to an embodiment of the present invention, when the demand information is the first demand information, the generating the adjustment instruction for the electromagnetic suspension by detecting the road surface information according to the sensor includes: when the road surface information is uneven road surface , obtain the road bump height value and the chassis height value; when the chassis height value is less than or equal to the road surface bump height value, control the first electromagnet assembly and the second electromagnet assembly of the vehicle The magnetics are the same to increase the ride height.

According to an embodiment of the present invention, when the demand information is the second demand information, the generating an adjustment instruction for the electromagnetic suspension according to the demand information includes: according to the entertainment information and/or the The entertainment control instruction is used to calculate the second inclination direction of the vehicle body; according to the second inclination direction, the electromagnetic force between the first electromagnet assembly and the second electromagnet assembly is controlled to simulate the The sloping trend in the second sloping direction.

According to an embodiment of the present invention, the electromagnetic force between the first electromagnet assembly and the second electromagnet assembly is controlled according to the second inclination direction, so as to simulate the second inclination A tilting trend in the direction, including: controlling the first electromagnet assembly and the second electromagnet assembly of the electromagnetic suspension in the same direction as the second tilting direction to be in a second magnetic state; and/or The first electromagnet assembly and the second electromagnet assembly of the electromagnetic suspension opposite to the second inclination direction are controlled to be in a first magnetic state.

According to an embodiment of the present invention, the control method further includes: obtaining a second inclination angle according to the second demand information; The magnitude of the current of the first electromagnet assembly and the second electromagnet assembly.

According to an embodiment of the present invention, according to the entertainment information, the current simulated vibration situation is determined; the magnetic force between the first electromagnet assembly and the second electromagnet assembly of each of the electromagnetic suspensions is controlled and the magnetic state between the first electromagnet assembly and the second electromagnet assembly of at least one of the electromagnetic suspensions is the same as that of the first electromagnet assembly of the other electromagnetic suspensions and the magnetic state of the second electromagnet assembly is different.

The vehicle control method according to the embodiment of the present invention can respectively control the independent electromagnetic suspension in the application scenario of vehicle driving and the application scenario of in-vehicle entertainment, so as to suppress the generation of inertia or centrifugal force of the vehicle body in the application scenario of vehicle driving. It can improve the safety and comfort of the vehicle, and simulate the inclination trend of the body caused by inertia or centrifugal force in the application scenario of in-vehicle entertainment, thereby improving the entertainment of the vehicle.

In order to achieve the above purpose, a second aspect of the present invention provides a control device for a vehicle, comprising: the vehicle is provided with an independent electromagnetic suspension, and each electromagnetic suspension is provided with a first electromagnet assembly facing each other and a second electromagnet assembly, the device includes: an identification module for identifying the application scenario of the vehicle and obtaining current demand information under the application scenario; a generation module for, according to the demand information, An adjustment instruction for the electromagnetic suspension is generated; and a control module is configured to control the electromagnetic force between the first electromagnet assembly and the second electromagnet assembly according to the adjustment instruction.

In order to achieve the above object, the embodiment of the third aspect of the present invention provides a vehicle, comprising: independent electromagnetic suspensions, wherein each electromagnetic suspension is provided with a first electromagnet assembly and a second electromagnet assembly facing each other. into; the control device of the vehicle.

In order to achieve the above objective, an embodiment of the fourth aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the vehicle control method is implemented.

Additional aspects and advantages of the present invention will be set forth, in part, from the following description, and in part will be apparent from the following description, or may be learned by practice of the invention.

Description of drawings

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

1a is a schematic structural diagram of an electromagnetic suspension according to an embodiment of the present invention;

FIG. 1 is a flowchart of a vehicle control method according to an embodiment of the present invention;

FIG. 2 is a flowchart of a control method of a vehicle according to an embodiment of the present invention;

3 is a flowchart of a vehicle control method according to another embodiment of the present invention;

FIG. 4 is a flowchart of a vehicle control method according to still another embodiment of the present invention;

FIG. 5 is a flowchart of a vehicle control method according to still another embodiment of the present invention;

FIG. 6 is a flowchart of a vehicle control method according to still another embodiment of the present invention;

FIG. 7 is a flowchart of a vehicle control method according to still another embodiment of the present invention;

8 is a schematic block diagram of a control device of a vehicle according to an embodiment of the present invention;

FIG. 9 is a schematic block diagram of a vehicle according to an embodiment of the present invention.

Reference numerals: 1, dust cover; 2, strut nut; 3, mounting bolt; 4, upper mounting seat; 5, bearing; 6, first electromagnet assembly; 7, first electromagnet mounting frame; 8, Spring pad; 9. Buffer block; 10. Dust jacket; 11. Oil seal; 12. Second electromagnet assembly; 13. Cylinder body; 14. Distance sensor; 15. Coil spring.

Detailed ways

The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to explain the present invention and should not be construed as limiting the present invention.

The following describes a vehicle and a control method and device thereof according to the embodiments of the present invention with reference to the accompanying drawings.

The vehicle involved in the present application is provided with an independent electromagnetic suspension, and each electromagnetic suspension is provided with a first electromagnet assembly and a second electromagnet assembly facing each other. Among them, the electromagnetic suspension device is connected with a control module in parallel, a first electromagnet assembly is added to the upper part, and a second electromagnet assembly is added to the lower part. As shown in Figure 1a, the electromagnetic suspension includes: a dust cover 1, a strut Nut 2, mounting bolt 3, upper mounting seat 4, bearing 5, first electromagnet assembly 6, first electromagnet mounting frame 7, spring washer 8, buffer block 9, dust jacket 10, oil seal 11, second solenoid Iron assembly 12 , cylinder 13 , distance sensor 14 , coil spring 15 . The first electromagnet assembly 6 is fixed through the first electromagnet mounting bracket 7 , and the second electromagnet assembly 12 is installed and fixed through the cylinder 13 . Based on the electromagnetic suspension, by controlling the direction and magnitude of the electromagnetic force of the first electromagnet assembly and the second electromagnet assembly, the purpose of adjusting the height of the suspension, optimizing the damping characteristics, and adjusting the height of the vehicle body is achieved. It can be understood that the opposite setting is the opposite setting. Compared with the existing electromagnetic spring shock absorber, the device has the advantages of high reliability, low energy consumption, low coil heat dissipation pressure, fast response speed, High reliability, low maintenance cost, small footprint and long service life.

FIG. 1 is a flowchart of a vehicle control method according to an embodiment of the present invention. As shown in FIG. 1 , the vehicle control method according to the embodiment of the present invention includes:

S101: Identify the application scenario of the vehicle, and obtain current demand information in the application scenario.

It should be noted that the application scenarios include the application scenarios in which the vehicle is in a driving state and the application scenarios in which the vehicle is in a parked state. When driving, you can watch audio and video or simulate driving entertainment through the vehicle, or play games through the vehicle equipment.

Among them, in the application scenario of vehicle driving, the road surface information in front of the driving road and/or the driving instructions of the driver and passengers are respectively obtained, and the first demand information is formed based on the road surface information and/or driving instructions; in the application scenario of in-vehicle entertainment; , obtain the entertainment information and/or the entertainment control instructions of the driver and passengers respectively, and form the second demand information based on the entertainment information and/or the entertainment control instructions.

Wherein, the road surface information may be the information of the road surface condition in front of the driving road detected by the sensor. In the embodiment of the present invention, the road surface may be scanned by GPS, radar/laser sensor, etc. to obtain the road surface information, and the driving instruction may be the driving command The control commands input by the occupants during the driving process of the vehicle, such as acceleration, deceleration, braking, etc. In this embodiment of the present invention, a GPS, a radar/laser sensor, etc. may be used to scan the road surface to obtain road surface information. The entertainment information includes the scene information in the video and audio playback scene, the movement state of the traffic equipment, and the environment information in the simulated game scene, and the environment information may be road information. The entertainment control instructions may be control instructions for the driver and passenger in the game scene, such as acceleration, deceleration, braking, and the like.

Therefore, the present application can obtain different demand information according to different scenarios, so as to realize the control of different posture demands during the driving process of the vehicle or in the parking state of the vehicle, and increase the diversity and pertinence of the control.

S102: According to the demand information, an adjustment command for the electromagnetic suspension is generated.

S103: Control the electromagnetic force between the first electromagnet assembly and the second electromagnet assembly according to the adjustment instruction.

Therefore, the vehicle control method according to the embodiment of the present invention can respectively control the independent electromagnetic suspension in the application scenario of vehicle driving and the application scenario of in-vehicle entertainment, so as to suppress the inertia of the vehicle body in the application scenario of vehicle driving. Or the tilting trend caused by centrifugal force to improve the safety and comfort of the vehicle, and simulate the tilting trend of the body due to inertia or centrifugal force in the application scenario of in-vehicle entertainment, thereby improving the entertainment of the vehicle.

According to an embodiment of the present invention, when the vehicle is in a driving application scenario, the acquired demand information is the first demand information.

Among them, as shown in Figure 2, according to the demand information, the adjustment command of the electromagnetic suspension is generated, including:

S201: Identify the first tilt direction of the vehicle body according to the road surface information and/or the driving instruction.

S202: Control the electromagnetic force between the first electromagnet assembly and the second electromagnet assembly according to the first tilt direction, so as to suppress the tilt trend in the first tilt direction.

It should be understood that, during the driving process of the vehicle, due to acceleration, braking, turning, as well as the uphill, downhill, and unequal factors of the road, the vehicle body will produce a leaning posture due to inertia. For example, when the vehicle accelerates sharply, it will tend to tilt backward due to inertia, and when the vehicle brakes suddenly, it will tend to tilt forward with the rear rising due to inertia, and when the road surface is sloping, the vertical pitch attitude etc.; or lateral roll due to centrifugal force when the vehicle turns sharply.

The first inclination direction specifically refers to the inclination direction of the vehicle due to comprehensive reasons such as road surface, vehicle speed, driving command and inertia during driving, wherein the direction of the lower side in the inclination is the first inclination direction. Specifically, according to the first tilt direction, controlling the electromagnetic force between the first electromagnet assembly and the second electromagnet assembly to suppress the tilt trend in the first tilt direction includes: controlling the same direction as the first tilt direction The first electromagnet assembly and the second electromagnet assembly of the electromagnetic suspension are in the first magnetic state; and/or the first electromagnet assembly and the second electromagnet assembly of the electromagnetic suspension opposite to the first tilt direction are controlled The iron assembly is in a second magnetic state.

Wherein, the first magnetic state is the same-pole repulsion state, and the second magnetic state is the opposite-pole attracting state. The first inclination direction is the inclination direction in the application scenario of vehicle driving, and is not limited to a specific inclination direction. It should be understood that the control of the electromagnetic state can be achieved by controlling the direction of the current in the first electromagnet assembly and the second electromagnet assembly, wherein when the first electromagnet assembly and the second electromagnet assembly are In the first magnetic state, the current directions of the first electromagnet assembly and the second electromagnet assembly can be controlled to be opposite, and when the first electromagnet assembly and the second electromagnet assembly are in the second magnetic state, the second electromagnet assembly can be controlled. The current direction of the first electromagnet assembly and the second electromagnet assembly is the same.

That is to say, when the vehicle tends to tilt in the first tilt direction due to road information and/or driving instructions, the first electromagnet assembly and the second solenoid of the electromagnetic suspension in the same direction as the first tilt direction can be controlled. The iron assemblies are of the same polarity to allow mutual repulsion between the first electromagnet assembly and the second electromagnet assembly to increase ride height, reduce lean tendencies, and/or control electromagnetic suspension in the opposite direction to the first lean direction The first electromagnet and the second electromagnet have different polarities, so that the first electromagnet assembly and the second electromagnet assembly attract each other to reduce the height of the vehicle body and reduce the tendency to tilt.

For example, on a smooth road, when the driving command is emergency braking, the body will tilt forward due to inertia, that is, the first tilt direction is that the vehicle tilts forward. For example, if there are 4 suspensions on the car, at this time, the first electromagnet assembly and the second electromagnet assembly that control the electromagnetic suspension on the left and right sides of the front axle repel each other with the same pole, and at the same time control the left and right sides of the rear axle. The first electromagnet assembly and the second electromagnet assembly of the electromagnetic suspension on the right side attract each other in opposite directions, thereby restraining the vehicle from appearing in a braking nodding posture. In the same way, the reverse control can be used to restrain the vehicle from accelerating and raising its head during rapid acceleration.

For another example, when the driving command is a sharp left turn on a smooth road, the control unit controls the first electromagnet assembly and the second electromagnet assembly of the electromagnetic suspension at the front and rear ends of the left side to attract each other at opposite poles, and controls the The first electromagnet assembly and the second electromagnet assembly of the electromagnetic suspension at the front and rear ends of the right side repel each other with the same pole, thereby restraining the vehicle from turning and rolling. In the same way, the control can be reversed when turning sharply to the right to suppress the vehicle from turning roll.

Further, the control method of the vehicle, as shown in Figure 3, also includes:

S301: Acquire a first tilt angle according to the first demand information.

S302: Acquire current magnitudes for controlling the first electromagnet assembly and the second electromagnet assembly according to the mapping relationship between the first inclination angle and the current magnitude.

That is to say, the magnitude of the electromagnetic force between the first electromagnet assembly and the second electromagnet assembly can be controlled by controlling the magnitude of the current of the first electromagnet assembly and the second electromagnet assembly, so that the magnitude of the electromagnetic force can be controlled by controlling the magnitude of the electromagnetic force. The control realizes the control of the body posture adjustment size.

Specifically, the first inclination angle of the vehicle inclination can be obtained by calculation according to road surface information and/or driving instructions, and then according to the mapping relationship between the first inclination angle and the current magnitude, the first inclination angle used to control the first electromagnet assembly and the electric current can be obtained. The magnitude of the current of the second electromagnet assembly, and then the magnitude of the electromagnetic force between the first electromagnet assembly and the second electromagnet assembly is controlled according to the obtained magnitude of the current, so as to adjust the body tilt posture.

It should be understood that when the body is tilted, when only one electromagnetic suspension in the tilting direction is controlled, the current corresponding to the mapping relationship is relatively large, and when the electromagnetic suspensions on both sides in the tilting direction are controlled at the same time, the mapping relationship The corresponding current is smaller, thereby saving energy while maintaining user comfort.

It should also be noted that the driving command may include a pedal opening, and the pedal opening has a positive mapping relationship with the magnitude of the current. The pedals may include accelerator pedals and brake pedals.

Further, when the demand information is the first demand information, according to the road surface information detected by the sensor, an adjustment instruction for the electromagnetic suspension is generated, including obtaining the road surface bump height value and the chassis height value when the road surface information is uneven road surface; When the value is less than or equal to the road bump height value, the first electromagnet assembly and the second electromagnet assembly of the control vehicle have the same magnetic properties to increase the chassis height.

Among them, the road surface roughness means that the road surface is uneven, such as a road under maintenance, a gravel road, and the like.

That is to say, when the acquired road surface information is that the road surface is uneven, the magnetic properties of the first electromagnet assembly and the second electromagnet assembly that can control all the electromagnetic suspensions of the vehicle are opposite.

Further, before controlling the electromagnetic suspension, you can also compare the height of the vehicle body with the height of the bumps to determine whether the height of the vehicle chassis is less than or equal to the height of the bumps on the road, that is, there is a risk of scratching the chassis, and control the height of all electromagnetic suspensions. The first electromagnet assembly and the second electromagnet assembly have the same polarity, so as to raise the overall height of the vehicle body and avoid the risk of scratching the chassis when the vehicle travels on this road section. When there is a risk of scratching the chassis, the magnitude of the current of the first electromagnet assembly and the second electromagnet assembly is controlled according to the difference between the road surface unevenness value and the chassis height value.

It should also be noted that when the road surface of the vehicle is smooth and there is no sharp turning, sudden braking, sudden acceleration and other working conditions, the electromagnetic suspension can be controlled to obtain the preset body height to keep the vehicle running smoothly.

According to another embodiment of the present invention, the vehicle is in an application scenario of in-vehicle entertainment, and the acquired demand information is the second demand information.

It should be noted that the application scenarios of in-vehicle entertainment include audio and video playback scenarios and game simulation scenarios. The video and audio playback scenarios are simulated by the vehicle to simulate the moving state of the traffic equipment in the video, and the simulated game scenario is to use the driver and passengers to experience driving by simulating the driving control of the vehicle. Games, such as racing games, etc.

It should be understood that, before executing the application scenario of in-vehicle entertainment, it is necessary to detect whether the vehicle state meets the conditions for motion simulation, so as to ensure the safety of the scenario running simulation. Among them, the suspension and body state can be obtained in real time through wheel speed sensors, vehicle attitude angle sensors, suspension travel sensors, etc. When it is detected that the body is in a driving state, the gear is in a driving state, the parking brake is not turned on, and the body tilt angle is detected. When the angle is greater than the preset angle or the door is opened, it is determined that the motion simulation cannot be performed. Motion simulation is activated via infotainment and entertainment control commands when motion simulation is available.

Among them, as shown in Figure 4, according to the demand information, the adjustment command of the electromagnetic suspension is generated, including:

S401: Identify the second tilt direction of the vehicle body according to the entertainment information and/or the entertainment control instruction.

Wherein, the entertainment information includes scene information in the video and audio playback scene, the movement state of the traffic equipment, and the environment information in the simulated game scene, and the environment information may be road information.

S402: Control the electromagnetic force between the first electromagnet assembly and the second electromagnet assembly according to the second tilt direction, so as to simulate the tilt trend in the second tilt direction.

It should be understood that, during the driving process of the vehicle, due to acceleration, braking, turning, as well as the uphill, downhill, and unequal factors of the road, the vehicle body will produce a leaning posture due to inertia. For example, when the vehicle accelerates sharply, it will tend to tilt backward due to inertia, and when the vehicle brakes suddenly, it will tend to tilt forward with the rear rising due to inertia, and when the road surface is sloping, the vertical pitch attitude etc.; or lateral roll due to centrifugal force when the vehicle turns sharply. Therefore, in order to enable the user to perform entertainment activities through the vehicle, the vehicle posture can be simulated and controlled, so that the body posture can simulate the inclination of the vehicle in the running state, so as to improve the user's entertainment experience.

Wherein, when the entertainment information is the scene information in the video and audio playback scene, it can specifically be the comprehensive information of the road surface information and the traffic equipment status information in the audio and video environment; when the entertainment information is the environmental information in the simulated game scene, it can specifically be Venue information for game competitions, such as city tracks, mountain tracks, off-road tracks, etc.

Therefore, in this embodiment, by controlling the electromagnetic force between the first electromagnet assembly and the second electromagnet assembly, it is possible to simulate the moving state of the traffic equipment in the audio and video playback scene or simulate the driver and passengers in the game scene by adjusting the According to the control requirements of the vehicle, the vehicle can actively generate the inclination corresponding to the entertainment information, so that the inclination, shaking or bumping caused by the entertainment can be reflected on the real vehicle, and the occupant experience effect is good.

Specifically, according to the second tilt direction, controlling the electromagnetic force between the first electromagnet assembly and the second electromagnet assembly to simulate the tilt trend in the second tilt direction, including: controlling the same direction as the first tilt direction The first electromagnet assembly and the second electromagnet assembly of the electromagnetic suspension are in a second magnetic state; and/or the first electromagnet assembly and the second electromagnet assembly of the electromagnetic suspension opposite to the first tilt direction are controlled The iron assembly is in a first magnetic state.

Wherein, the first magnetic state is the same-pole repulsion state, and the second magnetic state is the opposite-pole attracting state. The second inclination direction is the inclination direction in the application scenario of in-vehicle entertainment, and is not limited to a specific inclination direction. It should be understood that the control of the electromagnetic state can be achieved by controlling the direction of the current in the first electromagnet assembly and the second electromagnet assembly, wherein when the first electromagnet assembly and the second electromagnet assembly are In the first magnetic state, the current directions of the first electromagnet assembly and the second electromagnet assembly can be controlled to be opposite, and when the first electromagnet assembly and the second electromagnet assembly are in the second magnetic state, the second electromagnet assembly can be controlled. The current direction of the first electromagnet assembly and the second electromagnet assembly is the same.

That is to say, when the vehicle tends to tilt in the second tilt direction due to entertainment information and/or entertainment control commands, the first electromagnet assembly and the second solenoid assembly of the electromagnetic suspension in the same direction as the second tilt direction can be controlled by The electromagnet assemblies are of opposite polarity to allow mutual attraction between the first electromagnet assembly and the second electromagnet assembly to lower the ride height, increase the lean tendency, and/or control the electromagnet in the opposite direction to the second lean direction The first electromagnet and the second electromagnet of the suspension are of the same polarity, so that the first electromagnet assembly and the second electromagnet assembly repel each other to raise the vehicle height and increase the inclination tendency.

For example, when the road surface in the game scene is a smooth road surface and the entertainment control command is emergency braking, it is necessary to simulate the posture of the vehicle body tilting forward due to inertia, that is, the second tilt direction is forward. At this time, the first electromagnet assembly and the second electromagnet assembly of the electromagnetic suspension on the left and right sides of the front axle are controlled to attract each other, and the first electromagnet assembly of the electromagnetic suspension on the left and right sides of the rear axle is controlled at the same time. The iron assembly and the second electromagnet assembly repel with the same pole, thereby simulating the vehicle's braking nodding attitude. In the same way, the reverse control can be performed during rapid acceleration to simulate the attitude of the vehicle when it accelerates and raises its head.

For another example, when the road surface in the game scene is a smooth road surface and the entertainment control command is a sharp left turn, the control unit controls the first electromagnet assembly and the second electromagnet assembly of the electromagnetic suspension at the front and rear ends of the left side. The same poles repel each other, and the first electromagnet assembly and the second electromagnet assembly that control the electromagnetic suspension at the front and rear ends of the right side attract each other at opposite poles, thereby simulating the turning and rolling of the vehicle. In the same way, the control can be reversed during a sharp right turn to simulate the vehicle's turning roll.

Further, the control method of the vehicle, as shown in Figure 5, also includes:

S501: Acquire a second inclination angle according to the second demand information;

S502: Acquire current magnitudes for controlling the first electromagnet assembly and the second electromagnet assembly according to the mapping relationship between the second inclination angle and the current magnitude.

That is to say, the magnitude of the electromagnetic force between the first electromagnet assembly and the second electromagnet assembly can be controlled by controlling the magnitude of the current of the first electromagnet assembly and the second electromagnet assembly, so that the magnitude of the electromagnetic force can be controlled by controlling the magnitude of the electromagnetic force. The control realizes the control of the body posture adjustment size.

Specifically, the second inclination angle of the vehicle inclination can be obtained by calculation according to the entertainment information and/or the entertainment control instruction, and then according to the mapping relationship between the second inclination angle and the current magnitude, the second inclination angle used to control the first electromagnet assembly can be obtained. and the current of the second electromagnet assembly, and then control the magnitude of the electromagnetic force between the first electromagnet assembly and the second electromagnet assembly according to the obtained current, so as to realize the adjustment of the body tilt posture.

It should be understood that when the body is tilted, when only one electromagnetic suspension in the tilting direction is controlled, the current corresponding to the mapping relationship is relatively large, and when the electromagnetic suspensions on both sides in the tilting direction are controlled at the same time, the mapping relationship The corresponding current is smaller, thereby saving energy while maintaining user comfort.

It should also be noted that the entertainment control command may include the pedal opening, and the pedal opening has a positive mapping relationship with the magnitude of the current. The larger the current, the more obvious the leaning posture of the body. Wherein, the pedal may include an accelerator pedal and a brake pedal,

Further, the control method of the vehicle, as shown in Figure 6, also includes:

S601: Determine the current simulated vibration situation according to the entertainment information.

S602: Control the magnetic alternation between the first electromagnet assembly and the second electromagnet assembly of each electromagnetic suspension.

It should be understood that, in the embodiment, the simulated vibration situation according to the entertainment information should be that the environmental information (road surface information) in the vehicle entertainment application scenario is a state where the road surface is uneven. The magnetic alternation between the first electromagnet assembly and the second electromagnet assembly of each electromagnetic suspension can be controlled to make the body vibrate up and down.

Further, controlling the magnetic alternation between the first electromagnet assembly and the second electromagnet assembly on each electromagnetic suspension includes: the first electromagnet assembly and the second electromagnet assembly of at least one electromagnetic suspension. The magnetic state between the iron assemblies is different from the magnetic state between the first electromagnet assembly and the second electromagnet assembly of other electromagnetic suspensions.

That is to say, when controlling the magnetic alternation between the first electromagnet assembly and the second electromagnet assembly, it is necessary to control the first electromagnet assembly and the second electromagnet assembly on the four independent electromagnetic suspensions. The magnetic state between the components is different, that is, the magnetic state between the first electromagnet assembly and the second electromagnet assembly of at least one electromagnetic suspension is the same as the first electromagnetic state of any one of the other three electromagnetic suspensions. The magnetic state is different between the iron assembly and the second electromagnet assembly.

For example, the electromagnetic state between the first electromagnet assembly and the second electromagnet assembly of the electromagnetic suspension of four electromagnetic suspensions may include: one first magnetic state and three second magnetic states or no magnetism state, two first magnetic states and two second magnetic states or non-magnetic states, etc.

It should also be noted that when the application scene is an audio-visual playback scene, exaggerated actions can be simulated according to the needs of the audio-visual plot, such as the dive and lift-off of the plane, and the fighting scene in the action movie. Among them, if you simulate the dive and lift-off of the aircraft and refer to the scene control of simulating sudden acceleration and sudden braking, you can refer to the fighting scene to simulate the scene control of uneven road surface.

According to an embodiment of the present invention, as shown in FIG. 7 , when an adjustment command for the electromagnetic suspension is generated according to the demand information, the demand information may be decomposed first to generate adjustment commands of different dimensions, for example, the vertical direction may include: The adjustment command, the lateral adjustment command and the longitudinal adjustment command, and then the four independent electromagnetic suspensions are controlled according to the adjustment commands of each dimension to realize the aforementioned vehicle control method.

Specifically, the vertical adjustment command can be used to control the height of the chassis in the vehicle driving scene, or simulate the unevenness of the road surface in the application scene of in-vehicle entertainment; the lateral adjustment command can be used for the first tilt when turning in the vehicle driving scene. Inhibition adjustment of direction, or analog control of the second tilt direction when turning in the application scene of in-vehicle entertainment; longitudinal adjustment command can be used for the first tilt direction when speed adjustment (sudden acceleration, braking) is performed in the vehicle driving scene , or the analog control of the second direction when speed adjustment is performed in the application scenario of in-vehicle entertainment. It should be understood that the vertical adjustment command, the lateral adjustment command and the longitudinal adjustment command can also be weighted and calculated for the adjustment command at the same time, and then the vehicle attitude is controlled according to the final calculation result.

To sum up, the vehicle control method according to the embodiment of the present invention can respectively control the independent electromagnetic suspension in the application scenario of vehicle driving and the application scenario of in-vehicle entertainment, so as to suppress the vehicle body in the application scenario of vehicle driving. The tilt trend caused by inertia or centrifugal force improves the safety and comfort of the vehicle, and simulates the tilt trend of the car body caused by inertia or centrifugal force in the application scenario of in-vehicle entertainment, thereby improving the entertainment of the vehicle.

In order to realize the above embodiments, the present invention also provides a control device for a vehicle. As shown in Fig. 1a, the vehicle is provided with independent electromagnetic suspensions, and each electromagnetic suspension is provided with a first electromagnet assembly and a second electromagnet assembly facing each other.

FIG. 8 is a schematic block diagram of a control device of a vehicle according to an embodiment of the present invention. As shown in FIG. 8 , the control device 100 of the vehicle includes: an identification module 10 , a generation module 20 and a control module 30 .

Wherein, the identification module 10 is used to identify the application scene of the vehicle, and obtain the current demand information under the application scene; the generation module 20 is used to generate adjustment instructions for the electromagnetic suspension according to the demand information; the control module 30 is used to generate adjustment instructions according to the adjustment instructions. The electromagnetic force between the first electromagnet assembly and the second electromagnet assembly is controlled.

Further, the identification module 10 is further configured to: in the application scenario of vehicle driving, obtain the road surface information in front of the driving road and/or the driving instructions of the driver and passengers respectively, and form the first demand based on the road surface information and/or the driving instructions Information; in the application scenario of in-vehicle entertainment, the entertainment information and/or the entertainment control instructions of the driver and passengers are obtained respectively, and the second demand information is formed based on the entertainment information and/or the entertainment control instructions.

Further, the generating module 20 is further configured to: identify the first inclination direction of the vehicle body according to the road surface information and/or driving instructions; electromagnetic force to suppress the tilting tendency in the first tilting direction.

Further, the control module 30 is further configured to: control the electromagnetic force between the first electromagnet assembly and the second electromagnet assembly according to the first tilt direction, so as to suppress the tilt trend in the first tilt direction, including: controlling The first electromagnet assembly and the second electromagnet assembly of the electromagnetic suspension in the same direction as the first inclination direction are in a first magnetic state; and/or controlling the first electromagnetic suspension of the electromagnetic suspension in the opposite direction to the first inclination direction The iron assembly and the second electromagnet assembly are in a second magnetic state.

Further, the generation module 20 is further configured to: obtain the first inclination angle according to the first demand information; obtain the first and second electromagnet assemblies for controlling the first electromagnet assembly according to the mapping relationship between the first inclination angle and the current magnitude the magnitude of the current.

Further, the control module 30 is further configured to: when the demand information is the first demand information, generating an adjustment instruction for the electromagnetic suspension by detecting the road surface information according to the sensor, including: when the road surface information is the road surface In case of unevenness, obtain the road bump height value and the chassis height value; when the chassis height value is less than or equal to the road surface bump height value, control the first electromagnet assembly and the second electromagnet of the vehicle The magnetics of the assembly are the same to increase the ride height.

Further, the generating module 20 is further configured to: when the demand information is the second demand information, generate adjustment instructions for the electromagnetic suspension according to the demand information, including: calculating the second demand information of the body according to the entertainment information and/or the entertainment control instructions Inclination direction; according to the second inclination direction, the electromagnetic force between the first electromagnet assembly and the second electromagnet assembly is controlled to simulate the inclination trend in the second inclination direction.

Further, the control module 30 is further configured to: control the electromagnetic force between the first electromagnet assembly and the second electromagnet assembly according to the second inclination direction, so as to simulate the inclination trend in the second inclination direction, including: controlling The first electromagnet assembly and the second electromagnet assembly of the electromagnetic suspension in the same direction as the second inclination direction are in a second magnetic state; and/or controlling the first electromagnetic suspension of the electromagnetic suspension in the opposite direction to the second inclination direction The iron assembly and the second electromagnet assembly are in a first magnetic state.

Further, the generating module 20 is further configured to: obtain the second inclination angle according to the second demand information; obtain and control the first electromagnet assembly and the second electromagnet assembly according to the mapping relationship between the second inclination angle and the current magnitude the magnitude of the current.

Further, the control module 30 is further configured to: determine the current simulated vibration situation according to the entertainment information; control the connection between the first electromagnet assembly and the second electromagnet assembly of each of the electromagnetic suspensions and the magnetic state between the first electromagnet assembly and the second electromagnet assembly of at least one of the electromagnetic suspensions is the same as that of the first electromagnets of the other electromagnetic suspensions. The magnetic state differs between the assembly and the second electromagnet assembly.

It should be noted that the foregoing explanations of the embodiment of the vehicle control method are also applicable to the vehicle control device of this embodiment, and are not repeated here.

In order to realize the above embodiment, the present invention also proposes a vehicle. As shown in FIG. 9 , the vehicle 200 includes: an independent electromagnetic suspension 201 and a vehicle control device 100 , wherein each electromagnetic suspension is oppositely provided with a No. An electromagnet assembly and a second electromagnet assembly.

In order to realize the above-mentioned embodiments, the present invention also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, implements the aforementioned vehicle control method.

In the description of this specification, description with reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples", etc., mean specific features described in connection with the embodiment or example , structure, material or feature is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed 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, those skilled in the art may combine and combine the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples, without conflicting each other.

In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise expressly and specifically defined.

Any process or method description in the flowcharts or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing custom logical functions or steps of the process , and the scope of the preferred embodiments of the invention includes alternative implementations in which the functions may be performed out of the order shown or discussed, including performing the functions substantially concurrently or in the reverse order depending upon the functions involved, which should It is understood by those skilled in the art to which the embodiments of the present invention belong.

The logic and/or steps represented in flowcharts or otherwise described herein, for example, may be considered an ordered listing of executable instructions for implementing the logical functions, may be embodied in any computer-readable medium, For use with, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other system that can fetch instructions from and execute instructions from an instruction execution system, apparatus, or apparatus) or equipment. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport the program for use by or in connection with an instruction execution system, apparatus, or apparatus. More specific examples (non-exhaustive list) of computer readable media include the following: electrical connections with one or more wiring (electronic devices), portable computer disk cartridges (magnetic devices), random access memory (RAM), Read Only Memory (ROM), Erasable Editable Read Only Memory (EPROM or Flash Memory), Fiber Optic Devices, and Portable Compact Disc Read Only Memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program may be printed, as the paper or other medium may be optically scanned, for example, followed by editing, interpretation, or other suitable medium as necessary process to obtain the program electronically and then store it in computer memory.

It should be understood that various parts of the present invention may be implemented in hardware, software, firmware or a combination thereof. In the above-described embodiments, various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented by any one of the following techniques known in the art, or a combination thereof: discrete with logic gates for implementing logic functions on data signals Logic circuits, application specific integrated circuits with suitable combinational logic gates, Programmable Gate Arrays (PGA), Field Programmable Gate Arrays (FPGA), etc.

Those skilled in the art can understand that all or part of the steps carried by the methods of the above embodiments can be completed by instructing the relevant hardware through a program, and the program can be stored in a computer-readable storage medium, and the program can be stored in a computer-readable storage medium. When executed, one or a combination of the steps of the method embodiment is included.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically alone, or two or more units may be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware, and can also be implemented in the form of software function modules. If the integrated modules are implemented in the form of software functional modules and sold or used as independent products, they may also be stored in a computer-readable storage medium.

The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, and the like. Although the embodiments of the present invention have been shown and described above, it should be understood that the above-mentioned embodiments are exemplary and should not be construed as limiting the present invention. Embodiments are subject to variations, modifications, substitutions and variations.

Claims (7)

1. A control method for a vehicle, characterized in that the vehicle is provided with an independent electromagnetic suspension, and each electromagnetic suspension is provided with a first electromagnet assembly and a second electromagnet assembly in opposite directions, and the The method includes the following steps: Identify the application scenario of the vehicle, and obtain the current demand information under the application scenario; the obtaining the current demand information under the application scenario includes: in the application scenario of in-vehicle entertainment, respectively obtaining game information and/or company information. The game control instructions of the occupants, based on the game information and/or the game control instructions, form demand information; Generating an adjustment instruction for the electromagnetic suspension according to the demand information; generating an adjustment instruction for the electromagnetic suspension according to the demand information includes: controlling the game according to the game information and/or the game an instruction to calculate the inclination direction of the vehicle body; according to the inclination direction, control the electromagnetic force between the first electromagnet assembly and the second electromagnet assembly to simulate the inclination trend in the inclination direction; According to the adjustment instruction, the electromagnetic force between the first electromagnet assembly and the second electromagnet assembly is controlled. 2 . The control method according to claim 1 , wherein the electromagnetic force between the first electromagnet assembly and the second electromagnet assembly is controlled according to the tilt direction to simulate the out the tilt trend in the tilt direction, including: controlling the first electromagnet assembly and the second electromagnet assembly of the electromagnetic suspension in the same direction as the tilt direction to be in a second magnetic state; and/or The first electromagnet assembly and the second electromagnet assembly of the electromagnetic suspension opposite to the tilting direction are controlled to be in a first magnetic state. 3. The control method according to claim 1 or 2, characterized in that, further comprising: Obtain the tilt angle according to the demand information; According to the mapping relationship between the tilt angle and the current magnitude, the magnitude of the current used to control the first electromagnet assembly and the second electromagnet assembly is obtained. 4. The control method according to claim 1, further comprising: According to the game information, determine the current simulated vibration situation; controlling magnetic alternation between the first electromagnet assembly and the second electromagnet assembly of each of the electromagnetic suspensions; and the first electromagnet assembly of at least one of the electromagnetic suspensions The magnetic state between the second electromagnet assembly and the second electromagnet assembly is different from the magnetic state between the first electromagnet assembly and the second electromagnet assembly of the other electromagnetic suspensions. 5. A control device for a vehicle, characterized in that the vehicle is provided with an independent electromagnetic suspension, and each electromagnetic suspension is provided with a first electromagnet assembly and a second electromagnet assembly facing each other, the device, including: The identification module is used to identify the application scene of the vehicle, and obtain the current demand information under the application scene; the identification module is also used to: under the application scene of in-vehicle entertainment, respectively obtain game information and/or driver and passenger information The game control instructions of the personnel, based on the game information and/or the game control instructions, form demand information; a generating module, configured to generate an adjustment instruction for the electromagnetic suspension according to the demand information; the generating module is further configured to: calculate the inclination direction of the vehicle body according to the game information and/or the game control instruction; Controlling the electromagnetic force between the first electromagnet assembly and the second electromagnet assembly according to the tilting direction to simulate a tilting trend in the tilting direction; The control module is configured to control the electromagnetic force between the first electromagnet assembly and the second electromagnet assembly according to the adjustment instruction. 6. A vehicle, characterized in that, comprising: an independent electromagnetic suspension, wherein each electromagnetic suspension is provided with a first electromagnet assembly and a second electromagnet assembly opposite to each other; The control device of the vehicle according to claim 5 . 7. A computer-readable storage medium on which a computer program is stored, characterized in that, when the program is executed by a processor, the vehicle control method according to any one of claims 1-4 is implemented.

Images