Suspension fault handling method and device, storage medium, vehicle controller and vehicle

Abstract

The present application relates to a kind of suspension fault handling method, device, storage medium, vehicle controller and vehicle, according to the suspension fault handling method proposed in the present application, in response to detecting air suspension fault, obtain based on sensor measurement vehicle motion state parameter and driver input parameter, then based on vehicle motion state parameter determines actual vehicle posture, and based on driver input parameter is estimated vehicle posture by vehicle model prediction, finally based on the posture deviation between actual vehicle posture and estimated vehicle posture, vehicle is compensated control, it is realized when air suspension fault to the compensation control of vehicle, to correct vehicle deviation.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a suspension fault handling method, device, storage medium, vehicle controller, and vehicle. Background Technology

[0002] With the development of air suspension, an increasing number of vehicles on the current automotive market are equipped with air suspension systems. When the air suspension malfunctions, the vehicle's load changes, causing a shift in the vertical ground support force on the four wheels, which can lead to vehicle deviation or even instability, potentially resulting in dangerous situations. In existing vehicles equipped with air suspension, when the air suspension malfunctions, the system will prompt the driver to slow down and forcibly activate the Electronic Stability Program (ESP) to maintain vehicle stability.

[0003] However, while the Electronic Stability Program (ESP) will be forcibly activated to maintain vehicle stability in the event of an air suspension failure, it cannot actively compensate for vehicle deviation caused by the air suspension failure. Summary of the Invention

[0004] Based on this, the present invention provides a suspension fault handling method, a storage medium, a vehicle controller, and a vehicle. Using this method, when the air suspension fails, the vehicle performs active fault compensation control based on the attitude deviation caused by the fault. This can maintain the vehicle's driving stability while actively compensating for the vehicle deviation caused by the air suspension failure, eliminating the need for the driver to actively correct the vehicle deviation through the steering wheel and improving the driver's driving experience.

[0005] On one hand, the present invention provides a suspension failure handling method, including:

[0006] In response to the detection of an air suspension malfunction, vehicle motion state parameters and driver input parameters are acquired based on sensor measurements;

[0007] The actual vehicle posture is determined based on the vehicle motion state parameters, and the estimated vehicle posture is predicted by the vehicle model based on the driver input parameters.

[0008] The vehicle is compensated for based on the attitude deviation between the actual vehicle attitude and the estimated vehicle attitude.

[0009] The methods for compensating and controlling the vehicle include, but are not limited to, one or more of the following: steering compensation based on the steer-by-wire system, braking compensation based on the braking system, and torque compensation based on the power system.

[0010] Furthermore, in some embodiments, the method further includes:

[0011] Based on the steer-by-wire system, the reaction torques corresponding to the left and right steering wheels are obtained respectively, and the unbalanced torque difference between the left and right steering wheels is determined based on the reaction torques.

[0012] The method of compensating for the vehicle based on the attitude deviation between the actual vehicle attitude and the estimated vehicle attitude includes:

[0013] The vehicle is compensated for based on the attitude deviation and the unbalanced torque difference.

[0014] Furthermore, in some embodiments, the compensation control of the vehicle based on the attitude deviation between the actual vehicle attitude and the estimated vehicle attitude includes:

[0015] The severity level of the fault is determined based on the attitude deviation.

[0016] A fault compensation scheme corresponding to the severity level of the fault is adopted to compensate for the vehicle based on the attitude deviation.

[0017] Furthermore, in some embodiments, the severity level of the fault is the first fault level;

[0018] The fault compensation scheme corresponding to the severity level of the fault is used to compensate and control the vehicle based on the attitude deviation, including:

[0019] Activate the steer-by-wire system and determine steering compensation information based on the attitude deviation;

[0020] The steer-by-wire system performs steering compensation on the vehicle based on the steering compensation information.

[0021] Furthermore, in some embodiments, the fault severity level is a second fault level, and the fault severity of the second fault level is higher than that of the first fault level.

[0022] The fault compensation scheme corresponding to the severity level of the fault is used to compensate and control the vehicle based on the attitude deviation, including:

[0023] Activate the braking system and the steer-by-wire system, and determine steering compensation information and braking compensation information based on the attitude deviation;

[0024] The vehicle is subjected to steering compensation by the steer-by-wire system based on the steering compensation information, and the vehicle is subjected to braking compensation by the braking system based on the braking compensation information.

[0025] Furthermore, in some embodiments, the fault severity level is a third fault level, and the fault severity of the third fault level is higher than that of the second fault level.

[0026] The fault compensation scheme corresponding to the severity level of the fault is used to compensate and control the vehicle based on the attitude deviation, including:

[0027] The braking system, steer-by-wire system, and power system are activated, and steering compensation information, braking compensation information, and torque compensation information are determined based on the attitude deviation.

[0028] The vehicle is subjected to steering compensation by the steer-by-wire system based on the steering compensation information, braking compensation by the braking system based on the braking compensation information, and torque compensation by the powertrain system based on the torque compensation information.

[0029] Furthermore, in some embodiments, the compensation control of the vehicle based on the attitude deviation between the actual vehicle attitude and the estimated vehicle attitude includes:

[0030] The initial fault severity level is determined based on the attitude deviation, and the vehicle is compensated and controlled using a fault compensation scheme corresponding to the initial fault severity level.

[0031] During the compensation control period, the initial fault severity level is upgraded based on the duration of the deviation corresponding to the attitude deviation, resulting in an upgraded fault severity level.

[0032] The vehicle is compensated and controlled using a fault compensation scheme that corresponds to the upgraded fault severity level.

[0033] Furthermore, in some embodiments, the steering compensation information includes a steering compensation amount and a steering compensation direction; the braking compensation information includes a first wheel to be compensated and a braking compensation amount corresponding to each of the first wheels to be compensated; and the torque compensation information includes a second wheel to be compensated and a torque compensation amount corresponding to each of the second wheels to be compensated.

[0034] Furthermore, in some embodiments, the vehicle motion state parameters include, but are not limited to, one or more of yaw rate, pitch rate, and yaw rate, and the driver input parameters include, but are not limited to, one or more of steering wheel angle, accelerator pedal travel, brake pedal travel, and vehicle gear information.

[0035] Furthermore, in some embodiments, the method further includes:

[0036] The maximum driving speed is determined based on the severity level of the fault.

[0037] The vehicle's speed is limited based on the maximum driving speed so that the vehicle's driving speed does not exceed the maximum driving speed.

[0038] On the other hand, the present invention provides a suspension failure handling device, comprising:

[0039] The parameter acquisition module is used to acquire vehicle motion state parameters and driver input parameters based on sensor measurements in response to the detection of air suspension failure.

[0040] The attitude determination module is used to determine the actual vehicle attitude based on the vehicle motion state parameters, and to predict the estimated vehicle attitude based on the driver input parameters through the vehicle model.

[0041] The compensation control module is used to perform compensation control on the vehicle based on the attitude deviation between the actual vehicle attitude and the estimated vehicle attitude.

[0042] On the other hand, the present invention provides a storage medium storing a computer program adapted to be loaded by a processor and to execute the steps of the above-described method.

[0043] On the other hand, the present invention also provides a vehicle controller, comprising: a processor and a memory; wherein the memory stores computer-readable instructions adapted to be loaded by the processor and to execute the steps of the method described above.

[0044] On the other hand, the present invention also provides a vehicle including the above-described suspension fault handling device or vehicle controller.

[0045] On the other hand, the present invention also provides a computer program product comprising a computer program that, when executed, implements the above-described method steps.

[0046] According to the suspension failure handling method provided by the present invention, when the air suspension fails, vehicle motion state parameters and driver input parameters are acquired, and the attitude deviation of the vehicle from the predetermined attitude is determined based on the acquired vehicle motion state parameters and driver input parameters. Then, the vehicle is compensated and controlled based on the attitude deviation. By performing active fault compensation control on the vehicle, the vehicle deviation caused by the air suspension failure can be actively compensated while maintaining the vehicle's driving stability, without requiring the driver to actively correct the vehicle deviation through the steering wheel, thus improving the driver's driving experience.

[0047] It should be understood that the description in the Summary of the Invention is not intended to limit the key or essential features of the embodiments of the present invention, nor is it intended to restrict the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0048] Figure 1 A schematic flowchart of a suspension failure handling method provided in an embodiment of the present invention;

[0049] Figure 2 A schematic flowchart of a suspension failure handling method provided in an embodiment of the present invention;

[0050] Figure 3 This is a schematic diagram of a suspension fault handling device provided in an embodiment of the present invention;

[0051] Figure 4 This is a schematic diagram of a suspension fault handling device provided in an embodiment of the present invention;

[0052] Figure 5 This is a schematic diagram of the structure of a vehicle controller provided in an embodiment of the present invention. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0054] In the description of one or more embodiments of the present invention, the term "comprising" and similar terms should be understood as open-ended inclusion, i.e., "including but not limited to". The term "based on" should be understood as "at least partially based on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc., may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0055] Please see Figure 1 This is a schematic flowchart illustrating a suspension fault handling method provided in an embodiment of the present invention. The executing entity of this process can be a program for handling suspension faults, or it can be a vehicle or domain controller equipped with the aforementioned program, or other devices capable of communicating with the vehicle, domain controller, etc., without specific limitations.

[0056] The following is about Figure 1 The process shown is described in detail. The suspension failure handling method may specifically include the following steps:

[0057] Step S102: In response to detecting an air suspension malfunction, acquire vehicle motion state parameters and driver input parameters based on sensor measurements;

[0058] Specifically, if a fault in the air suspension is detected while the vehicle is in motion, the system acquires vehicle motion state parameters detected by various sensors installed on the vehicle, as well as driver input parameters.

[0059] Among them, the vehicle motion state parameters include, but are not limited to, one or more of yaw rate, pitch rate and yaw rate, and the driver input parameters include, but are not limited to, one or more of steering wheel angle, accelerator pedal travel, brake pedal travel and vehicle gear information.

[0060] Air suspension malfunctions can be caused by seal failure in the air suspension system or its connected components, leading to air leakage; or by malfunctions in electronic components such as the air suspension system's control unit, solenoid valves, or sensors. Specific symptoms of air suspension malfunctions include abnormal height changes or an inability to control the height properly.

[0061] Step S104: Determine the actual vehicle posture based on the vehicle motion state parameters, and predict the estimated vehicle posture based on the driver input parameters using the vehicle model.

[0062] The vehicle motion state parameters are real-time vehicle state parameters measured by vehicle sensors, which characterize the current actual vehicle attitude. The estimated vehicle attitude can be predicted based on the driver's input parameters using a built-in vehicle attitude estimation model.

[0063] The estimated vehicle attitude is the expected attitude under ideal conditions. During normal driving, the actual vehicle attitude should be close to the estimated vehicle attitude. When the actual vehicle attitude is close to the estimated vehicle attitude, the vehicle is considered to be driving stably. When the vehicle's air suspension fails, the actual vehicle attitude is likely to deviate significantly from the estimated vehicle attitude due to the abnormal height of the suspension system and its uncontrollability.

[0064] Step S106: Perform compensatory control on the vehicle based on the attitude deviation between the actual vehicle attitude and the estimated vehicle attitude.

[0065] Specifically, the attitude deviation between the actual vehicle attitude and the estimated vehicle attitude is determined based on the actual vehicle attitude and the estimated vehicle attitude, and the vehicle is compensated for according to the determined attitude deviation. The methods of vehicle compensation control include, but are not limited to, one or more of the following: steering compensation based on the steer-by-wire system, braking compensation based on the braking system, and torque compensation based on the powertrain system.

[0066] That is, the actual vehicle attitude deviation from the estimated vehicle attitude can be compensated and controlled through at least one of the following methods: steering compensation, braking compensation, or torque compensation, to maintain vehicle driving stability and compensate for vehicle deviation caused by air suspension failure. The compensation amount for each method can be determined based on the degree of attitude deviation.

[0067] In this embodiment of the invention, when the air suspension malfunctions, vehicle motion state parameters and driver input parameters are acquired, and the attitude deviation of the vehicle from the predetermined posture is determined based on the acquired vehicle motion state parameters and driver input parameters. Then, the vehicle is compensated and controlled based on the attitude deviation. By performing active fault compensation control on the vehicle, the vehicle deviation caused by the air suspension malfunction can be actively compensated while maintaining the vehicle's driving stability. The driver does not need to actively correct the vehicle deviation through the steering wheel, thus improving the driver's driving experience.

[0068] Furthermore, the severity level of the fault can be determined based on the attitude deviation of the estimated vehicle attitude from the actual vehicle attitude deviation, and the vehicle can be compensated and controlled according to the fault compensation scheme corresponding to the fault severity level. The fault compensation scheme can be one or a combination of several of the following: steering compensation based on the steer-by-wire system, braking compensation based on the braking system, and torque compensation based on the power system.

[0069] In one embodiment, in step S106, the vehicle is subjected to compensatory control based on the attitude deviation between the actual vehicle attitude and the estimated vehicle attitude. Specifically, this can be achieved by: determining an initial fault severity level based on the attitude deviation, and using a fault compensation scheme corresponding to the initial fault severity level to perform compensatory control on the vehicle; during the compensatory control period, the initial fault severity level is upgraded based on the duration of the deviation corresponding to the attitude deviation to obtain an upgraded fault severity level; and the vehicle is then subjected to compensatory control using a fault compensation scheme corresponding to the upgraded fault severity level.

[0070] Understandably, attitude deviation can characterize the severity of a vehicle's air suspension malfunction. The duration of the deviation, or the duration of the attitude deviation itself, also characterizes the severity of the malfunction; the longer the deviation lasts, the higher the severity. Therefore, after an air suspension malfunction occurs, the initial malfunction severity level is first determined based on the attitude deviation, and a malfunction compensation scheme corresponding to this initial severity level is used for vehicle compensation control. Then, during the compensation control period based on the initial malfunction severity level's compensation scheme, the initial malfunction severity level is upgraded according to the deviation duration, and a malfunction compensation scheme corresponding to the upgraded severity level is used for vehicle compensation control. In other words, during the compensation control period, based on the dynamic change in malfunction severity level as the deviation duration increases, the malfunction severity level is upgraded, and the malfunction compensation scheme is upgraded simultaneously to ensure that vehicle stability is maintained and the vehicle deviation caused by the air suspension malfunction is compensated.

[0071] The severity levels of a fault can be categorized into three levels: Level 1, Level 2, and Level 3. Level 2 faults are more severe than Level 1 faults, and Level 3 faults are more severe than Level 2 faults. Correspondingly, the compensation scheme for Level 1 faults involves compensating for the vehicle solely based on the steer-by-wire system; the compensation scheme for Level 2 faults involves compensating for the vehicle using a combination of the steer-by-wire system and the braking system; and the compensation scheme for Level 3 faults involves compensating for the vehicle using a combination of the steer-by-wire system, the braking system, and the powertrain system.

[0072] In one feasible implementation, the severity of the fault can be divided into three levels based on the attitude deviation, including a first fault level, a second fault level, and a third fault level, wherein the severity of the fault in the second fault level is higher than that in the first fault level, and the severity of the fault in the third fault level is higher than that in the second fault level.

[0073] The severity level of an attitude deviation can be determined by setting a first attitude deviation threshold and a second attitude deviation threshold. For example, if the attitude deviation is greater than 0 and less than or equal to the first attitude deviation threshold, the severity level of the attitude deviation is determined to be the first fault level; if the attitude deviation is greater than the first attitude deviation threshold and less than or equal to the second attitude deviation threshold, the severity level of the attitude deviation is determined to be the second fault level; and if the attitude deviation is greater than the second attitude deviation threshold, the severity level of the attitude deviation is determined to be the third fault level.

[0074] It should be noted that attitude deviation can include deviation values ​​corresponding to multiple attitude parameters, such as pitch rate deviation, yaw rate deviation, and yaw rate deviation. Correspondingly, the attitude deviation threshold also includes parameter thresholds corresponding to multiple parameters. When classifying the severity of a fault, the deviation values ​​corresponding to multiple attitude parameters can be comprehensively determined.

[0075] In one embodiment, please refer to Figure 2 This is a flowchart illustrating a suspension fault handling method provided in an embodiment of the present invention. Figure 2 As shown, the method includes the following steps:

[0076] Step S202: In response to detecting an air suspension malfunction, acquire vehicle motion state parameters and driver input parameters based on sensor measurements;

[0077] Specifically, for step S202, please refer to the detailed description of step S102 in another embodiment of the present invention, which will not be repeated here.

[0078] Step S204: Determine the actual vehicle posture based on the vehicle motion state parameters, and predict the estimated vehicle posture based on the driver input parameters through the vehicle model.

[0079] Specifically, for step S204, please refer to the detailed description of step S104 in another embodiment of the present invention, which will not be repeated here.

[0080] Step S206: Determine the attitude deviation between the actual vehicle attitude and the estimated vehicle attitude, and determine the severity level of the fault based on the attitude deviation;

[0081] Specifically, the attitude deviation between the actual vehicle attitude and the estimated vehicle attitude is determined based on the actual vehicle attitude and the estimated vehicle attitude. The attitude deviation can represent the degree to which the current actual vehicle attitude deviates from the estimated vehicle attitude. According to the predefined fault severity level determination rules, the fault severity level corresponding to the current attitude deviation can be determined based on the attitude deviation.

[0082] In one feasible implementation, a first attitude deviation threshold and a second attitude deviation threshold can be preset, and the severity level of the fault corresponding to the attitude deviation can be determined based on the first attitude deviation threshold and the second attitude deviation threshold. For example: if the attitude deviation is greater than 0 and less than or equal to the first attitude deviation threshold, the severity level of the fault corresponding to the attitude deviation is determined to be the first fault level; if the attitude deviation is greater than the first attitude deviation threshold and less than or equal to the second attitude deviation threshold, the severity level of the fault corresponding to the attitude deviation is determined to be the second fault level; if the attitude deviation is greater than the second attitude deviation threshold, the severity level of the fault corresponding to the attitude deviation is determined to be the third fault level.

[0083] It should be noted that attitude deviation can include deviation values ​​corresponding to multiple attitude parameters, such as pitch rate deviation, yaw rate deviation, and yaw rate deviation. Correspondingly, the attitude deviation threshold also includes parameter thresholds corresponding to multiple parameters. When classifying the severity of a fault, the deviation values ​​corresponding to multiple attitude parameters can be comprehensively determined.

[0084] Step S208: If the severity level of the fault is the first fault level, the steer-by-wire system is activated, the steering compensation information is determined based on the attitude deviation, and the vehicle is steered by the steer-by-wire system based on the steering compensation information.

[0085] Steer-by-wire (SBW) is a key technology for modern automotive driving safety. SBW eliminates the intermediate driveshaft in a vehicle's steering system, with only electrical wires connecting the steering wheel and steering mechanism. SBW transmits control commands entirely through electrical signals, with no direct physical torque transmission path between the steering mechanism and the driver. SBW primarily consists of a steering wheel, steering actuators, and a main controller. The main controller monitors the driver's commands and controls the steering motor to turn the wheels accordingly. In one or more embodiments of this invention, the main controller can receive steering compensation information and perform steering compensation based on this information to compensate for vehicle deviation caused by air suspension malfunctions.

[0086] Specifically, if the severity level of the fault is determined to be Level 1, then only the steer-by-wire system will be used to compensate for the vehicle's deviation caused by the air suspension malfunction. Specifically, steering compensation information can be determined based on the attitude deviation, and the steer-by-wire system will then perform steering compensation based on this information.

[0087] The steering compensation information can include the steering compensation amount and the steering compensation direction, enabling the steer-by-wire system to perform steering compensation on the vehicle based on the steering compensation amount and the steering compensation direction, in order to compensate for vehicle deviation caused by air suspension failure.

[0088] In one feasible implementation, the steer-by-wire system can determine steering compensation information based on the difference in unbalanced torque fed back from the left and right steering wheels, and perform steering compensation on the vehicle based on the steering compensation information.

[0089] Step S210: If the severity level of the fault is the second fault level, then activate the braking system and the steer-by-wire system, determine the steering compensation information and braking compensation information based on the attitude deviation, perform steering compensation on the vehicle based on the steering compensation information through the steer-by-wire system, and perform braking compensation on the vehicle based on the braking compensation information through the braking system.

[0090] Specifically, if the severity level of the fault is determined to be Level 2, the steer-by-wire system and braking system will work together to compensate for the vehicle's deviation caused by the air suspension malfunction. Specifically, steering compensation information and braking compensation information can be determined based on the attitude deviation. The steer-by-wire system will then perform steering compensation based on the steering compensation information, and the braking system will perform braking compensation based on the braking compensation information.

[0091] The steering compensation information may include steering compensation amount and steering compensation direction, enabling the steer-by-wire system to perform steering compensation on the vehicle based on the steering compensation amount and steering compensation direction; the braking compensation information may include the first wheel to be compensated and the braking compensation amount corresponding to each of the first wheels to be compensated, enabling the braking system to perform braking compensation on the vehicle based on the first wheel to be compensated and the braking compensation amount corresponding to each of the first wheels to be compensated, maintaining vehicle driving stability while compensating for vehicle deviation caused by air suspension failure.

[0092] In step S212, if the severity level of the fault is the third fault level, the braking system, the steer-by-wire system, and the power system are activated. Steering compensation information, braking compensation information, and torque compensation information are determined based on the attitude deviation. The steer-by-wire system performs steering compensation on the vehicle based on the steering compensation information, the braking system performs braking compensation on the vehicle based on the braking compensation information, and the power system performs torque compensation on the vehicle based on the torque compensation information.

[0093] Specifically, if the severity level of the fault is determined to be level three, the steer-by-wire system, braking system, and powertrain system will work together to compensate for the vehicle's deviation caused by the air suspension malfunction. Specifically, steering compensation information, braking compensation information, and torque compensation information can be determined based on the attitude deviation. The steer-by-wire system will perform steering compensation based on the steering compensation information, the braking system will perform braking compensation based on the braking compensation information, and the powertrain system will perform torque compensation based on the torque compensation information.

[0094] The steering compensation information may include steering compensation amount and steering compensation direction, enabling the steer-by-wire system to perform steering compensation on the vehicle based on the steering compensation amount and steering compensation direction; the braking compensation information may include the first wheel to be compensated and the braking compensation amount corresponding to each of the first wheels to be compensated, enabling the braking system to perform braking compensation on the vehicle based on the first wheels to be compensated and the braking compensation amount corresponding to each of the first wheels to be compensated; the torque compensation information may include the second wheel to be compensated and the torque compensation amount corresponding to each of the second wheels to be compensated, enabling the power system to perform torque compensation on the vehicle based on the second wheels to be compensated and the torque compensation amount corresponding to each of the second wheels to be compensated, maintaining vehicle stability while compensating for vehicle deviation caused by air suspension failure.

[0095] In this embodiment of the invention, when the air suspension malfunctions, vehicle motion state parameters and driver input parameters are acquired. Based on the acquired vehicle motion state parameters and driver input parameters, the attitude deviation of the vehicle from the predetermined posture is determined. The severity level of the malfunction is determined based on the attitude deviation. Different malfunction compensation schemes are selected to compensate and control the vehicle according to different malfunction severity levels. By performing active malfunction compensation control on the vehicle, the vehicle deviation caused by the air suspension malfunction is actively compensated while maintaining the vehicle's driving stability. The driver does not need to actively correct the vehicle deviation through the steering wheel, thus improving the driver's driving experience.

[0096] It should be noted that, in one or more embodiments of the present invention, the steering compensation, braking compensation, and torque compensation determined based on attitude deviation are all within the safety limits allowed for compensation by the steer-by-wire system, braking system, and power system. For example, if the steering compensation allowed by the steer-by-wire system is within a range of 10°, then the steering compensation determined based on attitude deviation will not exceed 10°.

[0097] In one embodiment, after detecting an air suspension malfunction, the reaction torques corresponding to the left and right steering wheels are obtained based on the steer-by-wire system. The unbalanced torque difference between the left and right steering wheels is determined based on the reaction torques, and then the vehicle is compensated for based on the attitude deviation and the unbalanced torque difference.

[0098] Understandably, after a vehicle's air suspension malfunctions, the abnormal suspension height can easily cause the vehicle to deviate from its course. When the vehicle veers to one side, the steering system receives unbalanced torques transmitted from the left and right steering wheels. The steering system can detect this difference in unbalanced torques, which characterizes the degree of vehicle deviation. Therefore, vehicle compensation control is implemented based on attitude deviation and the difference in unbalanced torques.

[0099] Furthermore, the severity level of the fault can be determined based on the attitude deviation of the estimated vehicle attitude from the actual vehicle attitude deviation, and the vehicle can be compensated and controlled according to the fault compensation scheme corresponding to the fault severity level. The fault compensation scheme can be one or a combination of several of the following: steering compensation based on the steer-by-wire system, braking compensation based on the braking system, and torque compensation based on the power system.

[0100] In one feasible implementation, the fault severity level can include a first fault level, a second fault level, and a third fault level, where the second fault level is more severe than the first fault level, and the third fault level is more severe than the second fault level. Correspondingly, the fault compensation scheme for the first fault level is to compensate for vehicle control based solely on the steer-by-wire system; the fault compensation scheme for the second fault level is to compensate for vehicle control based on a combination of the steer-by-wire system and the braking system; and the fault compensation scheme for the third fault level is to compensate for vehicle control based on a combination of the steer-by-wire system, the braking system, and the powertrain system. Therefore, vehicle compensation control based on attitude deviation and unbalanced torque difference can specifically include:

[0101] If the severity level of the fault is the first fault level, the steer-by-wire system is activated, and the steering compensation information is determined based on the attitude deviation and unbalanced torque difference. The steer-by-wire system then performs steering compensation on the vehicle based on the steering compensation information.

[0102] If the severity level of the fault is the second fault level, the braking system and the steer-by-wire system are activated. Steering compensation information and braking compensation information are determined based on the attitude deviation and unbalanced torque difference. The steer-by-wire system performs steering compensation on the vehicle based on the steering compensation information, and the braking system performs braking compensation on the vehicle based on the braking compensation information.

[0103] If the severity level of the fault is level three, the braking system, steer-by-wire system, and powertrain system are activated. Steering compensation information, braking compensation information, and torque compensation information are determined based on attitude deviation and unbalanced torque difference. The steer-by-wire system performs steering compensation based on the steering compensation information, the braking system performs braking compensation based on the braking compensation information, and the powertrain system performs torque compensation based on the torque compensation information.

[0104] In one embodiment, upon detecting an air suspension malfunction, the vehicle speed is limited based on the severity level of the malfunction. A maximum speed corresponding to each malfunction severity level is set, and the vehicle speed is controlled below this maximum speed to avoid the risk of uncontrollable vehicle instability due to high-speed driving.

[0105] In one embodiment, after an air suspension malfunction is detected, different malfunction indication messages will be displayed on the instrument panel according to the severity of the malfunction to remind the driver to drive cautiously.

[0106] Please see Figure 3 This is a structural schematic diagram of a suspension fault handling device provided in an embodiment of the present invention. Figure 3 As shown, the suspension fault handling device 01 can be implemented as all or part of the vehicle controller through software, hardware, or a combination of both. According to some embodiments, the suspension fault handling device 01 may include a parameter acquisition module 11, an attitude determination module 12, and a compensation control module 13, specifically including:

[0107] The parameter acquisition module 11 is used to acquire vehicle motion state parameters and driver input parameters based on sensor measurements in response to the detection of an air suspension fault.

[0108] The attitude determination module 12 is used to determine the actual vehicle attitude based on the vehicle motion state parameters, and to predict the estimated vehicle attitude based on the driver input parameters through the vehicle model.

[0109] The compensation control module 13 is used to perform compensation control on the vehicle based on the attitude deviation between the actual vehicle attitude and the estimated vehicle attitude.

[0110] Optionally, the compensation control module 13 is specifically used for:

[0111] Based on the steer-by-wire system, the reaction torques corresponding to the left and right steering wheels are obtained respectively, and the unbalanced torque difference between the left and right steering wheels is determined based on the reaction torques.

[0112] The vehicle is compensated for based on the attitude deviation and the unbalanced torque difference.

[0113] Optionally, the compensation control module 13 is specifically used for:

[0114] The severity level of the fault is determined based on the attitude deviation.

[0115] A fault compensation scheme corresponding to the severity level of the fault is adopted to compensate for the vehicle based on the attitude deviation.

[0116] Optionally, the fault severity level is the first fault level; the compensation control module 13 is specifically used for:

[0117] Activate the steer-by-wire system and determine steering compensation information based on the attitude deviation;

[0118] The steer-by-wire system performs steering compensation on the vehicle based on the steering compensation information.

[0119] Optionally, the fault severity level is a second fault level, where the severity of the fault at the second fault level is higher than that at the first fault level; the compensation control module 13 is specifically used for:

[0120] Activate the braking system and the steer-by-wire system, and determine steering compensation information and braking compensation information based on the attitude deviation;

[0121] The vehicle is subjected to steering compensation by the steer-by-wire system based on the steering compensation information, and the vehicle is subjected to braking compensation by the braking system based on the braking compensation information.

[0122] Optionally, the fault severity level is the third fault level, which is more severe than the second fault level; the compensation control module 13 is specifically used for:

[0123] The braking system, steer-by-wire system, and power system are activated, and steering compensation information, braking compensation information, and torque compensation information are determined based on the attitude deviation.

[0124] The vehicle is subjected to steering compensation by the steer-by-wire system based on the steering compensation information, braking compensation by the braking system based on the braking compensation information, and torque compensation by the powertrain system based on the torque compensation information.

[0125] Optionally, the compensation control module 13 is specifically used for:

[0126] The initial fault severity level is determined based on the attitude deviation, and the vehicle is compensated and controlled using a fault compensation scheme corresponding to the initial fault severity level.

[0127] During the compensation control period, the initial fault severity level is upgraded based on the duration of the deviation corresponding to the attitude deviation, resulting in an upgraded fault severity level.

[0128] The vehicle is compensated and controlled using a fault compensation scheme that corresponds to the upgraded fault severity level.

[0129] Optionally, the steering compensation information includes steering compensation amount and steering compensation direction; the braking compensation information includes a first wheel to be compensated and a braking compensation amount corresponding to each of the first wheels to be compensated; and the torque compensation information includes a second wheel to be compensated and a torque compensation amount corresponding to each of the second wheels to be compensated.

[0130] Optionally, the vehicle motion state parameters include, but are not limited to, one or more of yaw rate, pitch rate, and yaw rate, and the driver input parameters include, but are not limited to, one or more of steering wheel angle, accelerator pedal travel, brake pedal travel, and vehicle gear information.

[0131] Optional, please see Figure 4 The suspension failure handling device further includes a speed limiting module 14, which is specifically used for:

[0132] The maximum driving speed is determined based on the severity level of the fault.

[0133] The vehicle's speed is limited based on the maximum driving speed so that the vehicle's driving speed does not exceed the maximum driving speed.

[0134] The above-described apparatus embodiments correspond to the method embodiments, and detailed descriptions can be found in the description of the method embodiments section, which will not be repeated here. The apparatus embodiments are derived based on the corresponding method embodiments and have the same technical effects as the corresponding method embodiments; detailed descriptions can be found in the corresponding method embodiments.

[0135] The present invention also provides a storage medium that can store multiple instructions, which are adapted to be loaded by a processor and executed as described in the above embodiments of the suspension fault handling method. For the specific execution process, please refer to the detailed description in the above embodiments, which will not be repeated here.

[0136] In one embodiment, the present invention also provides Figure 5 The diagram shows the structure of the vehicle controller. Figure 5 At the hardware level, the vehicle controller includes a processor 21, an internal bus 22, a network interface 23, memory 24, and non-volatile memory 25, and may also include other hardware required for business operations. The vehicle controller can be installed in the vehicle, where the processor 21 reads the corresponding computer program from the non-volatile memory 25 into memory and then runs it to implement the suspension fault handling method described above.

[0137] In one embodiment, the present invention also provides a vehicle that may include a vehicle controller as described above, for performing a suspension failure handling method via the vehicle controller to maintain vehicle stability and improve vehicle deviation in the event of an air suspension failure.

[0138] In one embodiment, the present invention also provides a computer program product that can store a computer program, which can be loaded by a braking system and executed as the suspension fault handling method of the above embodiments. For the specific execution process, please refer to the specific description of the above embodiments, which will not be repeated here.

[0139] Finally, the various embodiments in this invention are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for the system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiments.

[0140] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A suspension failure handling method, comprising: In response to the detection of an air suspension malfunction, vehicle motion state parameters and driver input parameters are acquired based on sensor measurements; The actual vehicle posture is determined based on the vehicle motion state parameters, and the estimated vehicle posture is predicted by the vehicle model based on the driver input parameters. The vehicle is compensated for based on the attitude deviation between the actual vehicle attitude and the estimated vehicle attitude. The methods for compensating and controlling the vehicle include, but are not limited to, one or more of the following: steering compensation based on the steer-by-wire system, braking compensation based on the braking system, and torque compensation based on the power system.

2. The method according to claim 1, further comprising: Based on the steer-by-wire system, the reaction torques corresponding to the left and right steering wheels are obtained respectively, and the unbalanced torque difference between the left and right steering wheels is determined based on the reaction torques. The method of compensating for the vehicle based on the attitude deviation between the actual vehicle attitude and the estimated vehicle attitude includes: The vehicle is compensated for based on the attitude deviation and the unbalanced torque difference.

3. The method according to claim 1, wherein the compensation control of the vehicle based on the attitude deviation between the actual vehicle attitude and the estimated vehicle attitude includes: The severity level of the fault is determined based on the attitude deviation. A fault compensation scheme corresponding to the severity level of the fault is adopted to compensate for the vehicle based on the attitude deviation.

4. The method according to claim 3, wherein the severity level of the fault is a first fault level; The fault compensation scheme corresponding to the severity level of the fault is used to compensate and control the vehicle based on the attitude deviation, including: Activate the steer-by-wire system and determine steering compensation information based on the attitude deviation; The steer-by-wire system performs steering compensation on the vehicle based on the steering compensation information.

5. The method according to claim 4, wherein the fault severity level is a second fault level, and the fault severity of the second fault level is higher than that of the first fault level; The fault compensation scheme corresponding to the severity level of the fault is used to compensate and control the vehicle based on the attitude deviation, including: Activate the braking system and the steer-by-wire system, and determine steering compensation information and braking compensation information based on the attitude deviation; The vehicle is subjected to steering compensation by the steer-by-wire system based on the steering compensation information, and the vehicle is subjected to braking compensation by the braking system based on the braking compensation information.

6. The method according to claim 5, wherein the fault severity level is a third fault level, and the fault severity of the third fault level is higher than that of the second fault level; The fault compensation scheme corresponding to the severity level of the fault is used to compensate and control the vehicle based on the attitude deviation, including: The braking system, steer-by-wire system, and power system are activated, and steering compensation information, braking compensation information, and torque compensation information are determined based on the attitude deviation. The vehicle is subjected to steering compensation by the steer-by-wire system based on the steering compensation information, braking compensation by the braking system based on the braking compensation information, and torque compensation by the powertrain system based on the torque compensation information.

7. The method according to claim 1, wherein the compensation control of the vehicle based on the attitude deviation between the actual vehicle attitude and the estimated vehicle attitude comprises: The initial fault severity level is determined based on the attitude deviation, and the vehicle is compensated and controlled using a fault compensation scheme corresponding to the initial fault severity level. During the compensation control period, the initial fault severity level is upgraded based on the duration of the deviation corresponding to the attitude deviation, resulting in an upgraded fault severity level. The vehicle is compensated and controlled using a fault compensation scheme that corresponds to the upgraded fault severity level.

8. The method according to claim 6, wherein the steering compensation information includes a steering compensation amount and a steering compensation direction, the braking compensation information includes a first wheel to be compensated and a braking compensation amount corresponding to each of the first wheels to be compensated, and the torque compensation information includes a second wheel to be compensated and a torque compensation amount corresponding to each of the second wheels to be compensated.

9. The method according to claim 1, wherein the vehicle motion state parameters include, but are not limited to, one or more of yaw rate, pitch rate and yaw rate, and the driver input parameters include, but are not limited to, one or more of steering wheel angle, accelerator pedal travel, brake pedal travel and vehicle gear information.

10. The method according to claim 3, further comprising: The maximum driving speed is determined based on the severity level of the fault. The vehicle's speed is limited based on the maximum driving speed so that the vehicle's driving speed does not exceed the maximum driving speed.

11. A suspension failure handling device, comprising: The parameter acquisition module is used to acquire vehicle motion state parameters and driver input parameters based on sensor measurements in response to the detection of air suspension failure. The attitude determination module is used to determine the actual vehicle attitude based on the vehicle motion state parameters, and to predict the estimated vehicle attitude based on the driver input parameters through the vehicle model. The compensation control module is used to perform compensation control on the vehicle based on the attitude deviation between the actual vehicle attitude and the estimated vehicle attitude.

12. A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method according to any one of claims 1 to 10.

13. A vehicle controller, comprising: A processor and a memory; wherein the memory stores computer-readable instructions adapted to be loaded by the processor and to perform the steps of the method as claimed in any one of claims 1 to 10.

14. A vehicle comprising the suspension fault handling device as claimed in claim 11 or the vehicle controller as claimed in claim 13.

15. A computer program product comprising a computer program that, when executed, implements the suspension failure handling method according to any one of claims 1 to 10.

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