A method and device for correcting measurement data of a suspension height sensor

Abstract

The present application provides a method and device for correcting the measurement data of a suspension height sensor, including: for each wheel of a target vehicle that can be controlled by steering wheel steering, obtaining the height measurement value of the suspension corresponding to the wheel of the target vehicle during the steering process through the suspension height sensor corresponding to the wheel, and obtaining the steering angle value of the steering wheel through the steering wheel steering machine; based on the steering angle value of the steering wheel, estimating the height deviation value of the suspension height sensor during the steering process; using the height deviation value of the suspension height sensor during the steering process, correcting the height measurement value of the suspension corresponding to the wheel during the steering process, so as to obtain the true value of the height of the suspension corresponding to the wheel of the target vehicle during the steering process. In this way, the influence of vehicle steering on the measurement result of the suspension height sensor can be eliminated, more accurate suspension height data can be obtained, and the adjustment accuracy of the suspension and other vehicle systems that use the suspension height data can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle suspension, and in particular to a method and device for correcting measurement data of a suspension height sensor. Background Art

[0002] As users' requirements for driving comfort become higher and higher, more and more vehicles are equipped with air suspension, and vehicles equipped with air suspension often need to install suspension height sensors to detect suspension height.

[0003] When a vehicle is turning at low speed, in theory, the suspension height will not change significantly due to the vehicle turning. However, research has found that in the actual turning process, the vehicle turning will cause the output signal of the suspension height sensor to change abnormally, making the suspension height detected by the suspension height sensor inaccurate, which in turn causes the air suspension to be misadjusted or other system functions that use the suspension height data to have problems. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a method and device for correcting the measurement data of a suspension height sensor, which can estimate the height deviation value of the suspension height sensor during the steering process based on the steering angle value of the steering wheel of the vehicle during the steering process; and correct the height measurement value measured by the suspension height sensor according to the height deviation value of the suspension height sensor to obtain the true value of the suspension height. In this way, the influence of vehicle steering on the measurement result of the suspension height sensor can be eliminated, thereby obtaining more accurate suspension height data, improving the adjustment accuracy of the suspension, and avoiding misadjustment of other vehicle systems that use the suspension height data.

[0005] An embodiment of the present application provides a method for correcting measurement data of a suspension height sensor, the correction method comprising:

[0006] For each wheel of the target vehicle that can be controlled by steering wheel, a suspension height sensor corresponding to the wheel is used to obtain a suspension height measurement value corresponding to the wheel during the steering process of the target vehicle, and a steering angle value of the steering wheel is obtained through a steering wheel steering machine;

[0007] estimating a height deviation value of the suspension height sensor during the steering process based on a steering angle value of a steering wheel of the target vehicle during the steering process;

[0008] The height deviation value of the suspension height sensor during the steering process is used to correct the height measurement value of the suspension corresponding to the wheel during the steering process to obtain the true value of the height of the suspension corresponding to the wheel of the target vehicle during the steering process.

[0009] Furthermore, the step of estimating the height deviation value of the suspension height sensor during the steering process based on the steering angle value of the steering wheel of the target vehicle during the steering process includes:

[0010] Based on the steering angle value of the steering wheel of the target vehicle during the steering process, a suspension height deviation determination model corresponding to the wheel is used to estimate the height deviation value of the suspension height sensor during the steering process; the height deviation value of the suspension height sensor is positively correlated with the steering angle value of the steering wheel.

[0011] Furthermore, the suspension height deviation determination model is obtained by fitting in the following manner:

[0012] For a vehicle of the same model as the target vehicle, obtain historical angle measurement values ​​of the suspension collected by the suspension height sensor corresponding to the target wheel of the vehicle during multiple different steering processes, and obtain historical steering values ​​of the suspension corresponding to the target wheel collected by the steering wheel steering machine;

[0013] For each steering process in the multiple different steering processes, converting the historical angle measurement value of the suspension collected by the suspension height sensor corresponding to the target wheel in the steering process into a historical height deviation value of the suspension, and converting the historical steering value of the suspension corresponding to the target wheel collected by the steering wheel steering machine in the steering process into a historical steering angle value of the steering wheel;

[0014] The initial suspension height deviation determination model is fitted and calibrated by using historical height deviation values ​​and historical steering angle values ​​corresponding to multiple different steering processes to obtain a suspension height deviation determination model.

[0015] Furthermore, for each steering process in the multiple different steering processes, the steps of converting the historical angle measurement value of the suspension collected by the suspension height sensor corresponding to the target wheel in the steering process into the historical height deviation value of the suspension, and converting the historical steering value of the suspension corresponding to the target wheel collected by the steering wheel steering machine in the steering process into the historical steering angle value of the steering wheel include:

[0016] For each steering process in the multiple different steering processes, obtaining a duty cycle signal output by a suspension height sensor corresponding to a target wheel in the steering process based on a historical angle measurement value of the suspension collected;

[0017] Determining a historical height deviation value of the suspension height sensor corresponding to the target wheel based on a duty cycle signal output by the suspension height sensor corresponding to the target wheel;

[0018] Using the mapping relationship between the steering value of the suspension and the steering angle value of the steering wheel, the historical steering value of the suspension corresponding to the target wheel collected by the steering wheel steering machine during the steering process is converted into the historical steering angle value of the steering wheel.

[0019] Furthermore, the suspension height deviation determination model is expressed by the following formula:

[0020]

[0021] Wherein, Δh represents the height deviation value of the suspension height sensor during the steering process of the target vehicle; represents the steering angle value of the steering wheel of the target vehicle during the steering process; a and b represent the coefficients of the fitted formula respectively;

[0022] or,

[0023] The suspension height deviation determination model is expressed by the following formula:

[0024]

[0025] Wherein, Δh represents the height deviation value of the suspension height sensor during the steering process of the target vehicle; represents the steering angle value of the steering wheel of the target vehicle during the steering process; c, d, e, f and g respectively represent the coefficients of the fitted formula.

[0026] Furthermore, the suspension height deviation value of the suspension height sensor during the steering process is used to correct the suspension height measurement value obtained by the suspension height sensor during the steering process by the following formula to obtain the actual value of the suspension height corresponding to the wheel of the target vehicle during the steering process:

[0027] H=h+Δh;

[0028] Among them, h represents the height measurement value of the suspension corresponding to the wheel of the target vehicle during the steering process; Δh represents the height deviation value of the suspension height sensor of the target vehicle during the steering process; H represents the actual value of the height corresponding to the wheel of the target vehicle during the steering process.

[0029] The embodiment of the present application also provides a measurement data and correction device of a suspension height sensor, the correction device comprising:

[0030] An acquisition module is used to acquire, for each wheel of the target vehicle that can be controlled by steering wheel, a suspension height measurement value corresponding to the wheel during the steering process of the target vehicle through a suspension height sensor corresponding to the wheel, and to acquire a steering angle value of the steering wheel through a steering wheel steering machine;

[0031] An estimation module, configured to estimate a height deviation value of the suspension height sensor during the steering process based on a steering angle value of a steering wheel of the target vehicle during the steering process;

[0032] The correction module is used to correct the height measurement value of the suspension corresponding to the wheel during the steering process by using the height deviation value of the suspension height sensor during the steering process, so as to obtain the true value of the height of the suspension corresponding to the wheel of the target vehicle during the steering process.

[0033] Further, when the estimation module is used to estimate the height deviation value of the suspension height sensor during the steering process based on the steering angle value of the steering wheel of the target vehicle during the steering process, the estimation module is used to:

[0034] Based on the steering angle value of the steering wheel of the target vehicle during the steering process, a suspension height deviation determination model corresponding to the wheel is used to estimate the height deviation value of the suspension height sensor during the steering process; the height deviation value of the suspension height sensor is positively correlated with the steering angle value of the steering wheel.

[0035] Furthermore, the correction device further includes a fitting module; the fitting module is used to obtain the suspension height deviation determination model by fitting in the following manner:

[0036] For a vehicle of the same model as the target vehicle, obtain historical angle measurement values ​​of the suspension collected by the suspension height sensor corresponding to the target wheel of the vehicle during multiple different steering processes, and obtain historical steering values ​​of the suspension corresponding to the target wheel collected by the steering wheel steering machine;

[0037] For each steering process in the multiple different steering processes, converting the historical angle measurement value of the suspension collected by the suspension height sensor corresponding to the target wheel in the steering process into a historical height deviation value of the suspension, and converting the historical steering value of the suspension corresponding to the target wheel collected by the steering wheel steering machine in the steering process into a historical steering angle value of the steering wheel;

[0038] The initial suspension height deviation determination model is fitted and calibrated by using historical height deviation values ​​and historical steering angle values ​​corresponding to multiple different steering processes to obtain a suspension height deviation determination model.

[0039] Further, when the fitting module is used for converting the historical angle measurement value of the suspension collected by the suspension height sensor corresponding to the target wheel in each steering process in multiple different steering processes into the historical height deviation value of the suspension, and converting the historical steering value of the suspension corresponding to the target wheel collected by the steering wheel steering machine in the steering process into the historical steering angle value of the steering wheel, the fitting module is used to:

[0040] For each steering process in the multiple different steering processes, obtaining a duty cycle signal output by a suspension height sensor corresponding to a target wheel in the steering process based on a historical angle measurement value of the suspension collected;

[0041] Determining a historical height deviation value of the suspension height sensor corresponding to the target wheel based on a duty cycle signal output by the suspension height sensor corresponding to the target wheel;

[0042] Using the mapping relationship between the steering value of the suspension and the steering angle value of the steering wheel, the historical steering value of the suspension corresponding to the target wheel collected by the steering wheel steering machine during the steering process is converted into the historical steering angle value of the steering wheel.

[0043] Furthermore, the suspension height deviation determination model is expressed by the following formula:

[0044]

[0045] Wherein, Δh represents the height deviation value of the suspension height sensor during the steering process of the target vehicle; represents the steering angle value of the steering wheel of the target vehicle during the steering process; a and b represent the coefficients of the fitted formula respectively;

[0046] or,

[0047] The suspension height deviation determination model is expressed by the following formula:

[0048]

[0049] Wherein, Δh represents the height deviation value of the suspension height sensor during the steering process of the target vehicle; represents the steering angle value of the steering wheel of the target vehicle during the steering process; c, d, e, f and g respectively represent the coefficients of the fitted formula.

[0050] Furthermore, the suspension height deviation value of the suspension height sensor during the steering process is used to correct the suspension height measurement value obtained by the suspension height sensor during the steering process by the following formula to obtain the actual value of the suspension height corresponding to the wheel of the target vehicle during the steering process:

[0051] H=h+Δh;

[0052] Among them, h represents the height measurement value of the suspension corresponding to the wheel of the target vehicle during the steering process; Δh represents the height deviation value of the suspension height sensor of the target vehicle during the steering process; H represents the actual value of the height corresponding to the wheel of the target vehicle during the steering process.

[0053] An embodiment of the present application also provides an electronic device, including: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and when the machine-readable instructions are executed by the processor, the steps of the method for correcting the measurement data of a suspension height sensor as described above are performed.

[0054] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the method for correcting measurement data of a suspension height sensor as described above are executed.

[0055] A method and device for correcting measurement data of a suspension height sensor provided in an embodiment of the present application include: for each wheel of a target vehicle that can be controlled by steering wheel steering, obtaining a height measurement value of the suspension corresponding to the wheel of the target vehicle during a steering process through the suspension height sensor corresponding to the wheel, and obtaining a steering angle value of the steering wheel through a steering wheel steering gear; estimating a height deviation value of the suspension height sensor during the steering process based on the steering angle value of the steering wheel of the target vehicle during the steering process; and using the height deviation value of the suspension height sensor during the steering process to correct the height measurement value of the suspension corresponding to the wheel during the steering process, so as to obtain a true height value of the suspension corresponding to the wheel of the target vehicle during the steering process.

[0056] In this way, the height deviation value of the suspension height sensor during the steering process can be estimated based on the steering angle value of the steering wheel of the vehicle during the steering process; and the height measurement value measured by the suspension height sensor can be corrected according to the height deviation value of the suspension height sensor to obtain the true value of the suspension height. In this way, the influence of vehicle steering on the measurement result of the suspension height sensor can be eliminated, thereby obtaining more accurate suspension height data, improving the adjustment accuracy of the suspension, and avoiding misadjustment of other vehicle systems that use the suspension height data.

[0057] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0059] Figure 1 A flow chart showing a method for correcting measurement data of a suspension height sensor provided in an embodiment of the present application is shown;

[0060] 2(a) and (b) are schematic diagrams showing the fitting effect of a suspension height deviation determination model provided in an embodiment of the present application;

[0061] Figure 3 One of the structural schematic diagrams of a device for correcting measurement data of a suspension height sensor provided in an embodiment of the present application is shown;

[0062] Figure 4 A second structural schematic diagram of a device for correcting measurement data of a suspension height sensor provided in an embodiment of the present application is shown;

[0063] Figure 5 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0064] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work belongs to the scope of protection of the present application.

[0065] As users' requirements for driving comfort become higher and higher, more and more vehicles are equipped with air suspension. The air suspension of a car is a force transmission connection device between the car body and the wheels. Its function is to transmit the force and torque between the wheels and the car body, and to buffer the impact force transmitted to the frame or body by uneven roads, and reduce the vibration caused by it, so as to ensure that the car can run smoothly. To achieve this function, vehicles equipped with air suspension often need to install suspension height sensors to detect the suspension height.

[0066] The suspension height sensor assembly includes the suspension height sensor body (with an angle sensor of a swing arm), a bracket, a connecting rod, and a ball head. The suspension height sensor body is fixed to the vehicle body or subframe through a bracket, and the other end is fixed to the control arm through a connecting rod and a ball pin. When the vehicle turns at low speed, the roll is not considered, and the height of each wheel will not change significantly due to the wheel angle, and the suspension height value should remain basically unchanged. However, studies have found that in the actual steering process, the steering of the vehicle will cause the output signal of the suspension height sensor to change abnormally, making the suspension height detected by the suspension height sensor inaccurate. Taking the double-ball joint double-wishbone suspension as an example, when turning, due to the K characteristic of the double-ball joint double-wishbone suspension, the control arm will swing along the front and rear direction of the vehicle. This swing will drive the suspension height sensor connecting rod to swing, thereby causing the suspension height sensor angle to change, causing the suspension height sensor output signal to change abnormally, causing the air suspension to be misadjusted or causing problems with other system functions that use the suspension height data of the suspension height sensor.

[0067] Based on this, an embodiment of the present application provides a method for correcting the measurement data of a suspension height sensor to eliminate the influence of vehicle steering on the measurement results of the suspension height sensor, thereby obtaining more accurate suspension height data, improving the adjustment accuracy of the suspension, and avoiding misadjustment of other vehicle systems that use suspension height data.

[0068] It should be noted that the correction method for the measurement data of the suspension height sensor provided in the embodiment of the present application is not only applicable to the suspension height sensor of the double-ball joint double-wishbone suspension, but also to the suspension height sensor of the single-ball joint double-wishbone suspension, the rear suspension with rear wheel steering, etc. In other words, the correction method provided in the embodiment of the present application is applicable to all suspension types in which steering has an impact on the output value of the suspension height sensor.

[0069] See also Figure 1 , Figure 1 This is a flow chart of a method for correcting the measurement data of a suspension height sensor provided in an embodiment of the present application. The correction method provided in an embodiment of the present application can be implemented by a device with a control function such as a vehicle suspension controller or a vehicle controller. The correction method can also be completely implemented by a computer program. For example, the correction method can be executed by a functional program installed in the vehicle for vehicle control. Figure 1 As shown in , the correction method provided by the embodiment of the present application includes:

[0070] S101. For each wheel of a target vehicle that can be controlled by steering wheel, obtain a suspension height measurement value corresponding to the wheel during the steering process of the target vehicle through a suspension height sensor corresponding to the wheel, and obtain a steering angle value of the steering wheel through a steering wheel steering gear.

[0071] It should be noted that for different models, the wheels of the vehicle that can be controlled by the steering wheel are different. For example, the steering wheel of most vehicles can control the steering of the vehicle's front wheels (i.e., the left front wheel and the right front wheel), and the steering wheels of a few vehicles can control the steering of the vehicle's rear wheels, or the steering wheels of a few vehicles can also control the steering of both the front and rear wheels of the vehicle.

[0072] Here, when the target vehicle turns, the suspension height sensor corresponding to each wheel in the target vehicle that can be controlled by the steering wheel will produce a measurement error due to the vehicle turning, that is, the suspension height measurement value is inaccurate. Therefore, in this step, for each wheel of the target vehicle that can be controlled by the steering wheel, the suspension height sensor corresponding to the wheel is used to obtain the suspension height measurement value corresponding to the wheel during the turning process of the target vehicle, and the steering angle value of the steering wheel is obtained using the steering wheel steering machine.

[0073] S102: based on the steering angle value of the steering wheel of the target vehicle during the steering process, estimating the height deviation value of the suspension height sensor during the steering process.

[0074] In a possible implementation, based on the steering angle value of the steering wheel of the target vehicle during the steering process, a suspension height deviation determination model corresponding to the wheel may be used to estimate the height deviation value of the suspension height sensor during the steering process.

[0075] Among them, the height deviation value of the suspension height sensor is positively correlated with the steering angle value of the steering wheel. Here, the positive correlation refers to the same direction of change of the variables, that is, when the independent variable changes from small to large, the dependent variable also changes from small to large. Correspondingly, in the suspension height deviation determination model, when the steering angle value of the steering wheel increases, the height deviation value of the suspension height sensor also increases. In other words, the suspension height deviation determination model can be used to describe the specific relationship between the height deviation value of the suspension height sensor and the steering angle value of the steering wheel during the steering process, which is positively correlated. Therefore, in this step, as an example, in the specific implementation, the steering angle value of the steering wheel can be directly input into the suspension height deviation determination model corresponding to the wheel, and the height deviation value of the suspension height sensor output by the suspension height deviation determination model can be estimated through mathematical operations.

[0076] The following will explain in detail how to fit the suspension height deviation determination model in combination with specific steps:

[0077] Step 1: For a vehicle of the same model as the target vehicle, obtain the historical angle measurement values ​​of the suspension collected by the suspension height sensor corresponding to the target wheel of the vehicle during multiple different steering processes, and obtain the historical steering values ​​of the suspension corresponding to the target wheel collected by the steering wheel steering gear.

[0078] It should be noted that, since the structural parameters and vehicle performance of vehicles of the same model are relatively consistent, the use of historical data of vehicles of the same model as the target vehicle for fitting will make the fitted suspension height deviation determination model more consistent with the operating conditions of the target vehicle, thereby making the height deviation value of the suspension height sensor during the steering process estimated by the suspension height deviation determination model more accurate. Therefore, the historical angle measurement values ​​and historical steering values ​​of vehicles of the same model as the target vehicle during multiple different steering processes can be used to fit the suspension height deviation determination model used to describe the specific relationship between the height deviation value of the suspension height sensor and the steering angle value of the steering wheel during the steering process of the vehicle of this model.

[0079] Here, there may be multiple wheels in the vehicle that can be controlled by steering wheel steering, and the suspension height deviation determination model corresponding to each wheel of the target vehicle that can be controlled by steering wheel steering is different. Therefore, in this step, for any wheel in the target vehicle that can be controlled by steering wheel steering, it is necessary to obtain the historical data of the target wheel in the vehicle of the same model as the target vehicle to fit the suspension height deviation determination model. Among them, the target wheel and the wheel that can be controlled by steering wheel steering are installed in the same position on the vehicle. Exemplarily, the suspension height deviation determination model corresponding to the left front wheel in the target vehicle is obtained by fitting the historical data corresponding to the left front wheel in the vehicle of the same model as the target vehicle.

[0080] In specific implementation, for a vehicle of the same model as the target vehicle, methods for obtaining historical data of the vehicle in multiple different steering processes include conducting actual vehicle experiments using a vehicle of the same model as the target vehicle, and conducting simulation experiments using a simulation model of a vehicle of the same model as the target vehicle.

[0081] Step 2: For each steering process in multiple different steering processes, the historical angle measurement value of the suspension collected by the suspension height sensor corresponding to the target wheel in the steering process is converted into a historical height deviation value of the suspension, and the historical steering value of the suspension corresponding to the target wheel collected by the steering wheel steering machine in the steering process is converted into a historical steering angle value of the steering wheel.

[0082] In a possible implementation, for each steering process in a plurality of different steering processes, the steps of converting a historical angle measurement value of the suspension collected by a suspension height sensor corresponding to a target wheel in the steering process into a historical height deviation value of the suspension, and converting a historical steering value of the suspension corresponding to the target wheel collected by a steering wheel steering machine in the steering process into a historical steering angle value of the steering wheel include:

[0083] Step 1: For each steering process among multiple different steering processes, obtain a duty cycle signal output by a suspension height sensor corresponding to a target wheel in the steering process based on the collected historical angle measurement value of the suspension.

[0084] Step 2: Based on the duty cycle signal output by the suspension height sensor corresponding to the target wheel, determine the historical height deviation value of the suspension height sensor corresponding to the target wheel.

[0085] It should be noted that the suspension height sensor is essentially an angle sensor, that is, the suspension height sensor collects the deflection angle during measurement, and then outputs a corresponding duty cycle signal based on the collected deflection angle to reflect the measurement of the suspension height. Therefore, in the above steps 1 to 2, during each steering process, the suspension height sensor corresponding to the target wheel first collects the historical angle measurement value of the suspension, and then outputs a corresponding duty cycle signal based on the historical angle measurement value; the suspension controller or vehicle controller in the vehicle can determine the historical height deviation value of the suspension height sensor based on the received duty cycle signal.

[0086] Step 3: Using the mapping relationship between the steering value of the suspension and the steering angle value of the steering wheel, the historical steering value of the suspension corresponding to the target wheel collected by the steering wheel steering machine during the steering process is converted into the historical steering angle value of the steering wheel.

[0087] Here, there is a certain mapping relationship between the steering angle value of the steering wheel and the steering value of the suspension. For example, when the steering angle value of the steering wheel is +180 degrees (i.e., when the steering wheel rotates half a circle to the right), the steering value of the suspension is +20 degrees (i.e., the suspension rotates 20 degrees to the right). Therefore, according to the mapping relationship between the steering value of the suspension and the steering angle value of the steering wheel, the historical steering value of the suspension corresponding to the target wheel in the steering process can be converted into the historical steering angle value of the steering wheel.

[0088] Step 3: Using the historical height deviation values ​​and historical steering angle values ​​corresponding to multiple different steering processes, the initial suspension height deviation determination model is fitted and calibrated to obtain the suspension height deviation determination model.

[0089] Specifically, any existing method can be used to fit the above acquired data to obtain a suspension height deviation determination model that describes the specific relationship between the height deviation value of the suspension height sensor and the steering angle value of the steering wheel during steering for each model of vehicle.

[0090] As an example, during fitting, the specific relationship between the height deviation value of the suspension height sensor and the steering angle value of the steering wheel can be set to conform to the initial suspension height deviation determination model. By using the historical height deviation values ​​and historical steering angle values ​​corresponding to multiple different steering processes for fitting and calibration, the various undetermined coefficients in the initial suspension height deviation model can be fitted, and then the suspension height deviation determination model can be fitted. For example, the historical height deviation values ​​and historical steering angle values ​​corresponding to each steering process in multiple different steering processes can be marked in the coordinate system to form a scatter plot with the vertical axis being the historical height deviation value and the horizontal axis being the historical steering angle value. The scatter plot is used to perform curve fitting to obtain the suspension height deviation determination model.

[0091] In a specific implementation, the suspension height deviation determination model can be expressed by the following formula (1):

[0092]

[0093] Wherein, Δh represents the height deviation value of the suspension height sensor during the steering process of the target vehicle; represents the steering angle value of the steering wheel of the target vehicle during the steering process; a and b represent the coefficients of the fitted formula respectively;

[0094] Alternatively, the suspension height deviation determination model may be expressed by the following formula (2).

[0095]

[0096] Wherein, Δh represents the height deviation value of the suspension height sensor during the steering process of the target vehicle; represents the steering angle value of the steering wheel of the target vehicle during the steering process; c, d, e, f and g respectively represent the coefficients of the fitted formula.

[0097] Here, it should be noted that the formula representation of the above-mentioned suspension height deviation determination model is only exemplary. Other formulas set according to actual conditions and other methods can also be used in this application. For example, the relationship between the steering angle value of the steering wheel and the height deviation value of the suspension height sensor can be learned through a machine learning model. This application does not make any limitations here.

[0098] Please refer to Figures 2(a) and (b) below, which show a schematic diagram of the fitting effect of a suspension height deviation determination model provided in an embodiment of the present application. Figure 2(a) is a schematic diagram of the fitting effect of the suspension height deviation determination model represented by the above formula (1), and Figure 2(b) is a schematic diagram of the fitting effect of the suspension height deviation determination model represented by the above formula (2). According to Figures 2(a) and (b), it can be seen that compared with the suspension height deviation determination model represented by the above formula (1), the suspension height deviation determination model represented by the above formula (2) has higher fitting accuracy, but at the same time requires higher computing power of the controller. Therefore, in the specific implementation, the mathematical representation of the suspension height deviation determination model can be selected based on the comprehensive fitting accuracy requirements and the actual computing power of the controller.

[0099] Return to Reference Figure 1 , after estimating the height deviation of the suspension height sensor during steering:

[0100] S103, using the height deviation value of the suspension height sensor during the steering process, correcting the height measurement value of the suspension corresponding to the wheel during the steering process, so as to obtain the true value of the height of the suspension corresponding to the wheel of the target vehicle during the steering process.

[0101] In a possible implementation manner, the suspension height deviation value of the suspension height sensor during the steering process may be used to correct the suspension height measurement value obtained by the suspension height sensor during the steering process by using the following formula to obtain the actual suspension height value corresponding to the wheel of the target vehicle during the steering process:

[0102] H=h+Δh;

[0103] Among them, h represents the height measurement value of the suspension corresponding to the wheel of the target vehicle during the steering process; Δh represents the height deviation value of the suspension height sensor of the target vehicle during the steering process; H represents the actual value of the height corresponding to the wheel of the target vehicle during the steering process.

[0104] Furthermore, after obtaining the true value of the suspension height corresponding to the wheel of the target vehicle during the steering process, the true value of the height can be output to the suspension controller, the vehicle controller or other systems in the vehicle that require suspension height data, such as the headlight adjustment system, etc., thereby improving the adjustment accuracy of the suspension and avoiding misadjustment of other vehicle systems that use suspension height data due to erroneous suspension height data.

[0105] A method for correcting measurement data of a suspension height sensor provided in an embodiment of the present application includes: for each wheel of a target vehicle that can be controlled by steering wheel steering, obtaining the height measurement value of the suspension corresponding to the wheel of the target vehicle during the steering process through the suspension height sensor corresponding to the wheel, and obtaining the steering angle value of the steering wheel through the steering wheel steering gear; based on the steering angle value of the steering wheel of the target vehicle during the steering process, estimating the height deviation value of the suspension height sensor during the steering process; using the height deviation value of the suspension height sensor during the steering process, correcting the height measurement value of the suspension corresponding to the wheel during the steering process, so as to obtain the true height value of the suspension corresponding to the wheel of the target vehicle during the steering process.

[0106] In this way, the height deviation value of the suspension height sensor during the steering process can be estimated based on the steering angle value of the steering wheel of the vehicle during the steering process; and the height measurement value measured by the suspension height sensor can be corrected according to the height deviation value of the suspension height sensor to obtain the true value of the suspension height. In this way, the influence of vehicle steering on the measurement result of the suspension height sensor can be eliminated, thereby obtaining more accurate suspension height data, improving the adjustment accuracy of the suspension, and avoiding misadjustment of other vehicle systems that use the suspension height data.

[0107] See also Figure 3 , Figure 4 , Figure 3 This is one of the structural schematic diagrams of a device for correcting measurement data of a suspension height sensor provided in an embodiment of the present application, Figure 4 This is a second structural schematic diagram of a device for correcting measurement data of a suspension height sensor provided in an embodiment of the present application. Figure 3 As shown in , the correction device 300 includes:

[0108] An acquisition module 310 is used for acquiring, for each wheel of the target vehicle that can be controlled by steering wheel, a suspension height measurement value corresponding to the wheel during the steering process of the target vehicle through a suspension height sensor corresponding to the wheel, and acquiring a steering angle value of the steering wheel through a steering wheel steering machine;

[0109] An estimation module 320, configured to estimate a height deviation value of the suspension height sensor during the steering process based on a steering angle value of a steering wheel of the target vehicle during the steering process;

[0110] The correction module is used to correct the height measurement value of the suspension corresponding to the wheel during the steering process by using the height deviation value of the suspension height sensor during the steering process, so as to obtain the true value of the height of the suspension corresponding to the wheel of the target vehicle during the steering process.

[0111] Further, when the estimation module 320 is used to estimate the height deviation value of the suspension height sensor during the steering process based on the steering angle value of the steering wheel of the target vehicle during the steering process, the estimation module 320 is used to:

[0112] Based on the steering angle value of the steering wheel of the target vehicle during the steering process, a suspension height deviation determination model corresponding to the wheel is used to estimate the height deviation value of the suspension height sensor during the steering process; the height deviation value of the suspension height sensor is positively correlated with the steering angle value of the steering wheel.

[0113] Further, such as Figure 4 As shown, the correction device further includes a fitting module 340; the fitting module 340 is used to obtain the suspension height deviation determination model by fitting in the following manner:

[0114] For a vehicle of the same model as the target vehicle, obtain historical angle measurement values ​​of the suspension collected by the suspension height sensor corresponding to the target wheel of the vehicle during multiple different steering processes, and obtain historical steering values ​​of the suspension corresponding to the target wheel collected by the steering wheel steering machine;

[0115] For each steering process in the multiple different steering processes, converting the historical angle measurement value of the suspension collected by the suspension height sensor corresponding to the target wheel in the steering process into a historical height deviation value of the suspension, and converting the historical steering value of the suspension corresponding to the target wheel collected by the steering wheel steering machine in the steering process into a historical steering angle value of the steering wheel;

[0116] The initial suspension height deviation determination model is fitted and calibrated by using historical height deviation values ​​and historical steering angle values ​​corresponding to multiple different steering processes to obtain a suspension height deviation determination model.

[0117] Further, when the fitting module 340 is used to convert the historical angle measurement value of the suspension collected by the suspension height sensor corresponding to the target wheel in each steering process in the multiple different steering processes into the historical height deviation value of the suspension, and convert the historical steering value of the suspension corresponding to the target wheel collected by the steering wheel steering machine in the steering process into the historical steering angle value of the steering wheel, the fitting module 340 is used to:

[0118] For each steering process in the multiple different steering processes, obtaining a duty cycle signal output by a suspension height sensor corresponding to a target wheel in the steering process based on a historical angle measurement value of the suspension collected;

[0119] Determining a historical height deviation value of the suspension height sensor corresponding to the target wheel based on a duty cycle signal output by the suspension height sensor corresponding to the target wheel;

[0120] Using the mapping relationship between the steering value of the suspension and the steering angle value of the steering wheel, the historical steering value of the suspension corresponding to the target wheel collected by the steering wheel steering machine during the steering process is converted into the historical steering angle value of the steering wheel.

[0121] Furthermore, the suspension height deviation determination model is expressed by the following formula:

[0122]

[0123] Wherein, Δh represents the height deviation value of the suspension height sensor during the steering process of the target vehicle; represents the steering angle value of the steering wheel of the target vehicle during the steering process; a and b represent the coefficients of the fitted formula respectively;

[0124] or,

[0125] The suspension height deviation determination model is expressed by the following formula:

[0126]

[0127] Wherein, Δh represents the height deviation value of the suspension height sensor during the steering process of the target vehicle; represents the steering angle value of the steering wheel of the target vehicle during the steering process; c, d, e, f and g respectively represent the coefficients of the fitted formula.

[0128] Further, the correction module is used to correct the suspension height measurement value obtained by the suspension height sensor during the steering process by using the suspension height deviation value of the suspension height sensor during the steering process through the following formula, so as to obtain the actual value of the suspension height corresponding to the wheel of the target vehicle during the steering process:

[0129] H=h+Δh;

[0130] Among them, h represents the height measurement value of the suspension corresponding to the wheel of the target vehicle during the steering process; Δh represents the height deviation value of the suspension height sensor of the target vehicle during the steering process; H represents the actual value of the height corresponding to the wheel of the target vehicle during the steering process.

[0131] A device for correcting measurement data of a suspension height sensor provided in an embodiment of the present application includes: for each wheel of a target vehicle that can be controlled by steering wheel steering, obtaining the height measurement value of the suspension corresponding to the wheel of the target vehicle during the steering process through the suspension height sensor corresponding to the wheel, and obtaining the steering angle value of the steering wheel through the steering wheel steering gear; estimating the height deviation value of the suspension height sensor during the steering process based on the steering angle value of the steering wheel of the target vehicle during the steering process; and correcting the height measurement value of the suspension corresponding to the wheel during the steering process using the height deviation value of the suspension height sensor during the steering process to obtain the true height value of the suspension corresponding to the wheel of the target vehicle during the steering process.

[0132] In this way, the height deviation value of the suspension height sensor during the steering process can be estimated based on the steering angle value of the steering wheel of the vehicle during the steering process; and the height measurement value measured by the suspension height sensor can be corrected according to the height deviation value of the suspension height sensor to obtain the true value of the suspension height. In this way, the influence of vehicle steering on the measurement result of the suspension height sensor can be eliminated, thereby obtaining more accurate suspension height data, improving the adjustment accuracy of the suspension, and avoiding misadjustment of other vehicle systems that use the suspension height data.

[0133] See also Figure 5 , Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 5 As shown in , the electronic device 500 includes a processor 510 , a memory 520 and a bus 530 .

[0134] The memory 520 stores machine-readable instructions executable by the processor 510. When the electronic device 500 is running, the processor 510 communicates with the memory 520 via the bus 530. When the machine-readable instructions are executed by the processor 510, the above-mentioned Figure 1 As well as the steps of a method for correcting measurement data of a suspension height sensor in the method embodiment shown in FIG. 2 , the specific implementation manner can be referred to the method embodiment, which will not be described in detail here.

[0135] The present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 1 As well as the steps of a method for correcting measurement data of a suspension height sensor in the method embodiment shown in FIG. 2 , the specific implementation manner can be referred to the method embodiment, which will not be described in detail here.

[0136] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0137] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0138] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0139] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0140] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application can essentially be embodied in the form of a software product, or in other words, the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0141] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for correcting measurement data of a suspension height sensor, characterized in that: The correction method comprises: For each wheel of the target vehicle that can be controlled by steering wheel, a suspension height sensor corresponding to the wheel is used to obtain a suspension height measurement value corresponding to the wheel during the steering process of the target vehicle, and a steering angle value of the steering wheel is obtained through a steering wheel steering machine; Based on the steering angle value of the steering wheel of the target vehicle during the steering process, estimating the height deviation value of the suspension height sensor during the steering process, including: based on the steering angle value of the steering wheel of the target vehicle during the steering process, using the suspension height deviation determination model corresponding to the wheel to estimate the height deviation value of the suspension height sensor during the steering process; the height deviation value of the suspension height sensor is positively correlated with the steering angle value of the steering wheel; Using the height deviation value of the suspension height sensor during the steering process, the height measurement value of the suspension corresponding to the wheel during the steering process is corrected to obtain the true value of the height of the suspension corresponding to the wheel of the target vehicle during the steering process; The suspension height deviation determination model is obtained by fitting in the following way: For a vehicle of the same model as the target vehicle, obtain historical angle measurement values ​​of the suspension collected by the suspension height sensor corresponding to the target wheel of the vehicle during multiple different steering processes, and obtain historical steering values ​​of the suspension corresponding to the target wheel collected by the steering wheel steering machine; For each steering process in the multiple different steering processes, converting the historical angle measurement value of the suspension collected by the suspension height sensor corresponding to the target wheel in the steering process into a historical height deviation value of the suspension, and converting the historical steering value of the suspension corresponding to the target wheel collected by the steering wheel steering machine in the steering process into a historical steering angle value of the steering wheel; The initial suspension height deviation determination model is fitted and calibrated by using historical height deviation values ​​and historical steering angle values ​​corresponding to multiple different steering processes to obtain a suspension height deviation determination model.

2. The correction method according to claim 1, characterized in that: The step of converting the historical angle measurement value of the suspension collected by the suspension height sensor corresponding to the target wheel in each steering process into the historical height deviation value of the suspension, and converting the historical steering value of the suspension corresponding to the target wheel collected by the steering wheel steering machine in the steering process into the historical steering angle value of the steering wheel, comprises: For each steering process in the multiple different steering processes, obtaining a duty cycle signal output by a suspension height sensor corresponding to a target wheel in the steering process based on a historical angle measurement value of the suspension collected; Determining a historical height deviation value of the suspension height sensor corresponding to the target wheel based on a duty cycle signal output by the suspension height sensor corresponding to the target wheel; Using the mapping relationship between the steering value of the suspension and the steering angle value of the steering wheel, the historical steering value of the suspension corresponding to the target wheel collected by the steering wheel steering machine during the steering process is converted into the historical steering angle value of the steering wheel.

3. The correction method according to claim 1, characterized in that: The suspension height deviation determination model is expressed by the following formula: ； in, Indicates the height deviation value of the suspension height sensor of the target vehicle during the steering process; Indicates the steering angle value of the steering wheel of the target vehicle during the steering process; and They represent the coefficients of the fitted formula respectively; or, The suspension height deviation determination model is expressed by the following formula: ； in, Indicates the height deviation value of the suspension height sensor of the target vehicle during the steering process; Indicates the steering angle value of the steering wheel of the target vehicle during the steering process; , , , and They represent the coefficients of the fitted formulas.

4. The correction method according to claim 1, characterized in that: The suspension height deviation value of the suspension height sensor during the steering process is used to correct the suspension height measurement value obtained by the suspension height sensor during the steering process by the following formula, so as to obtain the actual value of the suspension height corresponding to the wheel of the target vehicle during the steering process: ； in, Indicates the height measurement value of the suspension corresponding to the wheel of the target vehicle during the steering process; Indicates the height deviation value of the suspension height sensor of the target vehicle during the steering process; Indicates the true value of the height corresponding to the wheel of the target vehicle during the steering process.

5. A device for correcting measurement data of a suspension height sensor, characterized in that: The correction device is used to execute the steps of the method for correcting measurement data of a suspension height sensor according to any one of claims 1 to 4; the correction device comprises: An acquisition module is used to acquire, for each wheel of the target vehicle that can be controlled by steering wheel, a suspension height measurement value corresponding to the wheel during the steering process of the target vehicle through a suspension height sensor corresponding to the wheel, and to acquire a steering angle value of the steering wheel through a steering wheel steering machine; An estimation module is used to estimate the height deviation value of the suspension height sensor during the steering process based on the steering angle value of the steering wheel of the target vehicle during the steering process; the estimation module is specifically used to: estimate the height deviation value of the suspension height sensor during the steering process based on the steering angle value of the steering wheel of the target vehicle during the steering process using a suspension height deviation determination model corresponding to the wheel; the height deviation value of the suspension height sensor is positively correlated with the steering angle value of the steering wheel; The correction module is used to correct the height measurement value of the suspension corresponding to the wheel during the steering process by using the height deviation value of the suspension height sensor during the steering process, so as to obtain the true value of the height of the suspension corresponding to the wheel of the target vehicle during the steering process.

6. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and the machine-readable instructions are executed by the processor to execute the steps of a method for correcting measurement data of a suspension height sensor as described in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for correcting measurement data of a suspension height sensor as claimed in any one of claims 1 to 4 are executed.

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