Suspension height calibration method, device, computer equipment and storage medium

Abstract

The present application relates to a suspension height calibration method, device, computer equipment and storage medium. The method comprises: obtaining a collection height and a calibration height of a suspension, wherein the collection height is the actual height of the suspension, and the calibration height is the target height required for calibration, and generating a corresponding lifting instruction according to the height difference between the collection height and the calibration height; controlling the ground clearance of the suspension to reach the calibration height according to the lifting instruction, and dynamically detecting the collection height of the suspension in real time, and automatically generating a corresponding lifting instruction according to the height difference between the collection height and the calibration height, and adjusting the ground clearance of the suspension according to the lifting instruction, so that the ground clearance of the suspension reaches the calibration height, without the need for manual repeated calibration detection, thereby avoiding human deviation caused by individual measurement differences, so as to improve the accuracy and efficiency of suspension calibration.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle height calibration, and in particular to a suspension height calibration method, device, computer equipment and storage medium. Background Art

[0002] Air suspension is a device used to adjust the height of the vehicle body to stabilize it. The calibration of the air suspension height plays a very important role in the normal use of the air suspension function. With the increasing application of air suspension in motor vehicles, how to make the suspension calibration more accurate and efficient is becoming more and more important.

[0003] The current method for calibrating the height of an air suspension is to calibrate it manually using a tape measure. During the calibration process, a large amount of repeated manual work is required, and human bias caused by individual measurement differences cannot be avoided. Summary of the invention

[0004] In order to solve the technical problem that manual measurement and calibration cannot avoid human bias caused by individual measurement differences, the present application provides a suspension height calibration method, apparatus, computer equipment and storage medium.

[0005] In a first aspect, the present application provides a suspension height calibration method, comprising:

[0006] Get the collection height and calibration height of the suspension;

[0007] Generate a corresponding lifting instruction according to the height difference between the acquisition height and the calibration height;

[0008] The height of the suspension from the ground is controlled to reach the calibrated height according to the lifting instruction.

[0009] In a second aspect, the present application provides a suspension height calibration device, comprising:

[0010] An acquisition module is used to obtain the acquisition height and calibration height of the suspension;

[0011] A generating module, used for generating a corresponding lifting instruction according to the height difference between the acquisition height and the calibration height;

[0012] The control module is used to control the height of the suspension from the ground to reach the calibrated height according to the lifting instruction.

[0013] In a third aspect, the present application provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the following steps are implemented:

[0014] Get the collection height and calibration height of the suspension;

[0015] Generate a corresponding lifting instruction according to the height difference between the acquisition height and the calibration height;

[0016] The height of the suspension from the ground is controlled to reach the calibrated height according to the lifting instruction.

[0017] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0018] Get the collection height and calibration height of the suspension;

[0019] Generate a corresponding lifting instruction according to the height difference between the acquisition height and the calibration height;

[0020] The height of the suspension from the ground is controlled to reach the calibrated height according to the lifting instruction.

[0021] Based on the above suspension height calibration method, the collection height and calibration height of the suspension are obtained, the collection height is the actual height of the suspension, and the calibration height is the target height required for calibration, and a corresponding lifting instruction is generated according to the height difference between the collection height and the calibration height; the ground clearance of the suspension is controlled to reach the calibration height according to the lifting instruction, the collection height of the suspension is detected by real-time dynamic detection, and the corresponding lifting instruction is automatically generated according to the height difference between the collection height and the calibration height, and the ground clearance of the suspension is adjusted according to the lifting instruction so that the ground clearance of the suspension reaches the calibration height, without the need for repeated calibration detection manually, thereby avoiding human deviation caused by individual measurement differences, so as to improve the accuracy and efficiency of suspension calibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0024] Figure 1 A diagram showing an application environment of a suspension height calibration method in one embodiment;

[0025] Figure 2 is a schematic flow chart of a suspension height calibration method in one embodiment;

[0026] Figure 3 A schematic diagram of the effect of adjusting the suspension height in one embodiment;

[0027] Figure 4 is a schematic flow chart of a suspension height calibration method in one embodiment;

[0028] Figure 5 is a schematic flow chart of a suspension height calibration method in one embodiment;

[0029] Figure 6 is a schematic flow chart of a suspension height calibration method in one embodiment;

[0030] Figure 7 is a structural block diagram of a suspension height calibration device in one embodiment;

[0031] Figure 8 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution 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 part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0033] Figure 1 FIG. 1 is an application environment diagram of a suspension height calibration method in an embodiment. Figure 1 The suspension height calibration method is applied to a suspension height calibration system. The suspension height calibration system includes a vehicle 110 and a terminal 120. The vehicle is provided with a suspension 1101 and a control device 1102. The control device may be a controller or an electronic control unit (ECU). In this embodiment, the control device is an electronic control unit. The vehicle 110 may be a two-axle vehicle, a three-axle vehicle, or a four-axle vehicle. In this embodiment, the vehicle 110 is a two-axle vehicle. Figure 1 As shown, the suspension 1101 is arranged on the vehicle body, and a detachable distance measuring tool is provided on the vehicle body. Four solenoid valves and inflatable components are provided on the suspension 1101. Each solenoid valve corresponds to at least one inflatable component. The inflatable component is inflated or exhausted by the solenoid valve to adjust the ground clearance of the suspension 1101. The ground clearance of the suspension 1101 is also the height of the vehicle body. The inflatable component can specifically be an air spring or an air bag.

[0034] The collection height of the suspension 1101 is detected in real time by a distance measuring tool and sent to the terminal 120 or the electronic control unit 1102 by wireless communication, so that the terminal 120 or the electronic control unit 1102 generates a corresponding lifting instruction according to the collection height, that is, the lifting instruction generation process can be specifically implemented by the terminal 120 or the electronic control unit 1102. When the lifting instruction is generated by the terminal 120, the terminal 120 also sends the lifting instruction to the electronic control voltage. The electronic control unit 1102 controls the various solenoid valves of the suspension 1101 to inflate or exhaust through the lifting instruction, thereby adjusting the ground clearance of the vehicle body to the calibrated height.

[0035] The terminal 120 may specifically be a desktop terminal 120 or a mobile terminal 120 , and the mobile terminal 120 may specifically be at least one of a mobile phone, a tablet computer, a laptop computer, and the like.

[0036] In one embodiment, Figure 2 FIG. 1 is a flow chart of a suspension height calibration method in an embodiment, referring to FIG. Figure 2 , provides a suspension height calibration method. This embodiment mainly applies this method to the above Figure 1 Taking the control device 1102 in the example as an example, the suspension height calibration method specifically includes the following steps:

[0037] Step S210, obtaining the collection height and calibration height of the suspension 1101.

[0038] Specifically, the actual height of the suspension 1101 is detected in real time by a distance measuring tool to obtain the acquisition height. The distance measuring tool may be a distance measuring sensor, a laser rangefinder, an infrared rangefinder, etc. The acquisition height detected by the distance measuring tool is the height from the ground of the installation position of the distance measuring tool on the vehicle body. The installation position may be a vehicle pedal, a vehicle body reference line, or other custom positions. The acquisition heights of different installation positions need to correspond to the calibration heights. The distance measuring tool transmits the detected acquisition height to the electronic control unit 1102 in real time. The calibration height is the target vehicle body height input by the user to the electronic control unit 1102, or the target vehicle body height input by the user to the electronic control unit 1102 through the operation terminal 120.

[0039] Step S220: generating a corresponding lifting instruction according to the height difference between the acquisition height and the calibration height.

[0040] Specifically, if the height difference between the collected height and the calibrated height is greater than zero, it means that the collected height is higher than the calibrated height, and a lifting instruction for lowering the height is generated; if the height difference between the collected height and the calibrated height is less than zero, it means that the collected height is lower than the calibrated height, and a lifting instruction for raising the height is generated, and the lifting instruction is used to raise or lower the height of the suspension 1101 from the ground.

[0041] Step S230: Control the height of the suspension 1101 from the ground to reach the calibrated height according to the lifting instruction.

[0042] Specifically, the lifting and lowering instructions are used to drive the solenoid valve to inflate or exhaust the inflatable component to adjust the ground clearance of the suspension 1101, thereby controlling the ground clearance of the suspension 1101 to reach a calibrated height. When the solenoid valve inflates the inflatable component, the inflatable component is stretched, thereby controlling the vehicle body height to rise; when the solenoid valve exhausts the inflatable component, the inflatable component is compressed, thereby controlling the vehicle body height to fall. There is no need for manual repeated calibration and testing, thereby avoiding human deviations caused by individual measurement differences, so as to improve the accuracy and efficiency of the calibration of the suspension 1101.

[0043] In one embodiment, solenoid valves and inflatable components are correspondingly provided at the four corners of the suspension 1101, and the solenoid valves are used to inflate or exhaust the corresponding inflatable components to adjust the height of the suspension 1101 from the ground. The collected height includes the collected vehicle body heights corresponding to the four solenoid valves respectively, and the calibrated height includes the calibrated vehicle body heights corresponding to each of the collected vehicle body heights respectively. The corresponding lifting instruction is generated according to the height difference between the collected height and the calibrated height, and also includes:

[0044] Determining the height difference between each of the collected vehicle body heights and the corresponding calibrated vehicle body height;

[0045] When a target preset height difference matching the first height difference is screened out from the preset height set, a first lifting instruction is generated according to the difference between the first height difference and the target preset height difference, wherein the first height difference is the height difference with the largest absolute value, the target preset height difference is a preset height difference in the preset height set that is close to the first height difference and smaller than the first height difference, the lifting instruction includes the first lifting instruction, the first lifting instruction is used to control the first solenoid valve to inflate or exhaust the corresponding inflatable component, and the first solenoid valve is the solenoid valve corresponding to the collected vehicle body height corresponding to the first height difference.

[0046] Specifically, the four corners of the suspension 1101 correspond to the right front end of the vehicle body, the right rear end of the vehicle body, the left front end of the vehicle body, and the left rear end of the vehicle body, respectively. Figure 3 As shown, the suspension 1101 corresponding to the double-axle vehicle includes a front axle suspension 1101 and a rear axle suspension 1101. The front axle suspension 1101 corresponds to the two front tires of the vehicle 110, and the rear axle suspension 1101 corresponds to the two rear tires of the vehicle 110. Each tire corresponds to at least one solenoid valve, that is, the right front end of the vehicle body, the right rear end of the vehicle body, the left front end of the vehicle body, and the left rear end of the vehicle body respectively correspond to a solenoid valve, and each solenoid valve corresponds to at least one inflatable component.

[0047] The four collected vehicle heights correspond to the ground clearance of the right front, left front, left rear, and right rear of the vehicle, respectively. Each collected vehicle height corresponds to a calibrated vehicle height, and the collected vehicle height is recorded as h. n , n = FR / FL / RL / RR, FR / FL / RL / RR indicate the right front of the vehicle body, the left front of the vehicle body, the left rear of the vehicle body, and the right rear of the vehicle body respectively, and the calibrated vehicle height is recorded as h i , i=1 / 2 / 3 / 4.

[0048] The height difference between the collected vehicle height and the calibrated vehicle height is Δh n =h n -h i , thus we get four height differences, the first height difference is the height difference with the largest absolute value, recorded as Δh max =|Δh n |.

[0049] The preset height set includes multiple preset height differences. The preset height difference is used to limit the calibration error. The smaller the preset height difference, the smaller the calibration error, and the higher the vehicle height calibration accuracy. Conversely, the larger the preset height difference, the larger the calibration error, and the lower the vehicle height calibration accuracy. The preset height set is denoted as ε = (ε 1 , ε 2 , ε 3 , …, ε x ), ε 1 to ε x Gradually decreases, x refers to the number of preset height differences in the preset height set. In this embodiment, x=2, that is, ε=(ε 1 , ε 2 ), and ε 1 >ε 2 .

[0050] The target preset height difference is determined according to the difference between the first height difference and each preset height difference in the preset height set, and the target preset height difference is a preset height difference in the preset height set that is close to the first height difference and smaller than the first height difference. If the first height difference is greater than ε 1 , then ε 1 As the target preset height difference; if the first height difference is less than ε 1 But greater than ε 2 , then ε 2 Preset height difference as target.

[0051] According to the difference between the first height difference and the target preset height difference, a corresponding first lifting instruction is generated, and the first lifting instruction is used to adjust the vehicle height collected according to the first height difference to the corresponding calibrated vehicle height according to the adjustment method corresponding to the target preset height difference.

[0052] In one embodiment, after determining the height difference between each collected vehicle height and the corresponding calibrated vehicle height, the method further includes:

[0053] When the target preset height difference matching the first height difference is not screened out from the preset height set, a calibration end signal is generated.

[0054] Specifically, when there is no target preset height difference less than the first height difference in the preset height set, it means that all preset height differences in the preset height set are greater than the first height difference, or the preset height difference with the smallest value in the preset height set is equal to the first height difference. Since the first height difference is the height difference with the largest absolute value among the four height differences, when the first height difference is less than all the preset height differences in the preset height set, the remaining three height differences except the first height difference are also less than all the preset height differences in the preset height set, indicating that the difference between each collected vehicle height and the corresponding calibrated vehicle height is small, and it can be determined that the collected vehicle height approximately reaches the corresponding calibrated vehicle height, and there is no need to adjust the vehicle height, so a calibration end signal is generated. The calibration end signal is used to stop driving the solenoid valve to perform inflation or exhaust action to exit the vehicle height calibration process.

[0055] In one embodiment, generating a first lifting instruction according to a difference between the first height difference and the target preset height difference includes:

[0056] determining a target adjustment direction according to an operation sign of the first height difference, wherein the target adjustment direction is an ascending direction or a descending direction;

[0057] A target adjustment height is determined according to a difference between the first height difference and the target preset height difference, wherein the first lifting instruction includes the target adjustment height and the target adjustment direction.

[0058] Specifically, the operation symbols of the first height difference include a positive sign (+) and a negative sign (-). If the operation symbol is a positive sign, it means that the collected vehicle height is higher than the corresponding calibrated vehicle height, and the vehicle height needs to be lowered, that is, the target adjustment direction is determined to be a lowering direction; if the operation symbol is a negative sign, it means that the collected vehicle height is lower than the corresponding calibrated vehicle height, and the vehicle height needs to be raised, that is, the target adjustment direction is determined to be a raising direction.

[0059] The target adjustment height is determined according to the difference between the first height difference and the target preset height difference, that is, the vehicle body height is raised or lowered according to the target adjustment height, and the vehicle body height reaches the corresponding calibrated vehicle body height through one adjustment.

[0060] In one embodiment, after determining the target adjustment direction according to the operation sign of the first height difference, the method further includes:

[0061] Obtaining a preset adjustment height corresponding to the target preset height difference;

[0062] The target adjustment duty cycle is determined according to the difference between the first height difference and the target preset height difference, and the preset adjustment height corresponding to the target preset height difference, wherein the first lifting instruction includes the target adjustment duty cycle and the target adjustment direction.

[0063] Specifically, different preset height differences correspond to different preset adjustment heights. The preset adjustment height is used to indicate the adjustment step length of the solenoid valve for the inflatable component. A preset height difference with a larger value indicates that the difference between the collected vehicle height and the corresponding calibrated vehicle height is large, and it is necessary to quickly adjust the vehicle height through a larger adjustment step length to reach the corresponding calibrated vehicle height, that is, a preset height difference with a larger value corresponds to a larger preset adjustment height; conversely, a preset height difference with a smaller value indicates that the difference between the collected vehicle height and the corresponding calibrated vehicle height is small. In order to make fine adjustments, it is necessary to adjust the vehicle height through a smaller adjustment step length to reach the corresponding calibrated vehicle height, that is, a preset height difference with a smaller value corresponds to a smaller preset adjustment height. Or all preset height differences correspond to the same preset adjustment height.

[0064] The preset adjustment height is less than the first height difference, and the corresponding adjustment times are determined by the ratio of the first height difference to the preset adjustment height, such as Figure 4 As shown, the target adjustment duty ratio is determined according to the number of adjustments and the preset adjustment height, and the first lifting instruction is generated according to the target duty ratio and the preset adjustment height. The electronic control unit 1102 uses the driving signal corresponding to the target duty ratio to control the charging / exhausting of the solenoid valve according to the first lifting instruction, thereby controlling the expansion / compression of the inflatable component to adjust the vehicle height. That is, the vehicle height is adjusted multiple times by the target adjustment duty ratio, and only the preset adjustment height is adjusted each time, so as to achieve fine adjustment, and the accuracy of the vehicle height calibration result is improved through successive fine adjustments.

[0065] In one embodiment, after generating the first lifting instruction according to the difference between the first height difference and the target preset height difference, the method further includes:

[0066] In the case where there is a height difference with the same operating sign as the first height difference, a second lifting instruction is generated according to the difference between the second height difference and the target preset height difference, wherein the second height difference is a height difference with the same operating sign as the first height difference, and the lifting instruction includes the second lifting instruction, and the second lifting instruction is used to control the second solenoid valve to inflate or exhaust the corresponding inflatable component, and the second solenoid valve is the solenoid valve corresponding to the collected vehicle body height corresponding to the second height difference.

[0067] Specifically, each solenoid valve corresponds to an axle. When the vehicle body height is adjusted according to the first height difference, that is, a single-axis adjustment is performed on the entire vehicle, this will have a coupling effect on adjacent and diagonal axles. In order to reduce the coupling effect, it is necessary to use multi-axis linkage in the same direction to adjust the vehicle body height.

[0068] When there is at least one height difference with the same operation sign as the first height difference among the remaining three height differences except the first height difference, the height difference with the same operation sign as the first height difference is taken as the second height difference. When the absolute value of the second height difference is greater than the target preset height difference, a corresponding second lifting instruction is generated according to the difference between the second height difference and the target preset height difference. The process of generating the second lifting instruction can refer to the process of generating the first lifting instruction, that is, determining the adjustment direction according to the operation sign of the second height difference and determining the adjustment height according to the difference between the second height difference and the target preset height difference, or determining the second lifting instruction according to the preset adjustment height and adjustment direction corresponding to the target preset height difference. The axle with the same adjustment direction as the axle corresponding to the first height difference is adjusted by the second lifting instruction to realize multi-axis linkage adjustment, thereby reducing the coupling between the axes and further improving the accuracy of the vehicle body height after calibration.

[0069] In one embodiment, controlling the height of the suspension 1101 from the ground to reach the calibrated height according to the lifting instruction includes:

[0070] Controlling the first solenoid valve to inflate or exhaust the corresponding inflatable component according to the first lifting instruction, and controlling the second solenoid valve to inflate or exhaust the corresponding inflatable component according to the second lifting instruction;

[0071] Return to the step of acquiring the acquisition height of the suspension 1101 until the height of the suspension 1101 from the ground reaches the calibrated height.

[0072] Specifically, the ground clearance of the whole vehicle is adjusted in linkage with the first lifting instruction and the second lifting instruction. After the first lifting instruction and the second lifting instruction are executed, the process returns to the step of obtaining the collection height of the suspension 1101 to re-detect and obtain the collection height. If the collection height still does not reach the calibration height, the above calibration process needs to be repeated. However, since the collection height changes, the height difference between the collection height and the calibration height also changes, so that the target preset height difference involved in the calibration also changes accordingly, that is, the vehicle height calibration process is repeated until the ground clearance of the suspension 1101 reaches the calibration height, then the vehicle height calibration process is exited.

[0073] For example, Figure 5 As shown, the user sends a calibration height h to the electronic control unit 1102 via the terminal 120. i , the preset height set ε=(ε 1 , ε 2 ), that is, each acquisition height has a corresponding calibration height. Calculate the height difference Δh n When Δh<0, the height difference operator is recorded as -, indicating that the acquisition height is lower than the calibration height; conversely, the height difference operator is recorded as +, indicating that the acquisition height is higher than the calibration height. n =h n -h i， (n=FR / FL / RL / RR,i=1 / 2 / 3 / 4), select height difference |Δh n |The maximum value is taken as the first height difference, denoted as Δh max .

[0074] When |Δh max |>ε 1 When Δh max The corresponding first lifting instruction, Δh max When the operation symbol is “—”, the first lifting instruction is the raising instruction, Δh max When the operator symbol is "+", the first lifting instruction is a lowering instruction. Synchronous, check Δh n There are operation symbols and Δh max The height difference in the same direction is taken as the second height difference, that is, the + / - signs are the same, and the second height difference is recorded as Δh m ; When |Δh m |>ε 1 When the second height difference Δh is generated m The corresponding second lifting instruction is generated, otherwise, the second lifting instruction is refused to be generated.

[0075] like Figure 6 As shown, when |Δh max |<ε 1When , the first stage of vehicle height calibration process ends, and the acquisition height is re-detected to enter the second stage of adjustment. Similarly, the height difference between the newly detected acquisition height and the calibration height is calculated, and the height difference with the largest absolute value is determined, that is, |Δh n |=Δh max , when |Δh max |>ε 2 When , the first lifting instruction is regenerated, that is, the loop detection execution instruction generation process is performed until the four height differences are within ε 2 Within , the second stage of vehicle height calibration process is completed and the suspension height calibration process is exited. After the first stage of vehicle adjustment, the height difference of each axle has been adjusted to ε 1 In the second stage, it is adjusted to ε 2 In the second stage, only fine-tuning is needed. If each axis is within the fine-tuning range, the coupling between axes can be comprehensively eliminated and the calibration accuracy can be improved.

[0076] Figure 2 FIG. 1 is a flow chart of a suspension height calibration method in one embodiment. It should be understood that although Figure 2 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 2 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0077] In one embodiment, Figure 7 As shown, a suspension height calibration device is provided, that is, the above-mentioned control device, which specifically includes:

[0078] An acquisition module 310 is used to acquire a collection height and a calibration height of the suspension 1101;

[0079] A generating module 320, configured to generate a corresponding lifting instruction according to a height difference between the acquisition height and the calibration height;

[0080] The control module 330 is used to control the height of the suspension 1101 from the ground to reach the calibrated height according to the lifting instruction.

[0081] In one embodiment, solenoid valves and inflatable components are correspondingly provided at the four corners of the suspension 1101, and the solenoid valves are used to inflate or exhaust the corresponding inflatable components to adjust the height of the suspension 1101 from the ground. The collected height includes the collected vehicle body heights corresponding to the four solenoid valves, and the calibrated height includes the calibrated vehicle body heights corresponding to each of the collected vehicle body heights. The generation module 320 is specifically used for:

[0082] Determining the height difference between each of the collected vehicle body heights and the corresponding calibrated vehicle body height;

[0083] When a target preset height difference matching the first height difference is screened out from the preset height set, a first lifting instruction is generated according to the difference between the first height difference and the target preset height difference, wherein the first height difference is the height difference with the largest absolute value, the target preset height difference is a preset height difference in the preset height set that is close to the first height difference and smaller than the first height difference, the lifting instruction includes the first lifting instruction, the first lifting instruction is used to control the first solenoid valve to inflate or exhaust the corresponding inflatable component, and the first solenoid valve is the solenoid valve corresponding to the collected vehicle body height corresponding to the first height difference.

[0084] In one embodiment, the generating module 320 is further configured to:

[0085] When the target preset height difference matching the first height difference is not screened out from the preset height set, a calibration end signal is generated.

[0086] In one embodiment, the generating module 320 is further configured to:

[0087] determining a target adjustment direction according to an operation sign of the first height difference, wherein the target adjustment direction is an ascending direction or a descending direction;

[0088] A target adjustment height is determined according to a difference between the first height difference and the target preset height difference, wherein the first lifting instruction includes the target adjustment height and the target adjustment direction.

[0089] In one embodiment, the generating module 320 is further configured to:

[0090] Obtaining a preset adjustment height corresponding to the target preset height difference;

[0091] The target adjustment duty cycle is determined according to the difference between the first height difference and the target preset height difference, and the preset adjustment height corresponding to the target preset height difference, wherein the first lifting instruction includes the target adjustment duty cycle and the target adjustment direction.

[0092] In one embodiment, the generating module 320 is further configured to:

[0093] In the case where there is a height difference with the same operating sign as the first height difference, a second lifting instruction is generated according to the difference between the second height difference and the target preset height difference, wherein the second height difference is a height difference with the same operating sign as the first height difference, and the lifting instruction includes the second lifting instruction, and the second lifting instruction is used to control the second solenoid valve to inflate or exhaust the corresponding inflatable component, and the second solenoid valve is the solenoid valve corresponding to the collected vehicle body height corresponding to the second height difference.

[0094] In one embodiment, the control module 330 is further configured to:

[0095] Controlling the first solenoid valve to inflate or exhaust the corresponding inflatable component according to the first lifting instruction, and controlling the second solenoid valve to inflate or exhaust the corresponding inflatable component according to the second lifting instruction;

[0096] Return to the step of acquiring the acquisition height of the suspension 1101 until the height of the suspension 1101 from the ground reaches the calibrated height.

[0097] Figure 8 The internal structure diagram of a computer device in one embodiment is shown. The computer device may specifically be Figure 1 The control device 1102 in FIG. Figure 8 As shown, the computer device includes a processor, a memory, a network interface, an input device and a display screen connected through a system bus. Among them, the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program. When the computer program is executed by the processor, the processor can implement the suspension height calibration method. The internal memory may also store a computer program. When the computer program is executed by the processor, the processor can execute the suspension height calibration method. The display screen of the computer device may be a liquid crystal display or an electronic ink display screen, and the input device of the computer device may be a touch layer covered on the display screen, or a button, trackball or touchpad provided on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0098] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0099] In one embodiment, the suspension height calibration device provided in the present application can be implemented in the form of a computer program. The computer program can be Figure 8 The computer device shown in the figure is run. The memory of the computer device can store various program modules constituting the suspension height calibration device, for example, Figure 7 The acquisition module 310, the generation module 320 and the control module 330 are shown. The computer program composed of various program modules enables the processor to execute the steps of the suspension height calibration method of each embodiment of the present application described in this specification.

[0100] Figure 8 The computer device shown can be Figure 7 The acquisition module 310 in the suspension height calibration device shown in the figure acquires the acquisition height and calibration height of the suspension 1101. The computer device can generate a corresponding lifting instruction according to the height difference between the acquisition height and the calibration height through the generation module 320. The computer device can control the height of the suspension 1101 from the ground to reach the calibration height according to the lifting instruction through the control module 330.

[0101] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the method described in any one of the above embodiments is implemented when the processor executes the computer program.

[0102] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method described in any one of the above embodiments is implemented.

[0103] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0104] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0105] The foregoing is merely a specific embodiment of the present invention, which enables those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A suspension height calibration method, It is characterized in that The method comprises: Get the collection height and calibration height of the suspension; Generate a corresponding lifting instruction according to the height difference between the acquisition height and the calibration height; Controlling the height of the suspension from the ground to reach the calibrated height according to the lifting instruction; Solenoid valves and inflatable components are correspondingly provided at the four corners of the suspension, the solenoid valves are used to inflate or exhaust the corresponding inflatable components to adjust the height of the suspension from the ground, the collected height includes the collected vehicle body heights corresponding to the four solenoid valves respectively, the calibrated height includes the calibrated vehicle body heights corresponding to each of the collected vehicle body heights respectively, and the corresponding lifting instruction is generated according to the height difference between the collected height and the calibrated height, and also includes: Determining the height difference between each of the collected vehicle body heights and the corresponding calibrated vehicle body height; When a target preset height difference matching the first height difference is screened out from the preset height set, a first lifting instruction is generated according to the difference between the first height difference and the target preset height difference, wherein the first height difference is the height difference with the largest absolute value, the target preset height difference is a preset height difference in the preset height set that is close to the first height difference and smaller than the first height difference, the lifting instruction includes the first lifting instruction, the first lifting instruction is used to control the first solenoid valve to inflate or exhaust the corresponding inflatable component, and the first solenoid valve is the solenoid valve corresponding to the collected vehicle body height corresponding to the first height difference.

2. The method according to claim 1, It is characterized in that After determining the height difference between each collected vehicle height and the corresponding calibrated vehicle height, the method further includes: When the target preset height difference matching the first height difference is not screened out from the preset height set, a calibration end signal is generated.

3. The method according to claim 1, It is characterized in that The step of generating a first lifting instruction according to a difference between the first height difference and the target preset height difference comprises: determining a target adjustment direction according to an operation sign of the first height difference, wherein the target adjustment direction is an ascending direction or a descending direction; A target adjustment height is determined according to a difference between the first height difference and the target preset height difference, wherein the first lifting instruction includes the target adjustment height and the target adjustment direction.

4. The method according to claim 3, It is characterized in that After determining the target adjustment direction according to the operation sign of the first height difference, the method further includes: Obtaining a preset adjustment height corresponding to the target preset height difference; The target adjustment duty cycle is determined according to the difference between the first height difference and the target preset height difference, and the preset adjustment height corresponding to the target preset height difference, wherein the first lifting instruction includes the target adjustment duty cycle and the target adjustment direction.

5. The method according to claim 4, It is characterized in that After generating the first lifting instruction according to the difference between the first height difference and the target preset height difference, the method further includes: In the case where there is a height difference with the same operating sign as the first height difference, a second lifting instruction is generated according to the difference between the second height difference and the target preset height difference, wherein the second height difference is a height difference with the same operating sign as the first height difference, and the lifting instruction includes the second lifting instruction, and the second lifting instruction is used to control the second solenoid valve to inflate or exhaust the corresponding inflatable component, and the second solenoid valve is the solenoid valve corresponding to the collected vehicle body height corresponding to the second height difference.

6. The method according to claim 5, It is characterized in that The step of controlling the height of the suspension from the ground to reach the calibrated height according to the lifting instruction includes: Controlling the first solenoid valve to inflate or exhaust the corresponding inflatable component according to the first lifting instruction, and controlling the second solenoid valve to inflate or exhaust the corresponding inflatable component according to the second lifting instruction; Return to the step of acquiring the acquisition height of the suspension until the height of the suspension from the ground reaches the calibrated height.

7. A suspension height calibration device, It is characterized in that The device comprises: An acquisition module is used to obtain the acquisition height and calibration height of the suspension; A generating module, used for generating a corresponding lifting instruction according to the height difference between the acquisition height and the calibration height; A control module, used for controlling the height of the suspension from the ground to reach the calibrated height according to the lifting instruction; Solenoid valves and inflatable components are correspondingly provided at the four corners of the suspension, and the solenoid valves are used to inflate or exhaust the corresponding inflatable components to adjust the height of the suspension from the ground. The collected height includes the collected vehicle body heights corresponding to the four solenoid valves, and the calibrated height includes the calibrated vehicle body heights corresponding to each of the collected vehicle body heights. The generation module is specifically used for: Determining the height difference between each of the collected vehicle body heights and the corresponding calibrated vehicle body height; When a target preset height difference matching the first height difference is screened out from the preset height set, a first lifting instruction is generated according to the difference between the first height difference and the target preset height difference, wherein the first height difference is the height difference with the largest absolute value, the target preset height difference is a preset height difference in the preset height set that is close to the first height difference and smaller than the first height difference, the lifting instruction includes the first lifting instruction, the first lifting instruction is used to control the first solenoid valve to inflate or exhaust the corresponding inflatable component, and the first solenoid valve is the solenoid valve corresponding to the collected vehicle body height corresponding to the first height difference.

8. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, It is characterized in that When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, It is characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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