Vehicle height actuator control method, device, storage medium and vehicle

Abstract

The present disclosure relates to a vehicle height actuator control method, device, storage medium and vehicle, the method may include, when the height actuator is in an on state, detecting whether there is an abnormal device in the related devices of the height actuator; when there is an abnormal device in the related devices, determining a target control strategy corresponding to the abnormal device from a plurality of preset control strategies; and controlling the height actuator according to the target control strategy. The present disclosure can still ensure comfort when some sensors or hardware devices fail, and has the advantages of easy implementation and wide application range.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and in particular, to a vehicle height actuator control method, device, storage medium and vehicle. Background Art

[0002] With the continuous development of vehicle technology, vehicles have evolved from having only driving functions to having multiple function controls, which has continuously improved the functionality and comfort of vehicles.

[0003] However, when some of the vehicle's sensors fail, in order to ensure the safety of the vehicle, the vehicle's comfort adjustment function will be automatically turned off, resulting in a poor user experience. Summary of the invention

[0004] In order to overcome the problems existing in the related art, the present disclosure provides a vehicle height actuator control method, device, storage medium and vehicle.

[0005] According to a first aspect of an embodiment of the present disclosure, a method for controlling a height actuator of a vehicle is provided, characterized by comprising:

[0006] When the height actuator is in an on state, detecting whether there is an abnormal device in the related devices of the height actuator;

[0007] In the case where an abnormal device exists in the related devices, determining a target control strategy corresponding to the abnormal device from a plurality of preset control strategies;

[0008] The height actuator is controlled according to the target control strategy.

[0009] Optionally, the related equipment includes power equipment and monitoring equipment, and determining a target control strategy corresponding to the abnormal equipment from a plurality of preset control strategies includes:

[0010] If one of the power device and the monitoring device is an abnormal device, determining the first control strategy as the target control strategy;

[0011] The controlling the height actuator according to the target control strategy includes:

[0012] When the vehicle is in a parking gear position, the height actuator is controlled to adjust the height of the vehicle to a preset height.

[0013] Optionally, controlling the height actuator according to the target control strategy further includes:

[0014] The activation authority of the automatic height adjustment mode of the vehicle is turned off, wherein when the vehicle activates the automatic height adjustment mode, the vehicle can automatically adjust the height according to the vehicle speed.

[0015] Optionally, the vehicle includes a plurality of height modes, each height mode corresponds to a height of the vehicle, and controlling the height actuator to adjust the height of the vehicle to a preset height includes:

[0016] If the current height mode of the vehicle is different from the height mode corresponding to the preset height, the height actuator is controlled to switch the height mode of the vehicle to the height mode corresponding to the preset height.

[0017] Optionally, after controlling the height actuator to switch the height mode of the vehicle to the height mode corresponding to the preset height, the method further includes:

[0018] The control authority for switching the altitude mode of the vehicle to the current altitude mode is turned off.

[0019] Optionally, the related equipment includes power equipment and monitoring equipment, and determining a target control strategy corresponding to the abnormal equipment from a plurality of preset control strategies includes:

[0020] If both the power equipment and the monitoring equipment are abnormal equipment, determining the target control strategy to be the second control strategy;

[0021] The controlling the height actuator according to the target control strategy includes:

[0022] If an altitude mode control instruction is received, obtaining the execution time required for the altitude actuator to execute the altitude mode switching instruction, the upper limit of the working time of the altitude actuator, and the current working time of the altitude actuator;

[0023] Determining the remaining working time of the height actuator according to the current working time and the upper limit of the working time of the height actuator;

[0024] If the execution time is greater than the remaining working time, return to the step of obtaining the execution time required for the altitude actuator to execute the altitude mode switching instruction, the upper limit of the working time of the altitude actuator, and the current working time of the altitude actuator if the altitude mode control instruction is received, until the execution time is less than or equal to the remaining working time;

[0025] If the execution time is less than or equal to the remaining working time, in response to the height mode control instruction, the height actuator is controlled to adjust the vehicle to a height corresponding to the height mode control instruction.

[0026] Optionally, before controlling the height actuator according to the target control strategy, the method further includes:

[0027] Determine that the vehicle is in an emergency escape mode.

[0028] Optionally, the method further comprises:

[0029] If the emergency escape mode is not activated for the vehicle, the current height of the vehicle is maintained unchanged.

[0030] Optionally, obtaining the execution time required for the altitude executor to execute the altitude mode switching instruction includes:

[0031] The most recently recorded historical execution time of the vehicle executing the altitude mode control instruction is obtained, and the historical execution time is determined as the execution time.

[0032] Optionally, obtaining the upper limit of the working time of the height actuator includes:

[0033] The maximum working time of the height actuator in the most recent preset time period is obtained, and the maximum working time is determined as the upper limit of the working time of the height actuator.

[0034] Optionally, the power device includes at least one of a vehicle speed sensor, an inertial sensor, an accelerator pedal, and a brake pedal;

[0035] The monitoring device includes at least one of an altitude sensor, a temperature sensor and a pressure sensor.

[0036] Optionally, when the height actuator is in an on state, before detecting whether there is an abnormal device in the devices related to the height actuator, the method further includes:

[0037] Detecting whether the height actuator is normal;

[0038] If yes, detecting whether the height actuator is in an on state;

[0039] If not, the current height of the vehicle is kept unchanged.

[0040] Optionally, before detecting whether the height actuator is normal, the method further includes:

[0041] Detecting whether the battery status of the vehicle is normal;

[0042] If yes, then execute the step of detecting whether the height actuator is normal.

[0043] If not, the current height of the vehicle is kept unchanged.

[0044] Optionally, before detecting whether the battery status of the vehicle is normal, the method further includes:

[0045] A suspension system of the vehicle is determined to be an active suspension system.

[0046] According to a second aspect of an embodiment of the present disclosure, there is provided a height actuator control device for a vehicle, the height actuator control device comprising:

[0047] An abnormal device detection module, used for detecting whether there is an abnormal device in the related devices of the height actuator when the height actuator is in an on state;

[0048] A target control strategy determination module, used to determine a target control strategy corresponding to an abnormal device from a plurality of preset control strategies when an abnormal device exists in the related devices;

[0049] A control module is used to control the height actuator according to the target control strategy.

[0050] According to a third aspect of an embodiment of the present disclosure, there is provided a non-temporary computer-readable storage medium on which a computer program is stored, wherein the program implements the steps of the method described in the first aspect when executed by a processor.

[0051] According to a fourth aspect of an embodiment of the present disclosure, a vehicle is provided, the vehicle comprising:

[0052] a memory having a computer program stored thereon;

[0053] A processor is used to execute the computer program in the memory to implement the steps of the method described in the first aspect.

[0054] Through the above technical solution, when the height actuator is in the on state, it is detected whether there is an abnormal device in the related equipment of the height actuator; and when there is an abnormal device in the related equipment, the target control strategy corresponding to the abnormal device is determined from multiple preset control strategies; finally, the height actuator is controlled according to the target control strategy. Therefore, when some of the related equipment (such as sensors or other hardware) of the vehicle's height actuator fails, different control strategies can be used to control the actuator according to the failed equipment, so that the vehicle can flexibly realize partial function control of the actuator, avoiding the problem of directly shutting down all functions of the height actuator due to the failure of some equipment, and being unable to continue to ensure the comfort of the vehicle, thereby improving the user experience.

[0055] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0057] Figure 1 The figure is a flow chart of a method for controlling a height actuator of a vehicle according to an exemplary embodiment.

[0058] Figure 2 is based on Figure 1 An implementation flow chart of steps S102 to S103 in the vehicle height actuator control method shown in the embodiment.

[0059] Figure 3 is based on Figure 1 Another implementation flow chart of step S102 to step S103 in the vehicle height actuator control method shown in the embodiment.

[0060] Figure 4 is based on Figure 1 A specific implementation flow chart of a vehicle height actuator control method shown in an embodiment.

[0061] Figure 5 The invention is a block diagram of a height actuator control device for a vehicle according to an exemplary embodiment.

[0062] Figure 6 is a block diagram of a vehicle according to another exemplary embodiment. DETAILED DESCRIPTION

[0063] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0064] With the continuous development of vehicle technology, the functions of vehicles are also constantly improving. The most typical example is the active suspension control through various sensors configured on the vehicle to adjust the vehicle's ride comfort.

[0065] In related technologies, when active suspension control is performed on a vehicle, road conditions are usually collected and uploaded to a cloud system for processing. The processing results of the cloud system are then received and combined with data collected by a variety of sensors configured on the vehicle, such as vehicle speed, angular velocity and other parameters, to adjust the active suspension. This allows the active suspension to be controlled using different parameters based on the conditions inside the vehicle, allowing for differentiated regional road condition control and response, improving driving comfort and handling performance, while taking precautions in advance against various complex and harsh bumpy road conditions ahead.

[0066] However, when some of the vehicle's sensors fail, in order to ensure the vehicle's safety, the vehicle will automatically turn off the vehicle's comfort adjustment function, resulting in a poor user experience.

[0067] In addition, vehicles need to collect road conditions and upload them to the cloud system for processing. This requires a lot of hardware resources, the method is too complicated, and it is difficult to implement.

[0068] The control method of the related technology can only be used for active suspension, and its application scope is too narrow to achieve universal platform.

[0069] In response to the above problems, the present disclosure provides a vehicle height actuator control method, device, storage medium and vehicle, which can still ensure comfort when some sensors or hardware devices fail, and has the advantages of easy implementation and wide application range.

[0070] The following is an explanation of the professional terms involved in this disclosure:

[0071] Active suspension system (hereinafter referred to as active suspension): If the stiffness, damping, height and other characteristics of the suspension system can be dynamically and adaptively adjusted according to the driving conditions of the car (the vehicle's motion state and road conditions, etc.) so that the suspension system is always in the best vibration reduction state, it is called active suspension.

[0072] Semi-active suspension system (hereinafter referred to as semi-active suspension): Semi-active suspension refers to a controllable suspension system that senses road conditions and vehicle body posture through sensors and adjusts damping parameters to improve the smoothness and stability of the vehicle's ride.

[0073] IMU: Inertial Measurement Unit.

[0074] TBD: Calibrable parameters.

[0075] Height Control: The control process of adjusting the height of the vehicle through the vehicle's height actuator.

[0076] Figure 1 A vehicle height actuator control method is provided as an exemplary embodiment of the present disclosure. The method can be applied to a vehicle. The method may include:

[0077] In step S101, when the height actuator is in an on state, it is detected whether there is any abnormal device in the devices related to the height actuator.

[0078] In some embodiments, when the vehicle detects that the height actuator is in the on state, it can continue to detect whether there is an abnormal device in the related devices associated with the height actuator. Exemplarily, for example, the related devices can be determined by querying Table 1 to include a vehicle speed sensor, an inertial sensor, a steering sensor, an accelerator, a brake device, a height sensor, a temperature sensor, and a pressure sensor. Among them, the vehicle speed sensor, the inertial sensor, the steering sensor, the accelerator, and the brake device can be determined as a power device, and the height sensor, the temperature sensor, and the pressure sensor can be determined as a monitoring device. Among them, when at least one device in the power device is in an abnormal state, the power device can be determined as an abnormal device, and when at least one device in the monitoring device fails, the monitoring device can be determined as an abnormal device. Among them, the related devices can be pre-associated with the height actuator. Exemplarily, the height actuator can be pre-associated with devices such as a vehicle speed sensor, an inertial sensor, a steering sensor, an accelerator, a brake device, a height sensor, a temperature sensor, and a pressure sensor. Optionally, the accelerator can include an accelerator pedal, and the brake device can include a brake pedal.

[0079] In some embodiments, whether the inertial sensor is in a normal state can be determined by detecting the working parameters of the inertial sensor. Exemplarily, taking the inertial sensor as an example, the working parameters of the inertial sensor may include working current, working voltage, working power, etc. When at least one working parameter of the inertial sensor is detected to not meet the normal working conditions, for example, when the working voltage is 0V, it can be determined that the inertial sensor is in an abnormal state. When the working parameters of the inertial sensor all meet the corresponding normal working conditions, it can be determined that the inertial sensor is in a normal state.

[0080] In other embodiments, the inertial sensor can be determined to be in a normal state by detecting the data collected by the inertial sensor. For example, if the roll angular velocity collected by the inertial sensor in a normal state ranges from a1 to b1, if the roll angular velocity currently collected by the inertial sensor is not between a1 and b1, it can be determined that the inertial sensor is in an abnormal state, and if it is between a1 and b1, it can be determined that the inertial sensor is in a normal state. Similarly, other sensors can also be determined to be in a normal state by a method similar to that of detecting inertial sensors, thereby determining whether the sensor is an abnormal device.

[0081] In step S102, when there is an abnormal device among the related devices, a target control strategy corresponding to the abnormal device is determined from a plurality of preset control strategies.

[0082] Exemplarily, for example, the preset multiple control strategies include a first control strategy and a second control strategy, wherein the first control strategy and the second control strategy are different. When the power device is an abnormal device, the first control strategy can be used as the target control strategy. When the monitoring device is an abnormal device, the first control strategy can also be used as the target control strategy. When both the power device and the monitoring device are abnormal devices, the second control strategy can be used as the target control strategy.

[0083] In step S103, the height actuator is controlled according to the target control strategy.

[0084] Exemplarily, for example, the first control strategy is limited height control, and the vehicle can control the height actuator to adjust the height of the vehicle according to the first control strategy so that the height of the vehicle is always within a limited range.

[0085] It can be seen that in this embodiment, when the height actuator is in the on state, it is detected whether there is an abnormal device in the related equipment of the height actuator; and when there is an abnormal device in the related equipment, the target control strategy corresponding to the abnormal device is determined from the preset multiple control strategies, and finally the height actuator is controlled according to the target control strategy, so that when some of the related equipment (sensors or other hardware) of the height actuator fails, different control strategies can be adopted to control the height actuator according to the failed equipment, so as to flexibly use some functions of the height actuator, avoid the problem of directly shutting down all functions of the height actuator due to the failure of some equipment, and being unable to continue to ensure the comfort of the vehicle. The control function of the vehicle is increased and the user experience is improved. In addition, the entire control process can be realized only by detecting the parameters of the vehicle's own equipment, avoiding the problems of collecting road conditions and uploading to the cloud system for processing, requiring more hardware resources, overly cumbersome methods, and difficult implementation, which facilitates implementation and promotion.

[0086] In some embodiments, Figure 2 As shown, based on the above embodiment, the specific implementation of step S102A to step S103A may include the following steps:

[0087] Step S102A: if one of the power device and the monitoring device is an abnormal device, the first control strategy is determined as the target control strategy.

[0088] Optionally, the power device includes at least one of a vehicle speed sensor, an inertial sensor, an accelerator pedal, and a brake pedal. The monitoring device includes at least one of a height sensor, a temperature sensor, and a pressure sensor. Exemplarily, if all devices in the power device are in a normal state, the power device can be determined to be a normal device, otherwise, the power device is determined to be an abnormal device. Similarly, if all devices in the monitoring device are in a normal state, the monitoring device can be determined to be a normal device, otherwise, the monitoring device is determined to be an abnormal device. Optionally, the order in which the vehicle detects abnormal devices may be to detect the power device first and then the monitoring device.

[0089] Step S103A, when the vehicle is in the parking gear, controlling the height actuator to adjust the height of the vehicle to a preset height.

[0090] Exemplarily, for example, when the height sensor is in a normal state, the preset height is a height between b1 and b2, wherein b1 is less than b2. If the height sensor detects that the current height b of the vehicle is greater than b2, the height actuator may be controlled to adjust the height of the vehicle to a height less than b2; if the height sensor detects that the current height b of the vehicle is less than b1, the height actuator may be controlled to adjust the height of the vehicle to a height greater than b1.

[0091] In some embodiments, after step S103A, the method further includes: disabling activation authority of the vehicle's automatic height adjustment mode, wherein when the vehicle activates the automatic height adjustment mode, the vehicle can automatically adjust the height according to the vehicle speed.

[0092] For example, the vehicle can detect whether it is currently in the automatic height adjustment mode. If the vehicle is in the automatic height adjustment mode, the automatic height adjustment mode is exited and the vehicle's automatic height adjustment mode startup permission is turned off. If the vehicle is not in the automatic height adjustment mode, the vehicle's automatic height adjustment mode startup permission is turned off. After the startup permission of the automatic height adjustment mode is turned off, the user cannot turn on the vehicle's automatic height adjustment mode. In this way, when there is an abnormal device, the vehicle's automatic height adjustment is restricted to ensure safety.

[0093] In some embodiments, the vehicle includes multiple height modes, each height mode corresponds to a height of the vehicle, and the specific implementation of step S103A may include:

[0094] If the current height mode of the vehicle is different from the height mode corresponding to the preset height, the height actuator is controlled to switch the height mode of the vehicle to the height mode corresponding to the preset height.

[0095] Exemplarily, when the height sensor is in an abnormal state, the height of the vehicle can be determined according to the current height mode of the vehicle. For example, the vehicle has four driving modes, each of which corresponds to a height mode, and the corresponding relationship is: sports (low), economy (medium), comfort (high), off-road (super high). If the current height mode of the vehicle is off-road (super high), and the height mode corresponding to the preset height is comfort (high), the height actuator can be controlled to switch the height mode of the vehicle to comfort (high).

[0096] Optionally, before switching the vehicle's height mode to the height mode corresponding to the preset height, it is also possible to detect whether the vehicle is in a parking gear (such as P gear and N gear). Only when it is in the specified gear can it be switched. If it is not in the parking gear, switching can be prohibited.

[0097] Taking into account that if the height sensor fails, the height actuator cannot be controlled according to the current height of the vehicle, in the implementation mode of this city, when the current height mode of the vehicle and the height mode corresponding to the preset height are different, the height actuator is controlled to switch the height mode of the vehicle to the height mode corresponding to the preset height. The height of the vehicle can be adjusted through the vehicle mode without using the height sensor, so as to ensure the driving safety and security of the vehicle.

[0098] In some embodiments, after controlling the height actuator to switch the height mode of the vehicle to the height mode corresponding to the preset height, the method further includes:

[0099] Turns off control for switching the vehicle's altitude mode to the current altitude mode.

[0100] For example, if the vehicle is in "ultra-high mode" before switching, and is currently in "medium" or "high" mode after switching, switching to "ultra-high" mode is prohibited. Optionally, if it is currently in "ultra-high" mode, if it is not in P gear or N gear, switching to "ultra-high" mode is prohibited after exiting "ultra-high" mode. Or when in P gear or N gear, it automatically switches to "high" mode, and switching to "ultra-high" mode is prohibited.

[0101] For another example, if the vehicle is currently in "low" mode and is not in P or N gear, it is prohibited to switch to "low" mode after exiting "low" mode. Alternatively, if the vehicle is in P or N gear, it automatically switches to "medium" mode and is prohibited to switch to "low" mode.

[0102] In this embodiment, the safety of the vehicle can be ensured by shutting down the control authority for switching the altitude mode of the vehicle to the current altitude mode in the event of an abnormal device.

[0103] In other embodiments, the related equipment includes power equipment and monitoring equipment, such as Figure 3The specific implementation of step S102 to step S103 may include the following steps:

[0104] Step S102B: if both the power equipment and the monitoring equipment are abnormal equipment, the target control strategy is determined to be the second control strategy.

[0105] Step S103B, according to the second control strategy, if the altitude mode control instruction is received, the execution time required for the altitude actuator to execute the altitude mode switching instruction, the upper limit of the altitude actuator's working time, and the current working time of the altitude actuator are obtained.

[0106] In some implementations, in step S103B, a specific implementation of obtaining the execution time required for the altitude executor to execute the altitude mode switching instruction may include:

[0107] The most recently recorded historical execution time of the vehicle executing the altitude mode control instruction is obtained, and the historical execution time is determined as the execution time.

[0108] Exemplarily, the historical execution duration can be stored in a database. In the database action record, when the manual height adjustment of the vehicle is performed, the working status of each actuator of the height adjustment system will be recorded, that is, the time each actuator needs to work when performing manual height adjustment in different modes, and the working time of each actuator in the recent period (5min, TBD), and stored. When the vehicle is powered on, if manual height adjustment has never been performed, the system preset record will be used as the latest action record. If manual height adjustment is performed for the first time, the current record will be used to overwrite the system preset record as the latest record. If the same type of manual height adjustment is performed, the current record will be used to overwrite the previous record as the latest record. Only the latest value is retained for the same type of action record. Among them, (5min, TBD) means that 5min is a calibrable parameter, that is, the parameter can be customized according to needs and is not specifically limited.

[0109] In some implementations, in step S103B, the specific implementation of obtaining the upper limit of the working time of the height actuator may include:

[0110] The maximum working time of the height actuator in the most recent preset time period is obtained, and the maximum working time is determined as the upper limit of the working time of the height actuator.

[0111] For example, the maximum working time can be stored in the database alarm record. In the database alarm record, the maximum working time of each actuator of the height adjustment system in a period of time (5min, TBD) will be recorded. When the vehicle is powered on, if there has never been any recordable data, the system preset record will be used as the latest alarm record. If new recordable data occurs, the current record will be used to overwrite the previous record as the latest record. Only the latest value is retained for the same type of alarm record.

[0112] Step S104B, determining the remaining working time of the height actuator according to the current working time and the upper limit of the working time of the height actuator.

[0113] Step S105B, if the execution time is greater than the remaining working time, return to the step of obtaining the execution time required for the altitude actuator to execute the altitude mode switching instruction, the upper limit of the altitude actuator's working time, and the current working time of the altitude actuator if the altitude mode control instruction is received, until the execution time is less than or equal to the remaining working time.

[0114] Step S106B: if the execution time is less than or equal to the remaining working time, in response to the height mode control instruction, the height actuator is controlled to adjust the vehicle to a height corresponding to the height mode control instruction.

[0115] For example, when the vehicle detects a mode switch, the database action record and database alarm record can be retrieved. According to the database alarm record and the working status of the current height actuator in the recent period (5min, TBD), the remaining working time of each actuator is calculated. If the database action record can be satisfied within a period of time (30s, TBD), the mode switch is performed according to the latest action record. Otherwise, the mode switch fails and waits for the next mode switch command to re-judge.

[0116] In this embodiment, if an altitude mode control instruction is received, the execution time required for the altitude actuator to execute the altitude mode switching instruction, the upper limit of the altitude actuator's working time, and the current working time of the altitude actuator are obtained. According to the current working time and the upper limit of the altitude actuator's working time, the remaining working time of the altitude actuator is determined. If the execution time is greater than the remaining working time, the step of obtaining the execution time required for the altitude actuator to execute the altitude mode switching instruction, the upper limit of the altitude actuator's working time, and the current working time of the altitude actuator if the altitude mode control instruction is received is returned until the execution time is less than or equal to the remaining working time. If the execution time is less than or equal to the remaining working time, in response to the altitude mode control instruction, the altitude actuator is controlled to adjust the vehicle to the height corresponding to the altitude mode control instruction. Thereby, it can be ensured that the vehicle can effectively switch the altitude mode.

[0117] In some implementations, before step S103B, the following steps may also be included:

[0118] Make sure the vehicle's emergency escape mode is on.

[0119] Exemplarily, the vehicle may detect whether an operation made by a user for activating the emergency escape mode is received within a previously preset time period, and if so, it is determined that the vehicle activates the emergency escape mode.

[0120] In some embodiments, if the vehicle is not in the emergency escape mode, the current height of the vehicle is maintained unchanged. Specifically, no height control command may be output.

[0121] For example, if the user's operation for turning on the emergency escape mode is not received, it is determined that the vehicle does not turn on the emergency escape mode, and the vehicle can maintain the current height state without taking any action. If it is determined that the vehicle turns on the emergency escape mode, the emergency escape control is executed, that is, steps S103B to S106B are executed.

[0122] In some embodiments, before step S101, the method further includes:

[0123] Check whether the height actuator is normal; if so, check whether the height actuator is in the on state; if not, keep the current height of the vehicle unchanged.

[0124] Exemplarily, a specific implementation of detecting whether the height actuator is normal may include: when the height actuator is a hydraulic system, detecting the front door valve, the rear door valve, the front left leveling valve, the front right leveling valve, the rear left leveling valve, the rear right leveling valve, the accumulator, the pump motor, the reserved port 1, the reserved port 2, and the reserved port 3. If any actuator fails, the output height actuator fails. Among them, the reserved port can be used to connect an additional height actuator.

[0125] When the height actuator is an air spring system, check the exhaust guide three-way valve, intake switching three-way valve, air tank control valve, air tank charging valve, main circuit air spring control valve, front left air spring control valve, front right air spring control valve, rear left air spring control valve, rear right air spring control valve fault, reserved port 1, reserved port 2, reserved port 3. If any actuator fails, the output height actuator fails.

[0126] In some implementations, before detecting whether the height actuator is normal, the method further includes:

[0127] Check whether the battery status of the vehicle is normal; if so, perform the step of checking whether the height actuator is normal. If not, keep the current height of the vehicle unchanged.

[0128] Before checking whether the vehicle's battery status is normal, it also includes:

[0129] Make sure the vehicle's suspension system is an active suspension system.

[0130] For example, if it is detected that the vehicle has a semi-active suspension system, or the suspension system of the vehicle is not matched, no processing is required. If it is determined that the suspension system of the vehicle is an active suspension system, the battery status of the vehicle can be checked to see if it is normal. Since height control is only used for active suspension systems, if the vehicle does not have an active suspension system, height control cannot be performed. Therefore, by determining whether the suspension system of the vehicle is an active suspension system, the control efficiency can be improved.

[0131] In some embodiments, if both the power device and the detection device are normal devices, normal height control can be entered. Normal height control may include a control method when the vehicle is stationary and a control method when the vehicle is in motion. The specific control methods may be as follows:

[0132] Stationary state: Select different driving modes to switch to different height modes.

[0133] Sport status: If the vehicle is currently in "low" mode, it can be manually switched to "medium" mode. When the automatic adjustment mode is turned on, when the vehicle speed is within a certain range (30-100km / h, TBD) and lasts for a period of time (20s, TBD), it will automatically switch to "medium" mode.

[0134] It is detected that the vehicle is currently in "medium" mode and can be manually switched to "low" or "high" mode. When the automatic adjustment mode is turned on, when the vehicle speed is greater than a certain value (110km / h, TBD) and lasts for a period of time (20s, TBD), it automatically switches to "low" mode. When the vehicle speed is less than a certain value (60km / h, TBD) and lasts for a period of time (20s, TBD), it automatically switches to "high" mode.

[0135] If the vehicle is currently in "high" mode, it can be manually switched to "medium" mode. When the automatic adjustment mode is turned on, when the vehicle speed is greater than a certain value (70km / h, TBD) and lasts for a period of time (20s, TBD), it will automatically switch to "medium" mode.

[0136] When the vehicle speed is lower than a certain value (20km / h, TBD), it can be manually switched to "Ultra High" mode. When the vehicle speed is higher than a certain value (25km / h, TBD), it automatically switches to "High" mode.

[0137] A vehicle actuator control method is described below in combination with all the method steps in the above embodiments. In practical applications, the implementation process of the vehicle height actuator control method can be as follows: Figure 4As shown. The control of the height actuator includes the normal height control, height limit control and emergency escape control mentioned above. The height limit control is equivalent to the first control strategy in this embodiment, and the emergency escape control is equivalent to the second control strategy in this embodiment. Exemplarily, the height actuator control method may include:

[0138] First check whether the battery status is normal.

[0139] If the battery status is normal, continue to detect whether the height actuator is normal.

[0140] If the height actuator is in a normal state, it continues to detect whether the height adjustment function is turned on, that is, whether the height actuator is turned on, or whether the control function for the height actuator is turned on.

[0141] If the height adjustment function is turned on, check whether the vehicle speed sensor, IMU, steering sensor, brake pedal and accelerator pedal are all in normal condition.

[0142] If the vehicle speed sensor, IMU, steering sensor, brake pedal, and accelerator pedal are all in normal condition, continue to check whether the height sensor, temperature sensor, and pressure sensor are all normal, and whether the vehicle has faults such as overtemperature and overpressure.

[0143] If the height sensor, temperature sensor, and pressure sensor are all in normal condition, and the vehicle has no faults such as overtemperature or overpressure, normal height control will be performed.

[0144] Among them, if the vehicle speed sensor, IMU, steering sensor, brake pedal, and accelerator pedal are not all in normal status, height limit control will be executed.

[0145] Among them, if the height sensor, temperature sensor, and pressure sensor are not all in normal condition, or the vehicle has faults such as overheating and overpressure, height limit control will be executed.

[0146] Among them, if the vehicle speed sensor, IMU, steering sensor, brake pedal, and accelerator pedal are not all in normal condition, and the height sensor, temperature sensor, and pressure sensor are not all in normal condition, and the vehicle has faults such as overheating and overpressure, then it will be detected whether the emergency escape mode is turned on.

[0147] If it is detected that the emergency escape mode is turned on, the emergency escape control is executed.

[0148] If the height adjustment function is turned on or not, it can detect whether the emergency escape mode is turned on. Maintain the current height state without action.

[0149] If at least one of the following conditions exists: the emergency escape mode is not turned on, the height actuator is in an abnormal state, or the battery state is abnormal, the current height state can be maintained without any action to ensure the safety of the vehicle.

[0150] It can be seen that the vehicle height actuator control method provided in this embodiment can still perform graded adjustment on the height actuator when the sensor or other hardware devices related to the height actuator fail, thereby improving the functionality and comfort of the vehicle.

[0151] Figure 5 A block diagram of a vehicle height actuator control device provided by an exemplary embodiment of the present disclosure. Figure 5 , the height actuator control device of the vehicle comprises:

[0152] The abnormal device detection module 510 is used to detect whether there is an abnormal device in the related devices of the height actuator when the height actuator is in the turned-on state.

[0153] The target control strategy determination module 520 is used to determine the target control strategy corresponding to the abnormal device from a plurality of preset control strategies when there is an abnormal device in the related devices.

[0154] The control module 530 is used to control the height actuator according to the target control strategy.

[0155] In some embodiments, the related equipment includes power equipment and monitoring equipment, and the target control strategy determination module 520 includes:

[0156] The first determination submodule is used to determine the first control strategy as the target control strategy if one of the power equipment and the monitoring equipment is an abnormal equipment.

[0157] The control module 530 includes:

[0158] The first control submodule is used to control the height actuator to adjust the height of the vehicle to a preset height when the vehicle is in a parking gear position.

[0159] In some embodiments, the first control submodule is further used to disable the activation authority of the vehicle's automatic height adjustment mode, wherein when the vehicle activates the automatic height adjustment mode, the vehicle can automatically adjust the height according to the vehicle speed.

[0160] In some embodiments, the first control submodule is further configured to control the height actuator to switch the height mode of the vehicle to the height mode corresponding to the preset height if the current height mode of the vehicle is different from the height mode corresponding to the preset height.

[0161] In some implementations, the first control submodule is further configured to disable control authority for switching the altitude mode of the vehicle to the current altitude mode.

[0162] In some embodiments, the related equipment includes power equipment and monitoring equipment, and the target control strategy determination module 520 includes:

[0163] The second determination submodule is used to determine that the target control strategy is the second control strategy if both the power equipment and the monitoring equipment are abnormal equipment.

[0164] The control module 530 includes:

[0165] The second control submodule is used to obtain the execution time required for the height actuator to execute the height mode switching instruction, the upper limit of the working time of the height actuator and the current working time of the height actuator if a height mode control instruction is received; determine the remaining working time of the height actuator according to the current working time and the upper limit of the working time of the height actuator; if the execution time is greater than the remaining working time, return to execute the step of obtaining the execution time required for the height actuator to execute the height mode switching instruction, the upper limit of the working time of the height actuator and the current working time of the height actuator if the height mode control instruction is received, until the execution time is less than or equal to the remaining working time; if the execution time is less than or equal to the remaining working time, in response to the height mode control instruction, control the height actuator to adjust the vehicle to a height corresponding to the height mode control instruction.

[0166] In some embodiments, the height actuator control device 500 further includes:

[0167] The emergency escape mode determination module is used to determine whether the vehicle is in the emergency escape mode.

[0168] In some embodiments, the height actuator control device 500 further includes:

[0169] The height maintenance module is used to keep the current height of the vehicle unchanged if the vehicle does not have the emergency escape mode turned on.

[0170] In some implementations, the second control submodule is specifically configured to obtain the most recently recorded historical execution time of the vehicle executing the altitude mode control instruction, and determine the historical execution time as the execution time.

[0171] In some implementations, the second control submodule is specifically configured to obtain a maximum operating time of the height actuator within a recent preset time period, and determine the maximum operating time as an upper limit of the operating time of the height actuator.

[0172] In some embodiments, the power device includes at least one of a vehicle speed sensor, an inertial sensor, an accelerator pedal, and a brake pedal;

[0173] The monitoring device includes at least one of an altitude sensor, a temperature sensor, and a pressure sensor.

[0174] In some embodiments, the height actuator control device 500 further includes:

[0175] The abnormality detection module is used to detect whether the height actuator is normal; if so, to detect whether the height actuator is in the on state; if not, to keep the current height of the vehicle unchanged.

[0176] In some embodiments, the abnormality detection module is also used to detect whether the battery status of the vehicle is normal; if so, the step of detecting whether the height actuator is normal is executed; if not, the current height of the vehicle is kept unchanged.

[0177] In some embodiments, the height actuator control device 500 further includes:

[0178] The active suspension system determination module is used to determine whether the suspension system of the vehicle is an active suspension system.

[0179] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0180] Figure 6 FIG. 7 is a block diagram of a vehicle 700 according to an exemplary embodiment. Figure 6 As shown, the vehicle 700 may include: a processor 701 , a memory 702 . The vehicle 700 may also include one or more of an input / output (I / O) interface 704 , and a communication component 705 .

[0181] The processor 701 is used to control the overall operation of the vehicle 700 to complete all or part of the steps in the vehicle height actuator control method described above. The memory 702 is used to store various types of data to support the operation of the vehicle 700, and these data may include, for example, instructions for any application or method used to operate on the vehicle 700, and application-related data, such as multiple preset control strategies, historical execution time, maximum working time, database action records, database alarm records, etc. The memory 702 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, disk or optical disk. The I / O interface 704 provides an interface between the processor 701 and other interface modules, and the above-mentioned other interface modules can be various types of vehicle sensors, etc. The communication component 705 is used for wired or wireless communication between the vehicle 700 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more of them, is not limited here. Therefore, the corresponding communication component 705 may include: Wi-Fi module, Bluetooth module, NFC module, etc.

[0182] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, and when the program instructions are executed by a processor, the steps of the vehicle height actuator control method described above are implemented. For example, the computer-readable storage medium may be the memory 702 including the program instructions, and the program instructions may be executed by the processor 701 of the vehicle 700 to complete the vehicle height actuator control method described above.

[0183] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, and when the program instructions are executed by a processor, the steps of the vehicle height actuator control method described above are implemented. For example, the non-transitory computer-readable storage medium may be the above-mentioned memory including program instructions, and the above-mentioned program instructions may be executed by a vehicle processor to complete the vehicle height actuator control method described above.

[0184] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program executable by a programmable device, and has a code portion for executing the vehicle height actuator control method described above when the computer program is executed by the programmable device.

[0185] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0186] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0187] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A vehicle height actuator control method, characterized in that: include: When the height actuator is in an on state, detecting whether there is an abnormal device in the related devices of the height actuator; In the case where an abnormal device exists in the related devices, determining a target control strategy corresponding to the abnormal device from a plurality of preset control strategies; Controlling the height actuator according to the target control strategy; Wherein, in the case where the related equipment includes power equipment and monitoring equipment, determining the target control strategy corresponding to the abnormal equipment from a plurality of preset control strategies includes: If both the power equipment and the monitoring equipment are abnormal equipment, determining the target control strategy to be the second control strategy; The controlling the height actuator according to the target control strategy includes: If an altitude mode control instruction is received, obtaining the execution time required for the altitude actuator to execute the altitude mode control instruction, the upper limit of the working time of the altitude actuator, and the current working time of the altitude actuator; Determining the remaining working time of the height actuator according to the current working time and the upper limit of the working time of the height actuator; If the execution time is less than or equal to the remaining working time, in response to the height mode control instruction, the height actuator is controlled to adjust the vehicle to a height corresponding to the height mode control instruction.

2. The method according to claim 1, characterized in that The related equipment includes power equipment and monitoring equipment, and the step of determining a target control strategy corresponding to the abnormal equipment from a plurality of preset control strategies includes: If one of the power device and the monitoring device is an abnormal device, determining the first control strategy as the target control strategy; The controlling the height actuator according to the target control strategy includes: When the vehicle is in a parking gear position, the height actuator is controlled to adjust the height of the vehicle to a preset height.

3. The method according to claim 2, characterized in that The controlling the height actuator according to the target control strategy also includes: The activation authority of the automatic height adjustment mode of the vehicle is turned off, wherein when the vehicle activates the automatic height adjustment mode, the vehicle can automatically adjust the height according to the vehicle speed.

4. The method according to claim 2, characterized in that: The vehicle includes a plurality of height modes, each height mode corresponds to a height of the vehicle, and controlling the height actuator to adjust the height of the vehicle to a preset height includes: If the current height mode of the vehicle is different from the height mode corresponding to the preset height, the height actuator is controlled to switch the height mode of the vehicle to the height mode corresponding to the preset height.

5. The method according to claim 4, characterized in that After controlling the height actuator to switch the height mode of the vehicle to the height mode corresponding to the preset height, the method further includes: The control authority for switching the altitude mode of the vehicle to the current altitude mode is turned off.

6. The method according to claim 1, characterized in that After determining the remaining working time of the height actuator according to the current working time and the upper limit of the working time of the height actuator, the method further includes: If the execution time is greater than the remaining working time, return to execute the step of obtaining the execution time required for the altitude executor to execute the altitude mode control instruction, the upper limit of the working time of the altitude executor, and the current working time of the altitude executor if the altitude mode control instruction is received, until the execution time is less than or equal to the remaining working time.

7. The method according to claim 1, characterized in that Before controlling the height actuator according to the target control strategy, the method further includes: Determine that the vehicle is in an emergency escape mode.

8. The method according to claim 7, characterized in that The method further comprises: If the emergency escape mode is not activated for the vehicle, the current height of the vehicle is maintained unchanged.

9. The method according to claim 1, characterized in that: The obtaining the execution time required for the altitude executor to execute the altitude mode control instruction includes: The most recently recorded historical execution time of the vehicle executing the altitude mode control instruction is obtained, and the historical execution time is determined as the execution time.

10. The method according to claim 1, characterized in that The obtaining of the upper limit of the working time of the height actuator includes: The maximum working time of the height actuator in the most recent preset time period is obtained, and the maximum working time is determined as the upper limit of the working time of the height actuator.

11. The method according to claim 1 or 2, characterized in that: The power device includes at least one of a vehicle speed sensor, an inertial sensor, an accelerator pedal, and a brake pedal; The monitoring device includes at least one of an altitude sensor, a temperature sensor and a pressure sensor.

12. The method according to any one of claims 1 to 10, characterized in that: When the height actuator is in the on state, before detecting whether there is an abnormal device in the devices related to the height actuator, the method further includes: Detecting whether the height actuator is normal; If yes, detecting whether the height actuator is in an on state; If not, the current height of the vehicle is kept unchanged.

13. The method according to claim 12, characterized in that Before detecting whether the height actuator is normal, the method further includes: Detecting whether the battery status of the vehicle is normal; If yes, then executing the step of detecting whether the height actuator is normal; If not, the current height of the vehicle is kept unchanged.

14. The method according to claim 13, characterized in that Before detecting whether the battery state of the vehicle is normal, the method further includes: A suspension system of the vehicle is determined to be an active suspension system.

15. A vehicle height actuator control device, characterized in that: include: An abnormal device detection module, used for detecting whether there is an abnormal device in the related devices of the height actuator when the height actuator is in an on state; A target control strategy determination module, used to determine a target control strategy corresponding to an abnormal device from a plurality of preset control strategies when an abnormal device exists in the related devices; A control module, used for controlling the height actuator according to the target control strategy; Wherein, in the case where the related equipment includes power equipment and monitoring equipment, the target control strategy determination module includes: A second determination submodule, configured to determine that the target control strategy is a second control strategy if both the power equipment and the monitoring equipment are abnormal equipment; Control module, including: The second control submodule is used to obtain the execution time required for the height actuator to execute the height mode control instruction, the upper limit of the working time of the height actuator and the current working time of the height actuator if the height mode control instruction is received; determine the remaining working time of the height actuator according to the current working time and the upper limit of the working time of the height actuator; if the execution time is less than or equal to the remaining working time, then in response to the height mode control instruction, control the height actuator to adjust the vehicle to a height corresponding to the height mode control instruction.

16. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method described in any one of claims 1 to 14 are implemented.

17. A vehicle, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the steps of the method according to any one of claims 1 to 14.

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