Vehicle, control method and device for its active suspension, and storage medium

Abstract

The present invention discloses a vehicle, a control method and device for its active suspension, and a storage medium. Among them, the control method for the vehicle active suspension includes: determining the tire type of the vehicle, where the tire type includes a normal wheel, an underinflated wheel, and a damaged wheel; determining a height compensation amount according to the tire type; and controlling the active suspension to perform height compensation according to the height compensation amount. This control method for the vehicle active suspension can enable the vehicle to still drive normally when the tires are underinflated and / or damaged.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular, to a vehicle, a control method and device for an active suspension thereof, and a storage medium. Background Art

[0002] When the tire is underinflated after long-term use, or punctured or burst, resulting in serious air leakage, the vertical diameter of the tire will be smaller than that of a normal tire, causing the body height above the underinflated or burst tire to drop, and the body to tilt towards the tire, affecting the continued driving of the vehicle (including the limping of the vehicle on the way to the repair shop after the tire is punctured or burst). The treatment of the vehicle after a tire burst in the related art only considers the vehicle stability control in the short term after the tire burst, and cannot achieve the normal driving of the vehicle after the tire burst. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems in the related art to some extent. To this end, the first object of the present invention is to propose a control method for an active suspension of a vehicle, so that the vehicle can still drive normally when a tire is underinflated and / or damaged.

[0004] The second object of the present invention is to propose a computer-readable storage medium.

[0005] The third object of the present invention is to propose a control device for an active suspension of a vehicle.

[0006] The fourth object of the present invention is to propose a vehicle.

[0007] To achieve the above object, an embodiment of the first aspect of the present invention proposes a control method for an active suspension of a vehicle, the method including: determining the tire type of the vehicle, where the tire type includes a normal wheel, an underinflated wheel, and a damaged wheel; determining a height compensation amount according to the tire type; and controlling the active suspension to perform height compensation according to the height compensation amount.

[0008] To achieve the above object, an embodiment of the second aspect of the present invention proposes a computer-readable storage medium, on which a control program for an active suspension of a vehicle is stored. When the control program for the active suspension of the vehicle is executed by a processor, the above control method for the active suspension of the vehicle is implemented.

[0009] To achieve the above object, an embodiment of the third aspect of the present invention proposes a control device for an active suspension of a vehicle, including: a first determination module, configured to determine the tire type of the vehicle, where the tire type includes a normal wheel, an underinflated wheel, and a damaged wheel; a second determination module, configured to determine a height compensation amount according to the tire type; and a control module, configured to control the active suspension to perform height compensation according to the height compensation amount.

[0010] To achieve the above object, an embodiment of the fourth aspect of the present invention provides a vehicle, including: tires, an active suspension, and the control device of the above-mentioned vehicle active suspension.

[0011] The vehicle, the control method, device and storage medium of the active suspension according to the embodiments of the present invention can determine the tire type of the vehicle, where the tire type includes a normal wheel, an underinflated wheel, and a damaged wheel, and then determine the height compensation amount according to the tire type, and control the active suspension according to the height compensation amount, so as to realize corresponding compensation according to the specific state of the tire, and realize that the vehicle can still drive normally when problems such as underinflation and damage occur to the tire.

[0012] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. Description of the Drawings

[0013] Figure 1 is a flowchart of a control method for an active suspension of a vehicle according to an embodiment of the present invention;

[0014] Figure 2 is a flowchart of a control method for an active suspension of a vehicle according to another embodiment of the present invention;

[0015] Figure 3 is a flowchart of a control method for an active suspension of a vehicle according to still another embodiment of the present invention;

[0016] Figure 4 is a flowchart of a control method for an active suspension of a vehicle according to still another embodiment of the present invention;

[0017] Figure 5 is a structural block diagram of a control device for an active suspension of a vehicle according to an embodiment of the present invention;

[0018] Figure 6 is a structural block diagram of a vehicle according to an embodiment of the present invention. Detailed Embodiments

[0019] The embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention, and should not be construed as limiting the present invention.

[0020] Reference will be made below to the attached Figure 1-6 to describe the vehicle, the control method, device and storage medium of the active suspension according to the embodiments of the present invention.

[0021] Figure 1It is a flowchart of a control method for a vehicle active suspension according to an embodiment of the present invention.

[0022] As Figure 1 shown, the control method for the vehicle active suspension includes:

[0023] S11, determine the tire type of the vehicle, where the tire type includes a normal wheel, an underinflated wheel, and a damaged wheel.

[0024] Specifically, first obtain the tire pressure and rotational speed of each tire of the vehicle within a preset time. For example, a tire pressure sensor and a wheel speed sensor can be installed at preset positions, and the tire pressure can be obtained through the tire pressure sensor, and the rotational speed of the tire can be obtained through the wheel speed sensor.

[0025] Furthermore, determine the tire type of each tire according to the tire pressure and rotational speed.

[0026] Specifically, a first preset condition, a second preset condition, and a third preset condition for determining the tire type according to the tire pressure and rotational speed can be preset in advance. Then, after obtaining the tire pressure and the rotational speed of the tire within the preset time, compare the obtained tire pressure and rotational speed with the above preset conditions, and determine the tire type according to the comparison result.

[0027] Among them, the first preset condition is P < P1 - ΔP1, the second preset condition is P < P0 + ΔP0, and the third preset condition is σ v > (1 + α)σ0, where P is the tire pressure of the tire, P1 is the preset normal tire pressure, ΔP1 is the first preset margin, P0 is the atmospheric pressure, ΔP0 is the second preset margin, σ v is the standard deviation of the rotational speed of the tire, σ0 is the standard deviation of the rotational speed of the normal wheel identified by the tire pressure within the preset time, α is a preset coefficient, and α is a positive value. The temperature of each tire can be obtained, and the corresponding first preset margin can be determined according to the temperature.

[0028] Refer to Figure 3 , if the tire pressure of the tire does not satisfy the first preset condition, it is determined that the tire is a normal wheel. Theoretically, if the tire is a normal wheel, its tire pressure should be equal to the preset normal tire pressure P1. Therefore, in practical applications, a first preset margin ΔP1 can be set. As long as the tire pressure of the tire is greater than or equal to P1 - ΔP1, it can be considered that the tire is a normal wheel.

[0029] If the tire pressure of the tire satisfies the first preset condition and does not satisfy the second preset condition, it is determined that the tire is an underinflated wheel.

[0030] If the tire pressure of a tire meets the first preset condition and the second preset condition, and there are no other normal wheels, then the tire is determined to be an underinflated wheel. If the tire pressure of a tire meets the first preset condition and the second preset condition, there are other normal wheels, and the rotational speed of the tire does not meet the third preset condition, then the tire is determined to be an underinflated wheel. If the tire pressure of a tire meets the first preset condition and the second preset condition, there are other normal wheels, and the rotational speed of the tire meets the third preset condition, then the tire is determined to be a damaged wheel.

[0031] Specifically, if the tire pressure of a certain tire meets the above-mentioned first preset condition and the second preset condition, that is, the difference between the tire pressure and the atmospheric pressure is less than the above-mentioned second preset margin, it can be determined that there is a serious problem with the tire, and the state of the tire may be complete air leakage or damage. Then, it is determined whether there are normal wheels among other tires.

[0032] If there are no normal wheels among other tires, it can be considered that there is a problem with the vehicle. For example, it may be that the vehicle has not been used for a long time. Therefore, it can be determined that the tire is an underinflated wheel. Thus, by using a method of determining whether a tire is damaged using tire pressure, which takes relatively less time and has a simpler calculation, the time required for judgment and the pressure on the processor for judgment can be reduced, the efficiency of the vehicle's active suspension control can be improved, and the cost can be reduced.

[0033] If there are normal wheels among other tires, it is necessary to use the rotational speed of the tire to determine whether the tire is damaged. Specifically, if the tire is damaged, the fluctuation of its rotational speed during rotation will be significantly greater than that of a normal wheel that is not damaged. Therefore, the standard deviation of the rotational speed σ0 of the normal wheel identified by tire pressure within a preset time can be obtained, and the standard deviation of the rotational speed σ of this tire can be obtained v of this tire. Then, if σ v (1 + α)σ0, it can be considered that the fluctuation of the rotational speed of this tire is significantly greater than that of the normal wheel, and it is determined that the tire is damaged and is a damaged wheel.

[0034] Optionally, the above-mentioned first preset margin ΔP1, second preset margin ΔP0, and preset coefficient α can all be adjusted according to actual needs. For example, since the tire temperature affects the tire pressure, when the tire air volume is constant, the higher the temperature, the greater the pressure. To correct the influence of temperature on pressure, the first preset margin can take a smaller value when the tire temperature is high and a larger value when the tire temperature is low. For another example, when determining whether a tire is a damaged wheel by the fluctuation of the tire rotational speed, the strictness of the determination of the damaged wheel can be improved by increasing α.

[0035] It should be noted that using the standard deviation for determination in the above-mentioned third preset condition is only one embodiment of the present invention, and it is not limited to this in specific applications. For example, other parameters that can measure the degree of rotational speed dispersion, such as variance and peak-to-peak value, can be selected.

[0036] S12. Determine the height compensation amount according to the tire type.

[0037] Specifically, refer to Figure 4 . If the tire is a normal tire, determine the height compensation amount to be 0.

[0038] If the tire is an underinflated tire, determine the height compensation amount according to the tire pressure. Specifically, a calibration model can be established through experiments. This calibration model can be, for example, a one-dimensional table, or it can also be a function f(P). Then, after obtaining the tire pressure, the height compensation amount corresponding to the tire pressure can be obtained using this calibration model.

[0039] Optionally, to improve the accuracy of the obtained height compensation amount, the influence of temperature can also be considered, that is, if the tire is an underinflated tire, determine the height compensation amount according to the tire pressure and temperature. Specifically, a calibration model can be established through experiments. This calibration model can be, for example, a two-dimensional table, or it can also be a function f(P, T). Then, after obtaining the tire pressure and temperature, the corresponding height compensation amount can be obtained using this calibration model.

[0040] If the tire is a damaged tire, determine the height compensation amount according to the rotation speed of the damaged tire. Specifically, determining the height compensation amount according to the rotation speed of the damaged tire includes:

[0041] Calculate the height compensation amount through the formula , where ΔD is the height compensation amount, V is the average rotation speed of the damaged tire, V0 is the average rotation speed of the normal tire identified by tire pressure within a preset time, and D0 is the vertical diameter of the normal tire. Thus, when the tire is damaged and the tire structure changes, and the calibration model is no longer reliable, the height compensation amount can be calculated through the speed difference between the damaged tire and the normal tire.

[0042] Among them, the definition of the above height compensation amount can be set according to actual needs. For example, it can be defined as the change in the vertical diameter of the tire compared to the diameter of the tire under standard tire pressure, and if the vertical diameter of the tire is less than the diameter of the tire under standard tire pressure, the height compensation amount is positive.

[0043] S13. Control the active suspension to perform height compensation according to the height compensation amount.

[0044] Thus, it is possible to determine the corresponding height compensation amount according to the tire type, and then control the active suspension according to this height compensation amount. For example, it can control the active suspension to increase the suspension height accordingly to compensate for the influence of different tire types, maintain the ground clearance of the vehicle body, and keep the overall vehicle posture always at a normal level. Therefore, when problems such as underinflated tires or flat tires occur in the vehicle, it can still continue to drive normally.

[0045] In an embodiment of the present invention, determining the height compensation amount according to the tire type may further be:

[0046] If the tire is an undamaged wheel, the height compensation amount is determined according to the tire pressure. Alternatively, in order to improve the accuracy of the obtained height compensation amount, the influence of temperature may also be considered, that is, if the tire is an undamaged wheel, the height compensation amount is determined according to the tire pressure and temperature of the tire. Specifically, a calibration model can be established through experiments, and then after obtaining the tire pressure and / or temperature of the tire, the corresponding height compensation amount can be obtained by using the calibration model.

[0047] If the tire is a damaged wheel, the height compensation amount is determined according to the rotation speed of the damaged wheel.

[0048] Thus, the control logic can be simplified and the control speed of the vehicle's active suspension can be accelerated.

[0049] In an embodiment of the present invention, before controlling the active suspension to perform height compensation, the method further includes: verifying the height compensation amount of each tire and determining that the verification passes.

[0050] Specifically, referring to Figure 2 , the verification of the height compensation amount of each tire includes:

[0051] S21, calculating the estimated diameter value of each tire according to the height compensation amount of each tire.

[0052] Specifically, the vertical diameter of a normal wheel can be obtained, and then the vertical diameter of the normal wheel is subtracted by the height compensation amount of each tire to obtain the estimated diameter value of each tire.

[0053] S22, obtaining the evaluation value of the height compensation amount of each tire according to the estimated diameter value of each tire and the rotation speed of each tire.

[0054] Specifically, the evaluation value is calculated according to the following formula:

[0055]

[0056] where γ i is the evaluation value of the i-th tire, N is the number of tires of the vehicle, is the first intermediate quantity, is the second intermediate quantity, D i is the estimated diameter value of the i-th tire, D i+1 is the estimated diameter value of the (i + 1)-th tire, V i is the average rotation speed of the i-th tire, V i+1 is the average rotation speed of the (i + 1)-th tire.

[0057] S23. If there is any evaluation value greater than the preset verification threshold, it is determined that the verification fails; otherwise, it is determined that the verification passes.

[0058] Specifically, a verification threshold δ can be preset. Further, if there is a γ i > δ, it is determined that the verification fails. The above-mentioned preset verification threshold can be adjusted according to the actual situation. For example, the strictness of the verification can be increased by reducing δ.

[0059] Thus, before controlling the active suspension to perform height compensation, it is possible to first verify the height compensation amount of each tire, preventing the height compensation amount used when controlling the active suspension to perform height compensation from being an unreasonable compensation amount, and better realizing the normal driving of the vehicle.

[0060] In summary, the control method of the vehicle active suspension according to the embodiment of the present invention can determine the tire type of the vehicle. The tire type includes a normal wheel, an underinflated wheel, and a damaged wheel. Further, the height compensation amount is determined according to the tire type, and the active suspension is controlled according to the height compensation amount, so as to realize corresponding compensation according to the specific state of the tire, and realize that when problems such as underinflation and damage occur to the tire, the vehicle can still continue to drive normally.

[0061] Furthermore, the present invention proposes a computer-readable storage medium.

[0062] In the embodiment of the present invention, a control program for the vehicle active suspension is stored on the computer-readable storage medium. When the control program for the vehicle active suspension is executed by a processor, the above-mentioned control method of the vehicle active suspension is realized.

[0063] For the computer-readable storage medium according to the embodiment of the present invention, when the control program for the vehicle active suspension stored thereon is executed by a processor, the tire type of the vehicle can be determined. The tire type includes a normal wheel, an underinflated wheel, and a damaged wheel. Further, the height compensation amount is determined according to the tire type, and the active suspension is controlled according to the height compensation amount, so as to realize corresponding compensation according to the specific state of the tire, and realize that when problems such as underinflation and damage occur to the tire, the vehicle can still continue to drive normally.

[0064] Furthermore, the present invention proposes a control device for a vehicle active suspension.

[0065] Figure 5 is a structural block diagram of the control device for the vehicle active suspension according to the embodiment of the present invention.

[0066] As Figure 5 shown, the control device 100 for the vehicle active suspension includes a first determination module 101, a second determination module 102, and a control module 103.

[0067] Specifically, a first determination module 101 is configured to determine the tire type of the vehicle, where the tire type includes a normal tire, an underinflated tire, and a damaged tire; a second determination module 102 is configured to determine a height compensation amount according to the tire type; and a control module 103 is configured to control the active suspension to perform height compensation according to the height compensation amount.

[0068] It should be noted that for other specific implementation manners of the control device of the vehicle active suspension in the embodiments of the present invention, reference may be made to the above-mentioned control method of the vehicle active suspension.

[0069] The control device of the vehicle active suspension in the embodiments of the present invention can determine the tire type of the vehicle, where the tire type includes a normal tire, an underinflated tire, and a damaged tire, and then determine the height compensation amount according to the tire type, and control the active suspension according to the height compensation amount, so as to realize corresponding compensation according to the specific state of the tire, and realize that when problems such as underinflation and damage occur to the tire, the vehicle can still continue to drive normally.

[0070] Furthermore, the present invention provides a vehicle.

[0071] Figure 6 It is a structural block diagram of the vehicle in the embodiments of the present invention.

[0072] As Figure 6 shown, the vehicle 1000 includes: a tire 200, an active suspension 300, and the above-mentioned control device 100 of the vehicle active suspension.

[0073] The vehicle in the embodiments of the present invention, through the above-mentioned control device of the vehicle active suspension, can determine the tire type of the vehicle, where the tire type includes a normal tire, an underinflated tire, and a damaged tire, and then determine the height compensation amount according to the tire type, and control the active suspension according to the height compensation amount, so as to realize corresponding compensation according to the specific state of the tire, and realize that when problems such as underinflation and damage occur to the tire, the vehicle can still continue to drive normally.

[0074] Note that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a definite sequence list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or in combination with these instruction execution systems, apparatus, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in combination with an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk cartridge (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpretation, or otherwise processing as appropriate, and then stored in a computer memory.

[0075] It should be understood that various parts of the present invention can be implemented by hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits with logic gate circuits for implementing logical functions on data signals, application-specific integrated circuits with suitable combinational logic gate circuits, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0076] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0077] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention.

[0078] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0079] In the present invention, unless otherwise clearly specified and defined, the terms "mounted", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0080] In the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0081] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A control method for a vehicle active suspension, characterized in that, The method includes: Determine the tire type of the vehicle, where the tire type includes a normal tire, an underinflated tire, and a damaged tire; Determine the height compensation amount according to the tire type; Control the active suspension to perform height compensation according to the height compensation amount; The determining the height compensation amount according to the tire type includes: If the tire is a normal tire, determine the height compensation amount to be 0; If the tire is an underinflated tire, determine the height compensation amount according to the tire pressure of the tire; If the tire is a damaged tire, determine the height compensation amount according to the rotation speed of the damaged tire; Before controlling the active suspension to perform height compensation, the method further includes: Verify the height compensation amount of each tire and determine that the verification passes; The verifying the height compensation amount of each tire includes: Calculate the estimated diameter value of each tire according to the height compensation amount of each tire; Obtain the evaluation value of the height compensation amount of each tire according to the estimated diameter value of each tire and the rotation speed of each tire; If any evaluation value is greater than a preset verification threshold, determine that the verification fails, otherwise determine that the verification passes; The evaluation value is calculated according to the following formula: where γ i is the evaluation value of the i-th tire, N is the number of tires of the vehicle, is the first intermediate quantity, is the second intermediate quantity, D i is the estimated value of the diameter of the i-th tire, D i+1 is the estimated value of the diameter of the (i + 1)-th tire, V i is the average rotational speed of the i-th tire, V i+1 is the average rotational speed of the (i + 1)-th tire.

2. The control method of the vehicle active suspension according to claim 1, characterized in that, The determining the tire type of the vehicle includes: Obtain the tire pressure and rotation speed of each tire of the vehicle within a preset time; Determine the tire type of each tire according to the tire pressure and the rotation speed.

3. The control method of the vehicle active suspension according to claim 2, characterized in that, Determining the tire type of the tire according to the tire pressure and the rotation speed includes: If the tire pressure of the tire does not meet the first preset condition, determine that the tire is a normal tire; If the tire pressure of the tire meets the first preset condition and does not meet the second preset condition, determine that the tire is an underinflated tire; If the tire pressure of the tire meets the first preset condition and the second preset condition, and there is no other normal tire, determine that the tire is an underinflated tire; If the tire pressure of the tire meets the first preset condition and the second preset condition, there are other normal tires, and the rotation speed of the tire does not meet the third preset condition, determine that the tire is an underinflated tire; If the tire pressure of the tire meets the first preset condition and the second preset condition, there are other normal tires, and the rotation speed of the tire meets the third preset condition, determine that the tire is a damaged tire.

4. The control method of the vehicle active suspension according to claim 3, wherein The first preset condition is P < P1 - ΔP1, The second preset condition is P < P0 + ΔP0, The third preset condition is σ v >(1 + α)σ0, Wherein, P is the tire pressure of the tire, P1 is the preset normal tire pressure, ΔP1 is the first preset margin, P0 is the atmospheric pressure, ΔP0 is the second preset margin, and σ v is the rotational speed standard deviation of the tire, σ0 is the rotational speed standard deviation of the normal wheel identified by the tire pressure within the preset time, and α is a preset coefficient, and α is a positive value.

5. The control method of the vehicle active suspension according to claim 2, characterized in that, The method further includes: Obtain the temperature of each tire; Wherein, determine the corresponding first preset margin according to the temperature; The determining the height compensation amount according to the tire type includes: If the tire is an underinflated tire, determine the height compensation amount according to the tire pressure and temperature of the tire.

6. The control method of the vehicle active suspension according to claim 2, wherein, The determining the height compensation amount according to the rotation speed of the damaged tire includes: Calculate the height compensation amount through the formula where ΔD is the height compensation amount, V is the average rotational speed of the damaged wheel, V0 is the average rotational speed of the normal wheel identified through tire pressure within the preset time, and D0 is the vertical diameter of the normal wheel.

7. A computer-readable storage medium, on which a control program for a vehicle active suspension is stored, characterized in that, When the control program of the vehicle active suspension is executed by a processor, it implements the control method of the vehicle active suspension according to any one of claims 1-6.

8. A control device for a vehicle active suspension, characterized in that, Includes: A first determination module for determining the tire type of the vehicle, where the tire type includes a normal tire, an underinflated tire, and a damaged tire; A second determination module, configured to determine a height compensation amount according to the tire type; A control module, configured to control the active suspension to perform height compensation according to the height compensation amount; Verify the height compensation amounts of all tires and determine that the verification is passed; The verification of the height compensation amounts of all tires includes: Calculate an estimated diameter value of each tire according to the height compensation amount of each tire; Obtain an evaluation value of the height compensation amount of each tire according to the estimated diameter value of each tire and the rotation speed of each tire; If there is any evaluation value greater than a preset verification threshold, it is determined that the verification fails, otherwise it is determined that the verification passes; The evaluation value is calculated according to the following formula: Among them, γ i is the evaluation value of the i-th tire, N is the number of tires of the vehicle, is the first intermediate quantity, is the second intermediate quantity, D i is the estimated value of the diameter of the i-th tire, D i+1 is the estimated value of the diameter of the (i + 1)-th tire, V i is the average rotational speed of the i-th tire, V i+1 is the average rotational speed of the (i + 1)-th tire.

9. A vehicle, characterized in that, including: A tire, an active suspension, and the control device according to claim 8.

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