Height sensor calibration method, device, equipment and readable storage medium

Abstract

The present invention provides a height sensor calibration method, device, equipment and readable storage medium. The height sensor calibration method includes: according to the difference between the actual height value from the wheel center to the wheel brow of each wheel in the initial posture and the theoretical design value, synchronously controlling each air spring to adjust the height; after all air springs stop moving, obtaining the calibration reference value of each height sensor, wherein the calibration reference value is the height measurement value of the height sensor or the actual height value from the wheel center to the wheel brow of the corresponding wheel; detecting whether there is an abnormal height sensor according to each calibration reference value; if there is no abnormal height sensor, calibrating each height sensor. The present invention reduces the coupling effect by synchronously controlling each air spring to adjust the height, thereby improving the accuracy of the height adjustment, comprehensively considering each calibration reference value when detecting whether there is an abnormal height sensor, and ensuring the reliability of the calibration result.

Description

Technical Field

[0001] The present invention relates to the field of air suspension height sensors, and in particular to a height sensor calibration method, device, equipment and a readable storage medium. Background Art

[0002] With the development of air suspension technology and the increasing requirements for automobile comfort, air suspension systems are increasingly used in automobile chassis. The height sensor in the air suspension system is used to obtain the height of the vehicle body. In order to ensure the reliability and accuracy of the air suspension system, the height sensor needs to be calibrated after the vehicle rolls off the assembly line. The height measurement value of each height sensor when the vehicle body posture meets the design requirements is used as the zero position to set the suspension height level.

[0003] In the related art, when it is detected that the difference between the actual height value from the wheel center to the wheel arch and the theoretical design value is not within the preset calibratable range, the air spring corresponding to the wheel is controlled to adjust the height. If the difference between the actual height value and the theoretical design value of the wheel after adjustment is within the preset calibratable range, each height sensor is calibrated. However, due to the coupling effect of the height adjustment of each air spring, they will affect each other, resulting in that after a certain air spring is adjusted in height, the difference between the actual height value and the theoretical design value of other wheels may no longer meet the requirements, and the reliability of the calibration result is low. Summary of the invention

[0004] The main purpose of the present invention is to provide a height sensor calibration method, device, equipment and readable storage medium, aiming to solve the technical problem of low reliability of calibration results of height sensor calibration methods in related technologies.

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

[0006] According to the difference between the actual height value from the wheel center to the wheel arch of each wheel in the initial posture and the theoretical design value, each air spring is synchronously controlled to adjust the height;

[0007] After all the air springs stop moving, a calibration reference value of each height sensor is obtained, wherein the calibration reference value is a height measurement value of the height sensor or an actual height value from the wheel center to the wheel eyebrow of the corresponding wheel;

[0008] detecting whether there is an abnormal height sensor according to each of the calibration reference values;

[0009] If the abnormal height sensor does not exist, each height sensor is calibrated.

[0010] Optionally, after the step of detecting whether there is an abnormal height sensor according to each of the calibration reference values, the method further includes:

[0011] If the abnormal height sensor exists, the current posture is used as the new initial posture, and the process returns to the step of synchronously controlling the air springs to adjust the height according to the difference between the actual height value from the wheel center to the wheel arch of each wheel in the initial posture and the theoretical design value.

[0012] Optionally, the calibration reference value is a height measurement value of a height sensor;

[0013] Before the step of obtaining the calibration reference value of each height sensor, the method further includes:

[0014] Obtaining the actual height value from the wheel center to the wheel arch of each wheel and the rotation angle of each height sensor in at least one posture;

[0015] According to the actual height value and the corresponding rotation angle of the height sensor, the parameters in the height formula of each height sensor are corrected so that the height measurement value calculated by substituting the rotation angle of the height sensor into the corrected height formula is equal to the corresponding actual height value, wherein the height formula is a polynomial function with the rotation angle of the height sensor as the independent variable.

[0016] Optionally, the calibration reference value is a height measurement value of a height sensor;

[0017] Before the step of obtaining the calibration reference value of each height sensor, the method further includes:

[0018] According to the actual height value from the wheel center to the wheel arch of each wheel in the initial posture and the rotation angle of each height sensor, the constant term in the height formula of each height sensor is corrected so that the height measurement value calculated by substituting the rotation angle of the height sensor into the corrected height formula is equal to the corresponding actual height value, wherein the height formula is a polynomial function with the rotation angle of the height sensor as the independent variable.

[0019] Optionally, the step of detecting whether there is an abnormal height sensor according to each of the calibration reference values ​​comprises:

[0020] If the absolute value of the difference between any of the calibration reference values ​​and the theoretical design value is greater than a first preset threshold, it is determined that an abnormal height sensor exists.

[0021] Optionally, the step of detecting whether there is an abnormal height sensor according to each of the calibration reference values ​​further includes:

[0022] If the absolute value of the difference between the calibration reference values ​​of the front and rear height sensors on either side of the left and right sides is greater than a second preset threshold, it is determined that there is an abnormal height sensor;

[0023] If the absolute value of the difference between the calibrated reference values ​​of the left and right height sensors corresponding to any axle is greater than a third preset threshold, it is determined that there is an abnormal height sensor.

[0024] Optionally, after the step of obtaining the calibration reference value of each height sensor, the method further includes:

[0025] Taking the height sensor corresponding to the air spring that stops moving last as the reference height sensor, and calculating the difference between the calibration reference value and the theoretical design value of other height sensors except the reference height sensor;

[0026] Whether there is an abnormal height sensor is detected according to the difference between the calibration reference value and the theoretical design value of the height sensors other than the reference height sensor.

[0027] In a second aspect, the present invention further provides a height sensor calibration device, the height sensor calibration device comprising:

[0028] An adjustment module is used to synchronously control each air spring to adjust the height according to the difference between the actual height value from the wheel center to the wheel arch of each wheel in the initial posture and the theoretical design value;

[0029] An acquisition module, used for acquiring a calibration reference value of each height sensor after all air springs stop moving, wherein the calibration reference value is a height measurement value of the height sensor or an actual height value from the wheel center to the wheel eyebrow of the corresponding wheel;

[0030] A detection module, used for detecting whether there is an abnormal height sensor according to each of the calibration reference values;

[0031] The calibration module is used to calibrate each height sensor if the abnormal height sensor does not exist.

[0032] In a third aspect, the present invention also provides a height sensor calibration device, which includes a processor, a memory, and a height sensor calibration program stored in the memory and executable by the processor, wherein when the height sensor calibration program is executed by the processor, the steps of the above-mentioned height sensor calibration method are implemented.

[0033] In a fourth aspect, the present invention further provides a readable storage medium, on which a height sensor calibration program is stored, wherein when the height sensor calibration program is executed by a processor, the steps of the above-mentioned height sensor calibration method are implemented.

[0034] In the present invention, according to the difference between the actual height value from the wheel center to the wheel brow of each wheel in the initial posture and the theoretical design value, each air spring is synchronously controlled to adjust the height; after all air springs stop moving, the calibration reference value of each height sensor is obtained, wherein the calibration reference value is the height measurement value of the height sensor or the actual height value from the wheel center to the wheel brow of the corresponding wheel; according to each calibration reference value, it is detected whether there is an abnormal height sensor; if there is no abnormal height sensor, each height sensor is calibrated. The present invention reduces the coupling effect by synchronously controlling each air spring to adjust the height, thereby improving the accuracy of the height adjustment, and comprehensively considers each calibration reference value when detecting whether there is an abnormal height sensor, thereby ensuring the reliability of the calibration result. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 Schematic diagram of a flow chart of a method for calibrating a height sensor according to an embodiment of the present invention;

[0036] Figure 2 for Figure 1 A schematic flow chart of step S13 in the height sensor calibration method shown;

[0037] Figure 3 It is a schematic diagram of a flow chart of a method for calibrating a height sensor in another embodiment of the present invention;

[0038] Figure 4 A schematic diagram of the hardware structure of a height sensor calibration device according to an embodiment of the present invention;

[0039] Figure 5 Schematic diagram of the hardware structure of a height sensor calibration device in one embodiment of the present invention.

[0040] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0041] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0042] In a first aspect, an embodiment of the present invention provides a method for calibrating a height sensor.

[0043] Figure 1 A schematic flow chart of a method for calibrating a height sensor in an embodiment of the present invention is shown.

[0044] Reference Figure 1 In one embodiment, the height sensor calibration method includes the following steps:

[0045] S11, synchronously controlling each air spring to adjust the height according to the difference between the actual height value from the wheel center to the wheel arch of each wheel in the initial posture and the theoretical design value;

[0046] In this embodiment, the initial posture is the posture of the vehicle body before the air spring adjustment begins, and the theoretical design value is the distance from the wheel center to the wheel eyebrow of the wheel in the full and half-loaded state of the vehicle. When the vehicle body posture meets the design requirements, each height sensor can be calibrated, and the actual height value from the wheel center to the wheel eyebrow of each wheel is equal to the theoretical design value, which is the most ideal state. After the vehicle is off the assembly line, due to factors such as assembly errors, the vehicle body posture usually does not meet the design requirements. This step determines the adjustment amount of the air spring corresponding to each wheel by the difference between the actual height value from the wheel center to the wheel eyebrow of each wheel and the theoretical design value, and synchronously controls the corresponding air springs to adjust the height based on each adjustment amount, with the purpose of making the actual height value from the wheel center to the wheel eyebrow of each wheel close to the theoretical design value, and the vehicle body posture meets the design requirements. For example, if the difference between the actual height value from the wheel center to the wheel eyebrow of a wheel and the theoretical design value is 10mm, the air spring needs to be deflated to reduce the vehicle body height by 10mm. If the difference between the actual height value from the wheel center to the wheel eyebrow of a wheel and the theoretical design value is -10mm, the air spring needs to be inflated to increase the vehicle body height by 10mm.

[0047] As can be seen from the background technology, the height adjustment of each air spring has a coupling effect and will affect each other. Therefore, the actual height value obtained after adjustment according to the adjustment amount will not be equal to the theoretical design value. Synchronous control refers to controlling each air spring to start inflating or deflating at the same time. Since the adjustment amount of each air spring may be different, the time when each air spring stops moving may be different. Synchronous control ensures that each air spring acts at the same time for as long a period of time as possible. Compared with the control method of each air spring acting separately, it reduces the coupling effect, thereby improving the accuracy of height adjustment.

[0048] Optionally, in this embodiment, the actual height value from the wheel center to the wheel eyebrow can be obtained by camera ranging or laser ranging.

[0049] S12, after all air springs stop moving, obtaining a calibration reference value of each height sensor, wherein the calibration reference value is a height measurement value of the height sensor or an actual height value from the wheel center to the wheel brow of the corresponding wheel;

[0050] In this embodiment, since the height adjustment of each air spring has a coupling effect, they will affect each other. As long as any air spring does not stop moving, the actual height value from the wheel center to the fender of each wheel will change with the movement of the air spring. Only when all air springs stop moving, the body posture will stabilize, and the accurate calibration reference value of each height sensor can be obtained. The calibration reference value is used to detect whether the body posture after the adjustment meets the design requirements, and then determine whether each height sensor can be calibrated. The height sensor in the air suspension system is used to obtain the height of the vehicle body. Specifically, the measurement object of the height sensor is the distance from the wheel center to the fender of each wheel. Affected by the measurement accuracy of the height sensor itself and the assembly accuracy of the height sensor on the whole vehicle, there is a deviation between the height measurement value of the height sensor and the actual height value from the wheel center to the fender.

[0051] When detecting whether the body posture meets the design requirements, if the calibration reference value is the actual height value from the wheel center to the wheel eyebrow of the wheel corresponding to the height sensor, the detection result obtained is more accurate, but the process of measuring the actual height value (such as measuring the distance through a camera) may increase the time consumption and affect the calibration efficiency. In addition, if a large deviation between the height measurement value of the height sensor and the actual height value is not found during the calibration process, it will affect the normal operation of the air suspension system. If the calibration reference value is the height measurement value of the height sensor, the obtained detection result can usually meet the requirements and obtain a more reliable calibration result. At the same time, it is helpful to find out whether there is a large deviation between the height measurement value of the height sensor and the actual height value during the calibration process, so as to make corrections in time to avoid affecting the normal operation of the air suspension system.

[0052] S13, detecting whether there is an abnormal height sensor according to each calibration reference value;

[0053] In this embodiment, if the calibration reference value of one or more height sensors does not meet the detection requirements, it is determined that an abnormal height sensor exists, the vehicle body posture does not meet the design requirements, and the height sensor calibration cannot be performed.

[0054] Figure 2 Shows Figure 1 A schematic flow chart of step S13 in the height sensor calibration method is shown.

[0055] Reference Figure 2 In one embodiment, step S13 specifically includes:

[0056] S131. If the absolute value of the difference between any calibration reference value and the theoretical design value is greater than a first preset threshold, it is determined that an abnormal height sensor exists.

[0057] In this embodiment, whether the vehicle body posture meets the design requirements is determined based on the difference between the calibration reference value and the theoretical design value. Specifically, if the absolute value of the difference between the calibration reference value and the theoretical design value of a height sensor is greater than a first preset threshold, the height sensor is determined to be an abnormal height sensor.

[0058] Furthermore, step S13 further includes:

[0059] S132: if the absolute value of the difference between the calibration reference values ​​of the front and rear height sensors on either side of the left and right sides is greater than a second preset threshold, it is determined that there is an abnormal height sensor;

[0060] S133: If the absolute value of the difference between the calibration reference values ​​of the left and right height sensors corresponding to any axle is greater than a third preset threshold, it is determined that there is an abnormal height sensor.

[0061] In this embodiment, the vehicle body posture meets the design requirements according to the difference of the calibration reference values ​​of the two height sensors on the same side and the same axis, and further ensures that the front and rear height difference of the vehicle body and the left and right height difference of the vehicle body during calibration are within an acceptable range, so as to avoid affecting the field of vision and stability of the vehicle during driving. Specifically, if the absolute value of the difference of the calibration reference values ​​of the front and rear height sensors is greater than the second preset threshold, the two height sensors are determined to be abnormal height sensors. If the absolute value of the difference of the calibration reference values ​​of the left and right height sensors is greater than the third preset threshold, the two height sensors are determined to be abnormal height sensors.

[0062] Optionally, the ratio of the second preset threshold to the first preset threshold is less than 2, and the ratio of the third preset threshold to the first preset threshold is less than 2, and step S132 and step S133 are performed after step S131.

[0063] In one embodiment, after the step of obtaining the calibration reference value of each height sensor, the method further includes:

[0064] The height sensor corresponding to the air spring that stops moving last is used as the reference height sensor, and the difference between the calibration reference value and the theoretical design value of other height sensors except the reference height sensor is calculated;

[0065] Whether there is an abnormal height sensor is detected based on the difference between the calibration reference value and the theoretical design value of the height sensors other than the reference height sensor.

[0066] In this embodiment, the height adjustment accuracy of the air spring that stops the action last is the highest. Usually, the actual height value from the wheel center to the wheel arch of the corresponding wheel is closest to the theoretical design value. Therefore, the corresponding height sensor is used as the reference height sensor, and the absolute value of the difference between the calibration reference value and the theoretical design value of the reference height sensor is assumed to be less than or equal to the first preset threshold. When judging whether the vehicle body posture meets the design requirements based on the difference between the calibration reference value and the theoretical design value, it is not necessary to calculate the difference between the calibration reference value and the theoretical design value of the reference height sensor, but only the difference between the calibration reference value and the theoretical design value of other height sensors except the reference height sensor needs to be calculated.

[0067] S14: If there is no abnormal height sensor, calibrate each height sensor.

[0068] In this embodiment, if there is no abnormal height sensor, it is determined that the vehicle body posture meets the design requirements and the height sensor calibration can be performed. Specifically, if there is no abnormal height sensor, each height sensor is calibrated, and the calibration result (the angle of each height sensor during calibration) is written into the EEROM memory of the ASC (ActiveSuspensionController, active suspension integrated controller) to determine the zero position of the height sensor.

[0069] Therefore, in this embodiment, according to the difference between the actual height value from the wheel center to the wheel brow of each wheel in the initial posture and the theoretical design value, each air spring is synchronously controlled to adjust the height; after all air springs stop moving, the calibration reference value of each height sensor is obtained, wherein the calibration reference value is the height measurement value of the height sensor or the actual height value from the wheel center to the wheel brow of the corresponding wheel; according to each calibration reference value, it is detected whether there is an abnormal height sensor; if there is no abnormal height sensor, each height sensor is calibrated. This embodiment reduces the coupling effect by synchronously controlling each air spring to adjust the height, thereby improving the accuracy of the height adjustment, and comprehensively considers each calibration reference value when detecting whether there is an abnormal height sensor, thereby ensuring the reliability of the calibration result.

[0070] It should be noted that the steps in this embodiment are performed on the premise that the air suspension system is determined to be fault-free after initialization. It is understandable that when the height sensor or air pump fails, the height of the air spring cannot be adjusted.

[0071] Furthermore, in one embodiment, after step S13, the following steps are further included:

[0072] If there is an abnormal height sensor, the current posture is used as the new initial posture, and the process returns to the step of synchronously controlling each air spring to adjust the height according to the difference between the actual height value from the wheel center to the wheel arch of each wheel in the initial posture and the theoretical design value.

[0073] In this embodiment, when there is an abnormal height sensor, the current posture is used as the new initial posture, and steps S11 to S13 are repeated until there is no abnormal height sensor, and the calibration is successful. In this way, there is no need to return the vehicle to the repair area for manual adjustment, which improves the calibration efficiency. Normally, the calibration can be completed by repeating steps S11 to S13 at most once.

[0074] Optionally, if an abnormal height sensor exists, the position of the abnormal height sensor will be visually displayed for the operator's reference.

[0075] Further, in one embodiment, the calibration reference value is a height measurement value of the height sensor;

[0076] Before the step of obtaining the calibration reference value of each height sensor, the method further includes:

[0077] Obtaining the actual height value from the wheel center to the wheel arch of each wheel and the rotation angle of each height sensor in at least one posture;

[0078] According to the actual height value and the corresponding rotation angle of the height sensor, the parameters in the height formula of each height sensor are corrected so that the height measurement value calculated by substituting the rotation angle of the height sensor into the corrected height formula is equal to the corresponding actual height value, wherein the height formula is a polynomial function with the rotation angle of the height sensor as the independent variable.

[0079] In this embodiment, the height sensor is an angle sensor, which can convert the height change of the vehicle body into an angle change, and convert the turning angle into a height measurement value through the height formula. The characteristic curve of the turning angle of the height sensor and the theoretical height value from the wheel center to the wheel arch of the corresponding wheel is obtained from the theoretical model of the whole vehicle, and the height formula is obtained by polynomial curve fitting of the characteristic curve. When in use, the height sensor substitutes the turning angle into the height formula to obtain the height measurement value, and the height measurement value is close to the theoretical height value. Affected by the actual installation and manufacturing level of the whole vehicle, the theoretical height value corresponding to the same turning angle is different from the actual height value, and there may be a certain deviation between the height measurement value calculated by the original height formula and the actual height value.

[0080] This embodiment uses the height measurement value of the height sensor as a calibration reference value, and corrects the parameters of the height formula by the actual height value and the rotation angle of the height sensor, so that the height measurement value calculated according to the corrected height formula is closer to the actual height value. On the one hand, when detecting whether the body posture meets the design requirements, the accuracy of the detection result is improved. On the other hand, since the accuracy of the height measurement value is improved, it helps to ensure the normal operation of the air suspension system.

[0081] Specifically, assuming that the height formula before correction is H(X)=AX3 +BX 2 +CX+D, where X is the rotation angle of the height sensor, H(X) is the height measurement value corresponding to the rotation angle X, and A, B, C, and D are all parameters of the polynomial. When it is necessary to correct n of the parameters, the actual height values ​​and rotation angles under n postures are obtained, that is, n sets of actual height values ​​and rotation angles are obtained, and an n-variable linear equation is established with the parameters to be corrected as unknowns to obtain the corrected parameters. Optionally, the corrected parameters are preferably parameters of low-order terms.

[0082] Further, in one embodiment, the calibration reference value is a height measurement value of the height sensor;

[0083] Before the step of obtaining the calibration reference value of each height sensor, the method further includes:

[0084] According to the actual height value from the wheel center to the wheel arch of each wheel in the initial posture and the rotation angle of each height sensor, the constant term in the height formula of each height sensor is corrected so that the height measurement value calculated by substituting the rotation angle of the height sensor into the corrected height formula is equal to the corresponding actual height value, wherein the height formula is a polynomial function with the rotation angle of the height sensor as the independent variable.

[0085] In this embodiment, the actual height value at the initial posture and the constant term in the angle correction height formula are used, so there is no need to adjust the air spring multiple times to change the body posture, which helps to reduce time consumption and improve calibration efficiency. Specifically, assuming that the height formula before correction is H(X)=AX 3 +BX 2 +CX+D. When the constant term parameter D is corrected, a linear equation H(X0)=AX0 is established. 3 +BX0 2 +CX0+D', where H(X0) is the actual height value at the initial posture, and X0 is the rotation angle at the initial posture, and the corrected parameter D' can be obtained.

[0086] Figure 3 A schematic flow chart of a method for calibrating a height sensor in another embodiment of the present invention is shown.

[0087] Reference Figure 3In this embodiment, first, the constant term in the height formula of each height sensor is corrected by the actual height value from the wheel center to the wheel arch of each wheel in the initial posture and the rotation angle of each height sensor, and the height measurement values ​​mentioned subsequently are calculated according to the corrected height formula. Then, the difference between each actual height value and the theoretical design value in the initial posture is calculated, and each air spring is synchronously controlled to adjust the height according to each difference. After all air springs stop moving, the height measurement value of each height sensor is obtained, and it is detected whether there is an abnormal height sensor according to each height measurement value. If there is an abnormal height sensor, the actual height values ​​of the current posture are obtained, and the current posture is used as the new initial posture, and the step of calculating the difference between each actual height value and the theoretical design value in the initial posture is returned. If there is no abnormal height sensor, each height sensor is calibrated, and the calibration result is written into the EEROM memory of the ASC.

[0088] In a second aspect, an embodiment of the present invention further provides a height sensor calibration device.

[0089] Figure 4 A schematic diagram of the hardware structure of a height sensor calibration device in one embodiment of the present invention is shown.

[0090] Reference Figure 4 In one embodiment, the height sensor calibration device includes:

[0091] An adjustment module 101 is used to synchronously control each air spring to adjust the height according to the difference between the actual height value from the wheel center to the wheel eyebrow of each wheel in the initial posture and the theoretical design value;

[0092] An acquisition module 102 is used to acquire a calibration reference value of each height sensor after all air springs stop operating, wherein the calibration reference value is a height measurement value of the height sensor or an actual height value from the wheel center to the wheel eyebrow of the corresponding wheel;

[0093] A detection module 103, used to detect whether there is an abnormal height sensor according to each calibration reference value;

[0094] The calibration module 104 is used to calibrate each height sensor if there is no abnormal height sensor.

[0095] Furthermore, in one embodiment, the height sensor calibration device further includes a callback module, which is used to:

[0096] If there is an abnormal height sensor, the current posture is used as the new initial posture, and the process returns to the step of synchronously controlling each air spring to adjust the height according to the difference between the actual height value from the wheel center to the wheel arch of each wheel in the initial posture and the theoretical design value.

[0097] Further, in one embodiment, the calibration reference value is a height measurement value of the height sensor;

[0098] The height sensor calibration device also includes a correction module for:

[0099] Obtaining the actual height value from the wheel center to the wheel arch of each wheel and the rotation angle of each height sensor in at least one posture;

[0100] According to the actual height value and the corresponding rotation angle of the height sensor, the parameters in the height formula of each height sensor are corrected so that the height measurement value calculated by substituting the rotation angle of the height sensor into the corrected height formula is equal to the corresponding actual height value, wherein the height formula is a polynomial function with the rotation angle of the height sensor as the independent variable.

[0101] Further, in one embodiment, the calibration reference value is a height measurement value of the height sensor;

[0102] The height sensor calibration device also includes a correction module for:

[0103] According to the actual height value from the wheel center to the wheel arch of each wheel in the initial posture and the rotation angle of each height sensor, the constant term in the height formula of each height sensor is corrected so that the height measurement value calculated by substituting the rotation angle of the height sensor into the corrected height formula is equal to the corresponding actual height value, wherein the height formula is a polynomial function with the rotation angle of the height sensor as the independent variable.

[0104] Furthermore, in one embodiment, the detection module 103 is used to:

[0105] If the absolute value of the difference between any calibration reference value and the theoretical design value is greater than a first preset threshold, it is determined that an abnormal height sensor exists.

[0106] Furthermore, in one embodiment, the detection module 103 is also used for:

[0107] If the absolute value of the difference between the calibration reference values ​​of the front and rear height sensors on either side of the left and right sides is greater than a second preset threshold, it is determined that there is an abnormal height sensor;

[0108] If the absolute value of the difference between the calibrated reference values ​​of the left and right height sensors corresponding to any axle is greater than a third preset threshold, it is determined that there is an abnormal height sensor.

[0109] Furthermore, in one embodiment, the height sensor calibration device further includes a calculation module, which is used to:

[0110] The height sensor corresponding to the air spring that stops moving last is used as the reference height sensor, and the difference between the calibration reference value and the theoretical design value of other height sensors except the reference height sensor is calculated;

[0111] The detection module 103 is used to detect whether there is an abnormal height sensor according to the difference between the calibration reference value and the theoretical design value of other height sensors except the reference height sensor.

[0112] Among them, the functional implementation of each module in the above-mentioned height sensor calibration device corresponds to the various steps in the above-mentioned height sensor calibration method embodiment, and its functions and implementation processes are no longer repeated here one by one.

[0113] In a third aspect, an embodiment of the present invention provides a height sensor calibration device, which may be a device having a data processing function, such as a personal computer (PC), a notebook computer, or a server.

[0114] Figure 5 A schematic diagram of the hardware structure of a height sensor calibration device in one embodiment of the present invention is shown.

[0115] Reference Figure 5 In an embodiment of the present invention, the height sensor calibration device may include a processor 1001 (e.g., a central processing unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components; the user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard); the network interface 1004 may optionally include a standard wired interface, a wireless interface (such as wireless fidelity WIreless-FIdelity, WI-FI interface); the memory 1005 may be a high-speed random access memory (random access memory, RAM), or a stable memory (non-volatile memory), such as a disk storage, and the memory 1005 may optionally be a storage device independent of the aforementioned processor 1001. Those skilled in the art will understand that Figure 5 The hardware structure shown in the figure does not constitute a limitation of the present invention, and may include more or less components than those shown in the figure, or combine certain components, or arrange the components differently.

[0116] Continue to refer to Figure 5 , Figure 5 The memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a height sensor calibration program. The processor 1001 may call the height sensor calibration program stored in the memory 1005 and execute the height sensor calibration method provided in the embodiment of the present invention.

[0117] In a fourth aspect, an embodiment of the present invention further provides a readable storage medium.

[0118] The readable storage medium of the present invention stores a height sensor calibration program, wherein when the height sensor calibration program is executed by a processor, the steps of the height sensor calibration method described above are implemented.

[0119] The method implemented when the height sensor calibration program is executed can refer to the various embodiments of the height sensor calibration method of the present invention, and will not be described in detail here.

[0120] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0121] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0122] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present invention.

[0123] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for calibrating a height sensor, characterized in that: The height sensor calibration method comprises: According to the difference between the actual height value from the wheel center to the wheel arch of each wheel in the initial posture and the theoretical design value, each air spring is synchronously controlled to adjust the height; After all the air springs stop moving, a calibration reference value of each height sensor is obtained, wherein the calibration reference value is a height measurement value of the height sensor or an actual height value from the wheel center to the wheel eyebrow of the corresponding wheel; detecting whether there is an abnormal height sensor according to each of the calibration reference values; If the abnormal height sensor does not exist, each height sensor is calibrated.

2. The height sensor calibration method according to claim 1, characterized in that: After the step of detecting whether there is an abnormal height sensor according to each of the calibration reference values, the method further includes: If the abnormal height sensor exists, the current posture is used as the new initial posture, and the process returns to the step of synchronously controlling the air springs to adjust the height according to the difference between the actual height value from the wheel center to the wheel arch of each wheel in the initial posture and the theoretical design value.

3. The height sensor calibration method according to claim 1, characterized in that: The calibration reference value is a height measurement value of the height sensor; Before the step of obtaining the calibration reference value of each height sensor, the method further includes: Obtaining the actual height value from the wheel center to the wheel arch of each wheel and the rotation angle of each height sensor in at least one posture; According to the actual height value and the corresponding rotation angle of the height sensor, the parameters in the height formula of each height sensor are corrected so that the height measurement value calculated by substituting the rotation angle of the height sensor into the corrected height formula is equal to the corresponding actual height value, wherein the height formula is a polynomial function with the rotation angle of the height sensor as the independent variable.

4. The height sensor calibration method according to claim 1, characterized in that: The calibration reference value is a height measurement value of the height sensor; Before the step of obtaining the calibration reference value of each height sensor, the method further includes: According to the actual height value from the wheel center to the wheel arch of each wheel in the initial posture and the rotation angle of each height sensor, the constant term in the height formula of each height sensor is corrected so that the height measurement value calculated by substituting the rotation angle of the height sensor into the corrected height formula is equal to the corresponding actual height value, wherein the height formula is a polynomial function with the rotation angle of the height sensor as the independent variable.

5. The height sensor calibration method according to any one of claims 1 to 4, characterized in that: The step of detecting whether there is an abnormal height sensor according to each of the calibration reference values ​​comprises: If the absolute value of the difference between any of the calibration reference values ​​and the theoretical design value is greater than a first preset threshold, it is determined that an abnormal height sensor exists.

6. The height sensor calibration method according to claim 5, characterized in that: The step of detecting whether there is an abnormal height sensor according to each of the calibration reference values ​​further includes: If the absolute value of the difference between the calibration reference values ​​of the front and rear height sensors on either side of the left and right sides is greater than a second preset threshold, it is determined that there is an abnormal height sensor; If the absolute value of the difference between the calibrated reference values ​​of the left and right height sensors corresponding to any axle is greater than a third preset threshold, it is determined that there is an abnormal height sensor.

7. The height sensor calibration method according to any one of claims 1 to 4, characterized in that: After the step of obtaining the calibration reference value of each height sensor, the method further includes: Taking the height sensor corresponding to the air spring that stops moving last as the reference height sensor, and calculating the difference between the calibration reference value and the theoretical design value of the other height sensors except the reference height sensor; Whether there is an abnormal height sensor is detected according to the difference between the calibration reference value and the theoretical design value of the height sensors other than the reference height sensor.

8. A height sensor calibration device, characterized in that: The height sensor calibration device comprises: An adjustment module is used to synchronously control each air spring to adjust the height according to the difference between the actual height value from the wheel center to the wheel eyebrow of each wheel in the initial posture and the theoretical design value; An acquisition module, used for acquiring a calibration reference value of each height sensor after all air springs stop moving, wherein the calibration reference value is a height measurement value of the height sensor or an actual height value from the wheel center to the wheel eyebrow of the corresponding wheel; A detection module, used for detecting whether there is an abnormal height sensor according to each of the calibration reference values; The calibration module is used to calibrate each height sensor if the abnormal height sensor does not exist.

9. A height sensor calibration device, characterized in that: The height sensor calibration device includes a processor, a memory, and a height sensor calibration program stored in the memory and executable by the processor, wherein when the height sensor calibration program is executed by the processor, the steps of the height sensor calibration method according to any one of claims 1 to 7 are implemented.

10. A readable storage medium, characterized in that: The readable storage medium stores a height sensor calibration program, wherein when the height sensor calibration program is executed by a processor, the steps of the height sensor calibration method according to any one of claims 1 to 7 are implemented.

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