Vehicle active suspension control system and storage medium based on SOA architecture

Abstract

The present application relates to a vehicle active suspension control system, control method, computer equipment and storage medium based on SOA architecture. The system includes: a state analysis module, which is used to obtain a state identification result after performing vehicle state identification on equipment working data; a fault diagnosis module, which is used to obtain a fault diagnosis result after performing fault diagnosis on fault monitoring data; a demand analysis module, which is used to obtain a data analysis result after performing data analysis based on the current vehicle mode, current vehicle speed and state identification result; a target arbitration module, which is used to obtain a target height of an air spring device after performing height arbitration and step-by-step adjustment, and is also used to obtain a target damping of a continuous vibration reduction control device after performing damping arbitration and step-by-step adjustment; a control execution module, which is used to control the valve pump of the air spring device, and is also used to control the solenoid valve of the continuous vibration reduction control device. The use of this method can avoid repeated signal calls and improve operating efficiency.

Description

Technical Field

[0001] The present application relates to the field of vehicle networking technology, and in particular to a vehicle active suspension control system based on a SOA architecture, a control method for a vehicle active suspension control system based on a SOA architecture, a computer device, and a storage medium. Background Art

[0002] Today's vehicle active suspension systems are mainly composed of air spring equipment and continuous vibration reduction control equipment. The air spring equipment mainly realizes the increase and decrease of the height of the vehicle's active suspension through the inflation and deflation states, while the continuous vibration reduction control equipment realizes the change of the vehicle's active suspension damping by controlling the opening size of the solenoid valve and thus controlling the flow rate of the damping liquid.

[0003] However, the air spring device and the continuous vibration reduction control device in the traditional vehicle suspension system usually operate independently of each other, resulting in problems such as repeated signal calls and low operating efficiency. Summary of the invention

[0004] Based on this, it is necessary to provide a vehicle active suspension control system based on SOA architecture, a control method for a vehicle active suspension control system based on SOA architecture, a computer device and a storage medium, which can avoid repeated signal calls and improve operating efficiency in response to the above technical problems.

[0005] In a first aspect, a vehicle active suspension control system based on a SOA architecture is provided. The vehicle active suspension control system includes a state analysis module, a fault diagnosis module, a demand analysis module, a target arbitration module and a control execution module.

[0006] A state analysis module is used to obtain equipment working data of vehicle equipment and to obtain a state recognition result after performing vehicle state recognition on the equipment working data;

[0007] A fault diagnosis module is used to obtain fault monitoring data of vehicle equipment and to obtain fault diagnosis results after performing fault diagnosis on the fault monitoring data; wherein the fault diagnosis results include vehicle component fault diagnosis results; the vehicle component fault diagnosis results include air spring equipment fault diagnosis results and continuous vibration reduction control equipment fault diagnosis results;

[0008] A demand analysis module, used to obtain the current vehicle mode and the current vehicle speed, and also used to obtain data analysis results after performing data analysis based on the current vehicle mode, the current vehicle speed and the state recognition result; wherein the data analysis results include the required height of the air spring device and the required active damping of the continuous vibration reduction control device;

[0009] A target arbitration module, used for obtaining a target height of the air spring device after performing height arbitration and step-by-step adjustment according to the required height, the state recognition result and the fault diagnosis result of the air spring device, and also used for obtaining a target damping of the continuous vibration reduction control device after performing damping arbitration and step-by-step adjustment according to the required active damping, the state recognition result and the fault diagnosis result of the continuous vibration reduction control device;

[0010] The control execution module is used to control the valve pump of the air spring device according to the target height, and is also used to control the solenoid valve of the continuous vibration reduction control device according to the target damping.

[0011] In one of the embodiments, the state analysis module includes a vehicle motion state analysis unit;

[0012] The vehicle motion state analysis unit is used to obtain the current vehicle speed, the current vehicle gear, the vehicle speed holding time, the vehicle lateral acceleration, the vehicle yaw acceleration, the vehicle longitudinal acceleration, the vehicle accelerator pedal opening information, the vehicle system pedal opening information, the suspension height change rate information, the internal pressure of the vehicle active suspension main circuit, the internal pressure of the air spring device, the actual height of the air spring device and the height change rate of the air spring device; wherein the equipment working data includes the current vehicle speed, the current vehicle gear, the vehicle speed holding time, the vehicle lateral acceleration, the vehicle yaw acceleration, the vehicle longitudinal acceleration, the vehicle accelerator pedal opening information, the vehicle system pedal opening information, the suspension height change rate information, the internal pressure of the vehicle active suspension main circuit, the internal pressure of the air spring device, the actual height of the air spring device and the height change rate of the air spring device;

[0013] The vehicle motion state analysis unit is also used to obtain the vehicle dynamic and static identification results after dynamic and static identification according to the current vehicle speed, the current vehicle gear and the vehicle speed holding time; the vehicle motion state analysis unit is also used to obtain the vehicle lateral and longitudinal stability identification results after stability identification according to the vehicle lateral acceleration, the vehicle yaw acceleration, the vehicle longitudinal acceleration, the vehicle accelerator pedal opening information and the vehicle gear pedal opening information; the vehicle motion state analysis unit is also used to obtain the lifting condition identification result after working condition identification according to the suspension height change rate information; the vehicle motion state analysis unit is also used to obtain the vehicle overload identification result after overload identification according to the internal pressure of the vehicle active suspension main circuit and the internal pressure of the air spring device; the vehicle motion state analysis unit is also used to obtain the wheel pit fall identification result after pothole identification according to the actual height of the air spring device and the height change rate of the air spring device; wherein the state identification result includes the vehicle motion state analysis result; the vehicle motion state analysis result includes the vehicle dynamic and static identification results, the vehicle lateral and longitudinal stability identification results, the lifting condition identification result, the vehicle overload identification result and the wheel pit fall identification result.

[0014] In one of the embodiments, the state analysis module includes a vehicle component state analysis unit;

[0015] Among them, the vehicle component status analysis unit is used to obtain the pulse width modulation signal collected by the four-wheel height sensor, the voltage signal collected by the compressor temperature sensor, the voltage signal collected by the pressure sensor, the on-off state of the solenoid valve of each air spring circuit and the solenoid valve current signal of the vehicle active suspension; the equipment working data includes the pulse width modulation signal collected by the four-wheel height sensor, the voltage signal collected by the compressor temperature sensor, the voltage signal collected by the pressure sensor, the on-off state of the solenoid valve of each air spring circuit and the solenoid valve current signal;

[0016] The vehicle component status analysis unit is also used to obtain a suspension height recognition result after performing height recognition based on the pulse width modulation signal collected by the four-wheel height sensor; the vehicle component status analysis unit is also used to obtain a temperature recognition result after performing temperature recognition based on the voltage signal collected by the compressor temperature sensor; the vehicle component status analysis unit is also used to obtain an air spring pressure recognition result after performing spring pressure recognition based on the voltage signal collected by the pressure sensor; the vehicle component status analysis unit is also used to obtain a pressure recognition result of the corresponding air spring circuit after performing pressure recognition based on the on-off state of the solenoid valve of each air spring circuit; the vehicle component status analysis unit is also used to obtain a solenoid valve status recognition result after performing solenoid valve current signal; wherein, the status recognition result includes the vehicle component status analysis result; the vehicle component status analysis result includes the suspension height recognition result, the temperature recognition result, the air spring pressure recognition result, the pressure recognition result of each air spring circuit and the solenoid valve status recognition result.

[0017] In one of the embodiments, the state analysis module includes a preview road surface analysis unit;

[0018] Among them, the preview road surface analysis unit is used to obtain road surface feature information collected by the intelligent driving system sensor; the equipment working data includes road surface feature information;

[0019] The preview road surface analysis unit is also used to obtain a road surface feature recognition result after performing road surface feature recognition according to the road surface feature information; wherein the state recognition result includes the road surface feature recognition result.

[0020] In one of the embodiments, the fault diagnosis module includes a communication fault diagnosis unit, a hard line fault diagnosis unit and a vehicle component fault diagnosis unit;

[0021] The communication fault diagnosis unit is used to obtain the controller area network bus signal of the vehicle active suspension, and is also used to obtain the communication fault diagnosis result after performing communication fault diagnosis according to the controller area network bus signal; the fault monitoring data includes the controller area network bus signal; the fault diagnosis result includes the communication fault diagnosis result;

[0022] The hard-line fault diagnosis unit is used to obtain the small battery voltage and the sensor hard-line signal, and is also used to perform hard-line fault diagnosis according to the small battery voltage and the sensor hard-line signal to obtain a hard-line fault diagnosis result; the fault monitoring data includes the small battery voltage and the sensor hard-line signal; the fault diagnosis result includes the hard-line fault diagnosis result;

[0023] The vehicle component fault diagnosis unit is used to obtain suspension height recognition results, temperature recognition results, air spring pressure recognition results, pressure recognition results of each air spring circuit and solenoid valve status recognition results. It is also used to obtain the fault diagnosis result of the air spring equipment after performing spring fault diagnosis based on the suspension height recognition results, temperature recognition results and pressure recognition results of each air spring circuit; the vehicle component fault diagnosis unit is also used to obtain the fault diagnosis result of the continuous vibration reduction control equipment after performing vibration reduction fault diagnosis based on the solenoid valve status recognition result; wherein, the status recognition result includes the vehicle component status analysis result; the vehicle component status analysis result includes the suspension height recognition result, temperature recognition result, air spring pressure recognition result, pressure recognition results of each air spring circuit and solenoid valve status recognition result.

[0024] In one embodiment, the control execution module includes a height analysis unit and an active damping analysis unit;

[0025] Among them, the height analysis unit is used to obtain the current vehicle mode and the current vehicle speed, and is also used to obtain the required height of the air spring device after performing data analysis based on the current vehicle mode, the current vehicle speed, the vehicle motion state analysis results and the road feature recognition results; the required height of the air spring device includes the required height for manual adjustment, the required height for speed adjustment, the required height for trunk loading mode and the required height for welcome mode;

[0026] The active damping analysis unit is used to obtain the current vehicle mode and the current vehicle speed, and is also used to obtain the required active damping of the continuous vibration reduction control device after performing data analysis based on the current vehicle mode, the current vehicle speed, the vehicle motion state analysis results and the road surface feature recognition results; the required active damping of the continuous vibration reduction control device includes manually adjusting the required active damping gear, adjusting the required active damping gear with speed, starting anti-squat active damping gear, braking anti-nodding active damping gear, anti-roll active damping gear and road surface compensation active damping gear; wherein, the state recognition result includes the vehicle motion state analysis result and the road surface feature recognition result.

[0027] In one of the embodiments, the target arbitration module includes a target height arbitration unit and a target active damping arbitration unit;

[0028] The target height arbitration unit is used to obtain a height arbitration result after performing height arbitration according to the required height and the preset priority order, and is also used to obtain a target height of the air spring device after performing step-by-step adjustment according to the height arbitration result, the vehicle motion state analysis result and the fault diagnosis result of the air spring device;

[0029] The target active damping arbitration unit is used to obtain a damping arbitration result after performing damping arbitration according to the required active damping and the priority order, and is also used to obtain a target damping of the continuous vibration reduction control device after performing step-by-step adjustment according to the damping arbitration result, the vehicle motion state analysis result and the fault diagnosis result of the continuous vibration reduction control device; wherein the state recognition result includes the vehicle motion state analysis result.

[0030] In one embodiment, the control execution module includes a valve pump control unit and a solenoid valve control unit;

[0031] Wherein, the valve pump control unit is used to control the valve pump of the air spring device according to the difference between the target height and the actual height of the air spring device;

[0032] The solenoid valve control unit is used to control the solenoid valve of the continuous vibration damping control device according to the target damping.

[0033] In a second aspect, a control method of a vehicle active suspension control system based on an SOA architecture is provided, wherein the control method comprises:

[0034] Acquire device working data of vehicle equipment through a state analysis module, and obtain a state recognition result after performing vehicle state recognition on the device working data;

[0035] Acquiring fault monitoring data of vehicle equipment through a fault diagnosis module, and obtaining fault diagnosis results after performing fault diagnosis on the fault monitoring data; wherein the fault diagnosis results include vehicle component fault diagnosis results; the vehicle component fault diagnosis results include fault diagnosis results of air spring equipment and fault diagnosis results of continuous vibration reduction control equipment;

[0036] The current vehicle mode and the current vehicle speed are acquired through the demand analysis module, and data analysis is performed according to the current vehicle mode, the current vehicle speed and the state recognition result to obtain a data analysis result; wherein the data analysis result includes the required height of the air spring device and the required active damping of the continuous vibration reduction control device;

[0037] The target height of the air spring device is obtained by performing height arbitration and step-by-step adjustment according to the required height, the state identification result and the fault diagnosis result of the air spring device through a target arbitration module, and the target damping of the continuous vibration damping control device is obtained by performing damping arbitration and step-by-step adjustment according to the required active damping, the state identification result and the fault diagnosis result of the continuous vibration damping control device;

[0038] The valve pump of the air spring device is controlled according to the target height through a control execution module, and the solenoid valve of the continuous vibration reduction control device is controlled according to the target damping.

[0039] In a third aspect, a computer device is provided, which includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of any control method in the above method embodiment are implemented.

[0040] In a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of any control method in the above method embodiments are implemented.

[0041] The vehicle active suspension control system based on SOA architecture, the control method of the vehicle active suspension control system based on SOA architecture, the computer device and the storage medium obtain the equipment working data of the vehicle equipment through the state analysis module, and obtain the state identification result after performing vehicle state identification on the equipment working data; then, obtain the fault monitoring data of the vehicle equipment through the fault diagnosis module, and obtain the fault diagnosis result after performing fault diagnosis on the fault monitoring data; wherein the fault diagnosis result includes the vehicle component fault diagnosis result; the vehicle component fault diagnosis result includes the fault diagnosis result of the air spring device and the fault diagnosis result of the continuous vibration reduction control device; then, obtain the current vehicle mode and the current vehicle speed through the demand analysis module, and obtain the data after performing data analysis based on the current vehicle mode, the current vehicle speed and the state identification result According to the analysis results; the data analysis results include the required height of the air spring device and the required active damping of the continuous vibration reduction control device; at the same time, the target height of the air spring device is obtained by the target arbitration module according to the required height, state recognition results and fault diagnosis results of the air spring device, and the target damping of the continuous vibration reduction control device is obtained by the damping arbitration and step-by-step adjustment according to the required active damping, state recognition results and fault diagnosis results of the continuous vibration reduction control device; finally, the valve pump of the air spring device is controlled according to the target height through the control execution module, and the solenoid valve of the continuous vibration reduction control device is controlled according to the target damping, thereby avoiding the independent control of the solenoid valves of the air spring device and the continuous vibration reduction control device, and improving the comprehensive performance of the vehicle active suspension control system. At the same time, it avoids repeated signal calls and improves the software development efficiency and motion efficiency of the vehicle active suspension control system. In addition, the vehicle active suspension control system is formed based on the SOA architecture, and different modules execute corresponding functions respectively, realizing software layered decoupling and repeatable calls, thereby reducing the coupling of the vehicle active suspension control system, improving the portability of the vehicle active suspension control system, and maximizing the development efficiency and software robustness of the vehicle active suspension control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 is a structural block diagram of a vehicle active suspension control system based on SOA architecture in one embodiment;

[0043] Figure 2 is a structural block diagram of a state analysis module in one embodiment;

[0044] Figure 3 is a structural block diagram of a fault diagnosis module in an embodiment;

[0045] Figure 4 A structural block diagram of a demand parsing module in an embodiment;

[0046] Figure 5 is a structural block diagram of a target arbitration module in one embodiment;

[0047] Figure 6 It is a structural block diagram of a control execution module in one embodiment;

[0048] Figure 7 A schematic flow chart of a control method of a vehicle active suspension control system with an SOA architecture in another embodiment;

[0049] Figure 8 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0051] In order to facilitate understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. Embodiments of the present application are provided in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0052] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0053] It is understood that the terms "first", "second", etc. used in this application may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish a first element from another element. For example, without departing from the scope of this application, a first resistor may be referred to as a second resistor, and similarly, a second resistor may be referred to as a first resistor. Both the first resistor and the second resistor are resistors, but they are not the same resistor.

[0054] It can be understood that the “connection” in the following embodiments should be understood as “electrical connection”, “communication connection”, etc. if the connected circuits, modules, units, etc. have electrical signals or data transmission between each other.

[0055] When used herein, the singular forms "a", "an", and "said / the" may also include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include / comprise" or "have" etc. specify the presence of stated features, wholes, steps, operations, components, parts or combinations thereof, but do not exclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts or combinations thereof.

[0056] In a specific example, if Figure 1 As shown, the vehicle active suspension control system based on the SOA architecture of an embodiment of the present invention is described below. The above-mentioned vehicle active suspension control system includes a state analysis module 1000, a fault diagnosis module 2000, a demand analysis module 3000, a target arbitration module 4000 and a control execution module 5000.

[0057] Specifically, the state analysis module 1000 is used to obtain equipment working data of vehicle equipment, and is also used to obtain a state identification result after performing vehicle state identification on the equipment working data.

[0058] Among them, the equipment working data of the vehicle equipment is data used to characterize the working status of the vehicle equipment; the state recognition result may include but is not limited to vehicle motion state analysis results, vehicle component state analysis results and road feature recognition results.

[0059] In one embodiment, if Figure 2 As shown, the state analysis module 1000 includes a vehicle motion state analysis unit 2100 .

[0060] Among them, the equipment working data of the vehicle equipment includes the current vehicle speed, the current vehicle gear, the vehicle speed holding time, the vehicle lateral acceleration, the vehicle yaw acceleration, the vehicle longitudinal acceleration, the vehicle accelerator pedal opening information, the vehicle system pedal opening information, the suspension height change rate information, the internal pressure of the vehicle active suspension main circuit, the internal pressure of the air spring equipment, the actual height of the air spring equipment and the height change rate of the air spring equipment.

[0061] Among them, the state recognition results include the vehicle motion state analysis results; the vehicle motion state analysis results include the vehicle dynamic and static recognition results, the vehicle lateral and longitudinal stability recognition results, the lifting condition recognition results, the vehicle overload recognition results and the wheel pit recognition results.

[0062] Specifically, the vehicle motion state analysis unit 2100 is used to obtain the current vehicle speed, the current vehicle gear, the vehicle speed holding time, the vehicle lateral acceleration, the vehicle yaw acceleration, the vehicle longitudinal acceleration, the vehicle accelerator pedal opening information, the vehicle gear pedal opening information, the suspension height change rate information, the internal pressure of the vehicle active suspension main circuit, the internal pressure of the air spring device, the actual height of the air spring device and the height change rate of the air spring device.

[0063] It is understandable that the vehicle motion state analysis unit is also used to obtain the vehicle dynamic and static identification results after dynamic and static identification according to the current vehicle speed, the current vehicle gear and the vehicle speed holding time. The vehicle motion state analysis unit is also used to obtain the vehicle lateral and longitudinal stability identification results after stability identification according to the vehicle lateral acceleration, the vehicle yaw acceleration, the vehicle longitudinal acceleration, the vehicle accelerator pedal opening information and the vehicle system pedal opening information. The vehicle motion state analysis unit is also used to obtain the lifting condition identification result after operating condition identification according to the suspension height change rate information. The vehicle motion state analysis unit is also used to obtain the vehicle overload identification result after overload identification according to the internal pressure of the vehicle active suspension main circuit and the internal pressure of the air spring device. The vehicle motion state analysis unit is also used to obtain the wheel pit identification result after pothole identification according to the actual height of the air spring device and the height change rate of the air spring device.

[0064] In this embodiment, the vehicle motion state analysis unit 2100 can efficiently complete vehicle dynamic and static identification, vehicle lateral and longitudinal stability identification, lifting condition identification, vehicle overload identification and wheel pit condition identification, thereby improving the convenience and operating efficiency of obtaining state identification results after performing vehicle state identification on the equipment working data.

[0065] In one embodiment, if Figure 2 As shown, the state analysis module 1000 includes a vehicle component state analysis unit 2200 .

[0066] Among them, the equipment working data of the vehicle equipment includes the pulse width modulation signal collected by the four-wheel height sensor, the voltage signal collected by the compressor temperature sensor, the voltage signal collected by the pressure sensor, the on-off status of the solenoid valve of each air spring circuit, and the solenoid valve current signal.

[0067] Among them, the vehicle component status analysis results include suspension height identification results, temperature identification results, air spring pressure identification results, pressure identification results of each air spring circuit and solenoid valve status identification results.

[0068] It can be understood that the vehicle component state analysis unit is used to obtain the pulse width modulation signal collected by the four-wheel height sensor, the voltage signal collected by the compressor temperature sensor, the voltage signal collected by the pressure sensor, the on-off state of the solenoid valve of each air spring circuit, and the solenoid valve current signal of the vehicle active suspension. The vehicle component state analysis unit is also used to obtain the suspension height recognition result after performing height recognition according to the pulse width modulation signal (Pulse Width Modulation, PWM) collected by the four-wheel height sensor. The vehicle component state analysis unit is also used to obtain the temperature recognition result after performing temperature recognition according to the voltage signal collected by the compressor temperature sensor. The vehicle component state analysis unit is also used to obtain the air spring pressure recognition result after performing spring pressure recognition according to the voltage signal collected by the pressure sensor. The vehicle component state analysis unit is also used to obtain the pressure recognition result of the corresponding air spring circuit after performing pressure recognition according to the on-off state of the solenoid valve of each air spring circuit. The vehicle component state analysis unit is also used to obtain the solenoid valve state recognition result after performing solenoid valve state recognition according to the solenoid valve current signal; wherein, the state recognition result includes the vehicle component state analysis result.

[0069] In this embodiment, the vehicle component status analysis unit 2200 can efficiently complete suspension height identification, temperature identification, air spring pressure identification, pressure identification of each air spring circuit and solenoid valve status identification, thereby improving the convenience and operating efficiency of obtaining status identification results after performing vehicle status identification on the equipment working data.

[0070] In one embodiment, if Figure 2 As shown, the state analysis module 1000 includes a preview road surface analysis unit 2300 .

[0071] The equipment working data of the vehicle equipment includes road surface feature information, and the state recognition result includes road surface feature recognition result.

[0072] In a specific example, the road surface feature information is used to characterize effective road surface features. It is understandable that effective road surface features may include, but are not limited to, speed bumps, potholes, and gravel roads, etc. The above are only specific examples, which can be flexibly set according to needs in actual applications and are not limited here.

[0073] It is understandable that the preview road surface analysis unit is used to obtain road surface feature information collected by the intelligent driving system sensor. The preview road surface analysis unit is also used to perform road surface feature recognition based on the road surface feature information and obtain a road surface feature recognition result.

[0074] In this embodiment, the preview road surface analysis unit 2300 can obtain a road surface feature recognition result after performing road surface feature recognition based on the road surface feature information, so that the vehicle status can be recognized and actuated in advance through the road surface feature recognition result, thereby improving the convenience and operation efficiency of obtaining the status recognition result after performing vehicle status recognition on the equipment working data.

[0075] Specifically, the fault diagnosis module 2000 is used to obtain fault monitoring data of vehicle equipment, and is also used to obtain fault diagnosis results after performing fault diagnosis on the fault monitoring data, thereby avoiding the expansion of fault risks.

[0076] Among them, the fault diagnosis results include vehicle component fault diagnosis results; vehicle component fault diagnosis results include air spring equipment fault diagnosis results and continuous vibration reduction control equipment fault diagnosis results. In a specific example, the fault diagnosis module 2000 is used to report the fault diagnosis results to avoid the expansion of fault risks. The above is only a specific example. In actual applications, it is flexibly set according to needs and is not limited here.

[0077] In a specific example, the air spring device may be but is not limited to an air spring suspension (CAS), and the continuous vibration reduction control device may be but is not limited to a variable damping shock absorber (CDC). The above are only specific examples and can be flexibly configured according to needs in actual applications and are not limited here.

[0078] In one embodiment, if Figure 3 As shown, the fault diagnosis module 2000 includes a communication fault diagnosis unit 3100 , a hard line fault diagnosis unit 3200 and a vehicle component fault diagnosis unit 3300 .

[0079] Specifically, the fault monitoring data includes controller area network bus signals, small battery voltage and sensor hard-wire signals; the fault diagnosis results include communication fault diagnosis results, hard-wire fault diagnosis results and vehicle component fault diagnosis results. Among them, the vehicle component fault diagnosis results include air spring equipment fault diagnosis results and continuous vibration reduction control equipment fault diagnosis results.

[0080] The communication fault diagnosis unit 3100 is used to obtain the controller area network bus signal of the vehicle active suspension, and is also used to obtain the communication fault diagnosis result after performing communication fault diagnosis according to the controller area network bus signal.

[0081] In a specific example, the communication fault diagnosis unit 3100 is used to report the communication fault diagnosis result. The above is only a specific example and is flexibly configured according to requirements in actual applications and is not limited here.

[0082] In a specific example, the controller area network bus (CAN) signal of the vehicle active suspension may include, but is not limited to, a power segment CAN signal and a chassis segment CAN signal. The above is only a specific example and can be flexibly set according to needs in actual applications and is not limited here.

[0083] The hard-wire fault diagnosis unit 3200 is used to obtain the small battery voltage and the sensor hard-wire signal, and is also used to perform hard-wire fault diagnosis based on the small battery voltage and the sensor hard-wire signal to obtain a hard-wire fault diagnosis result.

[0084] In a specific example, in the process of hard-wire fault diagnosis based on the small battery voltage and the sensor hard-wire signal, that is, whether a hard-wire fault exists can be diagnosed through the power supply voltage of the small battery and the fault flag of the sensor hard-wire signal, and the hard-wire fault diagnosis result is reported through the hard-wire fault diagnosis unit 3200. The above is only a specific example, and it can be flexibly set according to needs in actual applications and is not limited here.

[0085] Among them, the state recognition results include vehicle component state analysis results; the vehicle component state analysis results include suspension height recognition results, temperature recognition results, air spring pressure recognition results, pressure recognition results of each air spring circuit and solenoid valve state recognition results.

[0086] In a specific example, the suspension height recognition result is used to characterize the actual height of the air spring device, that is, the actual height of the air spring suspension. The temperature recognition result is used to characterize the compressor temperature of the air spring device. The air spring pressure recognition result is used to characterize the pressure of the air spring device. The pressure recognition result of the air spring circuit is used to characterize the pressure of the corresponding air spring circuit. The solenoid valve state recognition result is used to characterize the monitoring current of the solenoid valve of the continuous vibration reduction control device. The above are only specific examples, which can be flexibly set according to needs in actual applications and are not limited here.

[0087] Specifically, the vehicle component fault diagnosis unit 3300 is used to obtain suspension height identification results, temperature identification results, air spring pressure identification results, pressure identification results of each air spring circuit and solenoid valve status identification results. It is also used to obtain the fault diagnosis result of the air spring equipment after performing spring fault diagnosis based on the suspension height identification results, temperature identification results and pressure identification results of each air spring circuit.

[0088] In a specific example, spring fault diagnosis is performed based on the suspension height recognition result, temperature recognition result and pressure recognition result of each air spring circuit. The suspension height recognition result, temperature recognition result and pressure recognition result of each air spring circuit are respectively compared with the corresponding preset thresholds in real time. If the suspension height recognition result, temperature recognition result and pressure recognition result of each air spring circuit are greater than the corresponding preset thresholds, there is a corresponding fault diagnosis result of the air spring device. The fault diagnosis result of the air spring device may include, but is not limited to, compressor overtemperature, air spring circuit overpressure or underpressure, suspension height overlimit, and valve pump failure of the air spring device. The above are only specific examples, which are flexibly set according to needs in actual applications and are not limited here.

[0089] Specifically, the vehicle component fault diagnosis unit 3300 is also used to obtain a fault diagnosis result of the continuous vibration reduction control device after performing a vibration reduction fault diagnosis according to the solenoid valve state identification result.

[0090] In a specific example, the vehicle component fault diagnosis unit 3300 is also used to report the fault diagnosis result of the continuous vibration reduction control device. The above is only a specific example and is flexibly set according to needs in actual applications and is not limited here.

[0091] In a specific example, the solenoid valve state identification result is used to characterize the monitoring current of the solenoid valve of a continuous vibration reduction control device. In the process of obtaining the fault diagnosis result of the continuous vibration reduction control device after performing vibration reduction fault diagnosis based on the solenoid valve state identification result, the solenoid valve fault of the continuous vibration reduction control device can be determined by whether there is an abnormality in the monitoring current of the solenoid valve of the continuous vibration reduction control device. The fault diagnosis result of the continuous vibration reduction control device may include but is not limited to the solenoid valve fault of the continuous vibration reduction control device. The above is only a specific example, which is flexibly set according to needs in actual applications and is not limited here.

[0092] In this embodiment, the communication fault diagnosis unit 3100, the hard-line fault diagnosis unit 3200 and the vehicle component fault diagnosis unit 3300 can efficiently and accurately communicate fault diagnosis results, hard-line fault diagnosis results and vehicle component fault diagnosis results, thereby improving the operating efficiency and convenience of the vehicle active suspension control system.

[0093] Specifically, the demand analysis module 3000 is used to obtain the current vehicle mode and the current vehicle speed, and is also used to obtain data analysis results after performing data analysis based on the current vehicle mode, the current vehicle speed and the state recognition results, so as to meet the driver's personalized needs for vehicle active suspension control under different vehicle modes.

[0094] Among them, the data analysis results include the required height of the air spring equipment and the required active damping of the continuous vibration control equipment.

[0095] In a specific example, the current vehicle mode includes a vehicle driving mode and a vehicle road mode. The vehicle driving mode includes a sports mode, a comfort mode, and an energy-saving mode. The vehicle road mode includes a snow mode, a slippery mode, an escape mode, and a custom mode. The above are only specific examples and can be flexibly set according to needs in actual applications and are not limited here.

[0096] In one embodiment, if Figure 4 As shown, the demand analysis module 3000 includes a height analysis unit 4100 and an active damping analysis unit 4200. The state recognition result includes a vehicle motion state analysis result and a road surface feature recognition result.

[0097] Among them, the height analysis unit 4100 is used to obtain the current vehicle mode and the current vehicle speed, and is also used to obtain the required height of the air spring equipment after performing data analysis based on the current vehicle mode, the current vehicle speed, the vehicle motion state analysis results and the road feature recognition results.

[0098] Specifically, the required height of the air spring device includes a manually adjusted required height, a speed-adjusted required height, a trunk loading mode required height, and a welcome mode required height.

[0099] In a specific example, the manually adjusted required height is mainly based on the current vehicle mode and other inputs to analyze the target height; the speed-dependent adjustment required height is mainly influenced by the current vehicle speed. As the current vehicle speed increases, the required height of the air spring device is controlled to decrease, so as to reduce wind resistance and improve vehicle stability and economy. The required height of the trunk loading mode and the required height of the welcome mode are mainly based on the vehicle motion state analysis results, road feature recognition results, trunk switch status, and vehicle power on and off conditions, thereby controlling the lowering of the single rear axle or the front and rear axles. The main purpose is to improve the convenience of the vehicle when loading the trunk and when the driver and passengers are getting on and off the vehicle. The above are only specific examples. In actual applications, they are flexibly set according to needs and are not limited here.

[0100] Specifically, the active damping analysis unit 4200 is used to obtain the current vehicle mode and the current vehicle speed, and is also used to obtain the required active damping of the continuous vibration reduction control device after performing data analysis based on the current vehicle mode, the current vehicle speed, the vehicle motion state analysis results and the road feature recognition results.

[0101] Among them, the demand active damping of the continuous vibration reduction control equipment includes manually adjusted demand active damping gear, speed-adjusted demand active damping gear, starting anti-squat active damping gear, braking anti-nodding active damping gear, anti-roll active damping gear and road compensation active damping gear.

[0102] In a specific example, the calculation methods of the active damping gear for manual adjustment demand and the active damping gear for speed-adjustable demand are both based on the active damping analysis of the current vehicle mode or the current vehicle speed; the starting anti-squat active damping gear, the braking anti-nodding active damping gear, and the anti-roll active damping gear are mainly for suppressing the vehicle's driving stability based on the vehicle's lateral and longitudinal states, and different suspension damping are used to reduce the vehicle's body shaking in various motion states; the road compensation active damping gear is based on the preview road state, and the suspension damping is actuated in advance to improve the vehicle's driving performance when passing through special road conditions. The above are only specific examples. In actual applications, they are flexibly set according to needs and are not restricted here.

[0103] In this embodiment, the height analysis unit 4100 and the active damping analysis unit 4200 can efficiently and accurately perform data analysis based on the current vehicle mode, current vehicle speed and state recognition results to obtain data analysis results, thereby meeting the driver's personalized needs for vehicle active suspension control under different vehicle modes.

[0104] Specifically, the target arbitration module 4000 is used to obtain the target height of the air spring device after performing height arbitration and step-by-step adjustment based on the required height, state identification results and fault diagnosis results of the air spring device, and is also used to obtain the target damping of the continuous vibration reduction control device after performing damping arbitration and step-by-step adjustment based on the required active damping, state identification results and fault diagnosis results of the continuous vibration reduction control device, thereby being able to reasonably feedback the driver's needs and the current vehicle status through the target height of the air spring device and the target damping of the continuous vibration reduction control device.

[0105] In one embodiment, if Figure 5 As shown, the target arbitration module 4000 includes a target height arbitration unit 5100 and a target active damping arbitration unit 5200. The state recognition result includes a vehicle motion state analysis result.

[0106] Among them, the target height arbitration unit 5100 is used to obtain a height arbitration result after performing height arbitration according to the required height and a preset priority order, and is also used to obtain a target height of the air spring device after step-by-step adjustment based on the height arbitration result, the vehicle motion state analysis result and the fault diagnosis result of the air spring device.

[0107] In a specific example, based on the required height, the target height of the air spring device is arbitrated according to a preset priority order, and according to actual needs, relevant functional strategies such as step-by-step adjustment and asynchronous adjustment of the front and rear axles are performed. At the same time, the adjustment enabling conditions are judged based on the vehicle motion state analysis results and the fault diagnosis results of the air spring device to avoid the vehicle operating under extreme conditions and related component failures, which may have a more adverse impact on the vehicle's handling and safety. Specifically, the step-by-step adjustment mainly considers that when the difference between the target height and the actual height is too large, it is necessary to avoid an excessive adjustment range at one time, which may have an adverse effect on the safety and comfort of the vehicle; the main requirement for the asynchronous adjustment of the front and rear axles is that when the air spring device is raised and lowered, the rear axle is raised first and then the front axle when rising, and the front axle is lowered first and then the rear axle when descending. The above are only specific examples, which can be flexibly set according to needs in actual applications and are not limited here.

[0108] The target active damping arbitration unit 5200 is used to obtain a damping arbitration result after performing damping arbitration according to the required active damping and the priority order, and is also used to obtain a target damping of the continuous vibration reduction control device after performing step-by-step adjustment according to the damping arbitration result, the vehicle motion state analysis result and the fault diagnosis result of the continuous vibration reduction control device.

[0109] In a specific example, based on the target damping, the target damping of the continuous vibration reduction control device is arbitrated according to a preset priority order, and the adjustment enabling condition is judged based on the vehicle motion state analysis results and the fault diagnosis results of the continuous vibration reduction control device, so as to avoid the vehicle operating under extreme conditions and related component failures, which may have a more adverse effect on the vehicle's handling and safety. The above is only a specific example, which can be flexibly set according to needs in actual applications and is not limited here.

[0110] In this embodiment, the target height arbitration unit 5100 and the target active damping arbitration unit 5200 can accurately and efficiently obtain the target height of the air spring device and the target damping of the continuous vibration reduction control device, thereby realizing reasonable feedback of the driver's needs and the current vehicle status.

[0111] Specifically, the control execution module 5000 is used to control the valve pump of the air spring device according to the target height, and is also used to control the solenoid valve of the continuous vibration reduction control device according to the target damping.

[0112] In one embodiment, if Figure 6 As shown, the control execution module 5000 includes a valve pump control unit 6100 and a solenoid valve control unit 6200 .

[0113] Among them, the valve pump control unit 6100 is used to control the valve pump of the air spring device according to the difference between the target height and the actual height of the air spring device, so as to realize the lifting function of the air spring device.

[0114] In a specific example, the valve pump that controls the air spring device includes controlling each air spring circuit, the switching valve of the air spring, the exhaust valve of the air spring and the compressor of the air spring, etc. The above is only a specific example and can be flexibly set according to needs in actual application and is not limited here.

[0115] The solenoid valve control unit 6200 is used to control the solenoid valve of the continuous vibration reduction control device according to the target damping, thereby realizing the damping control of the continuous vibration reduction control device.

[0116] In a specific example, the solenoid valve that controls the continuous vibration damping control device mainly controls the current band of the solenoid valve of the continuous vibration damping control device, thereby realizing the rapid adjustment of the corresponding vehicle active suspension damping. The above is only a specific example, which can be flexibly set according to needs in actual application and is not limited here.

[0117] Based on this, the vehicle active suspension control system of the above-mentioned SOA architecture obtains the equipment working data of the vehicle equipment through the state analysis module 1000, and obtains the state identification result after performing vehicle state identification on the equipment working data; then, the fault monitoring data of the vehicle equipment is obtained through the fault diagnosis module 2000, and obtains the fault diagnosis result after performing fault diagnosis on the fault monitoring data; wherein, the fault diagnosis result includes the vehicle component fault diagnosis result; the vehicle component fault diagnosis result includes the fault diagnosis result of the air spring device and the fault diagnosis result of the continuous vibration reduction control device; then, the current vehicle mode and the current vehicle speed are obtained through the demand analysis module 3000, and the data is analyzed according to the current vehicle mode, the current vehicle speed and the state identification result to obtain the data analysis result; wherein, the data analysis result The result includes the required height of the air spring device and the required active damping of the continuous vibration damping control device; at the same time, the target height of the air spring device is obtained by performing height arbitration and step-by-step adjustment according to the required height, state recognition result and fault diagnosis result of the air spring device through the target arbitration module 4000, and the target damping of the continuous vibration damping control device is obtained by performing damping arbitration and step-by-step adjustment according to the required active damping, state recognition result and fault diagnosis result of the continuous vibration damping control device; finally, the valve pump of the air spring device is controlled according to the target height through the control execution module 5000, and the solenoid valve of the continuous vibration damping control device is controlled according to the target damping, thereby avoiding the control of the solenoid valves of the air spring device and the continuous vibration damping control device being independent of each other, and improving the comprehensive performance of the vehicle active suspension control system. At the same time, it avoids repeated signal calls and improves the software development efficiency and movement efficiency of the vehicle active suspension control system. In addition, the vehicle active suspension control system is formed based on the SOA architecture, and different modules execute corresponding functions respectively, realizing software layered decoupling and repeatable calls, thereby reducing the coupling of the vehicle active suspension control system, improving the portability of the vehicle active suspension control system, and maximizing the development efficiency and software robustness of the vehicle active suspension control system.

[0118] Each module in the vehicle active suspension control system of the SOA architecture can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0119] Second, as Figure 7 As shown, a control method for a vehicle active suspension control system of an SOA architecture is provided, characterized in that the control method includes steps 701 to 705.

[0120] Step 701, obtaining device working data of vehicle equipment through a state analysis module, and performing vehicle state recognition on the device working data to obtain a state recognition result;

[0121] Step 702, acquiring fault monitoring data of vehicle equipment through a fault diagnosis module, and performing fault diagnosis on the fault monitoring data to obtain a fault diagnosis result; wherein the fault diagnosis result includes a vehicle component fault diagnosis result; the vehicle component fault diagnosis result includes a fault diagnosis result of an air spring device and a fault diagnosis result of a continuous vibration reduction control device;

[0122] Step 703, obtaining the current vehicle mode and the current vehicle speed through the demand analysis module, and performing data analysis according to the current vehicle mode, the current vehicle speed and the state recognition result to obtain a data analysis result; wherein the data analysis result includes the required height of the air spring device and the required active damping of the continuous vibration reduction control device;

[0123] Step 704, obtaining a target height of the air spring device by performing height arbitration and step-by-step adjustment according to the required height, the state identification result, and the fault diagnosis result of the air spring device through a target arbitration module, and obtaining a target damping of the continuous vibration damping control device by performing damping arbitration and step-by-step adjustment according to the required active damping, the state identification result, and the fault diagnosis result of the continuous vibration damping control device;

[0124] Step 705: Control the valve pump of the air spring device according to the target height through the control execution module, and control the solenoid valve of the continuous vibration reduction control device according to the target damping.

[0125] It should be understood that although Figure 7 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 7 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0126] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 8As shown. The computer device includes a processor, a memory, a network interface and a database connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store the device working data of the vehicle device. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a control method for a vehicle active suspension control system with an SOA architecture is implemented.

[0127] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0128] In a third aspect, a computer device is provided, which includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of any control method in the above method embodiment are implemented.

[0129] In a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of any control method in the above method embodiments are implemented.

[0130] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0131] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0132] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A vehicle active suspension control system based on SOA architecture, characterized in that: The vehicle active suspension control system comprises: A state analysis module, used to obtain equipment working data of vehicle equipment, and also used to obtain a state recognition result after performing vehicle state recognition on the equipment working data; A fault diagnosis module, used to obtain fault monitoring data of vehicle equipment, and also used to obtain fault diagnosis results after performing fault diagnosis on the fault monitoring data; wherein the fault diagnosis results include vehicle component fault diagnosis results; the vehicle component fault diagnosis results include air spring equipment fault diagnosis results and continuous vibration reduction control equipment fault diagnosis results; a demand analysis module, used to obtain a current vehicle mode and a current vehicle speed, and further used to obtain a data analysis result after performing data analysis according to the current vehicle mode, the current vehicle speed and the state recognition result; wherein the data analysis result includes a required height of the air spring device and a required active damping of the continuous vibration reduction control device; A target arbitration module, used for obtaining the target height of the air spring device after performing height arbitration and step-by-step adjustment according to the required height, the state identification result and the fault diagnosis result of the air spring device, and also for obtaining the target damping of the continuous vibration damping control device after performing damping arbitration and step-by-step adjustment according to the required active damping, the state identification result and the fault diagnosis result of the continuous vibration damping control device; a control execution module, used for controlling the valve pump of the air spring device according to the target height, and also for controlling the solenoid valve of the continuous vibration damping control device according to the target damping; wherein the control execution module includes a valve pump control unit and a solenoid valve control unit; wherein the valve pump control unit is used to control the valve pump of the air spring device according to the difference between the target height and the actual height of the air spring device; and the solenoid valve control unit is used to control the solenoid valve of the continuous vibration damping control device according to the target damping.

2. The vehicle active suspension control system according to claim 1, characterized in that: The state analysis module includes a vehicle motion state analysis unit; The vehicle motion state analysis unit is used to obtain the current vehicle speed, the current vehicle gear, the vehicle speed holding time, the vehicle lateral acceleration, the vehicle yaw acceleration, the vehicle longitudinal acceleration, the vehicle accelerator pedal opening information, the vehicle system pedal opening information, the suspension height change rate information, the internal pressure of the vehicle active suspension main circuit, the internal pressure of the air spring device, the actual height of the air spring device and the height change rate of the air spring device; wherein the device working data includes the current vehicle speed, the current vehicle gear, the vehicle speed holding time, the vehicle lateral acceleration, the vehicle yaw acceleration, the vehicle longitudinal acceleration, the vehicle accelerator pedal opening information, the vehicle system pedal opening information, the suspension height change rate information, the internal pressure of the vehicle active suspension main circuit, the internal pressure of the air spring device, the actual height of the air spring device and the height change rate of the air spring device; The vehicle motion state analysis unit is also used to obtain the vehicle dynamic and static identification results after performing dynamic and static identification according to the current vehicle speed, the current vehicle gear position and the vehicle speed holding time; the vehicle motion state analysis unit is also used to obtain the vehicle lateral and longitudinal stability identification results after performing stability identification according to the vehicle lateral acceleration, the vehicle yaw acceleration, the vehicle longitudinal acceleration, the vehicle accelerator pedal opening information and the vehicle system pedal opening information; the vehicle motion state analysis unit is also used to obtain the lifting condition identification result after performing working condition identification according to the suspension height change rate information; the vehicle motion state analysis unit is also used to obtain the lifting condition identification result. The method comprises the steps of: performing overload identification according to the internal pressure of the main circuit of the vehicle active suspension and the internal pressure of the air spring device to obtain a vehicle overload identification result; the vehicle motion state analysis unit is also used to perform pothole identification according to the actual height of the air spring device and the height change rate of the air spring device to obtain a wheel pothole identification result; wherein the state identification result includes a vehicle motion state analysis result; the vehicle motion state analysis result includes the vehicle dynamic and static identification results, the vehicle lateral and longitudinal stability identification results, the lifting condition identification result, the vehicle overload identification result and the wheel pothole identification result.

3. The vehicle active suspension control system according to claim 1, characterized in that: The state analysis module includes a vehicle component state analysis unit; The vehicle component status analysis unit is used to obtain the pulse width modulation signal collected by the four-wheel height sensor, the voltage signal collected by the compressor temperature sensor, the voltage signal collected by the pressure sensor, the on-off state of the solenoid valve of each air spring circuit and the solenoid valve current signal of the vehicle active suspension; the equipment working data includes the pulse width modulation signal collected by the four-wheel height sensor, the voltage signal collected by the compressor temperature sensor, the voltage signal collected by the pressure sensor, the on-off state of the solenoid valve of each air spring circuit and the solenoid valve current signal; The vehicle component status analysis unit is also used to obtain a suspension height recognition result after performing height recognition based on the pulse width modulation signal collected by the four-wheel height sensor; the vehicle component status analysis unit is also used to obtain a temperature recognition result after performing temperature recognition based on the voltage signal collected by the compressor temperature sensor; the vehicle component status analysis unit is also used to obtain an air spring pressure recognition result after performing spring pressure recognition based on the voltage signal collected by the pressure sensor; the vehicle component status analysis unit is also used to obtain a pressure recognition result of the corresponding air spring circuit after performing pressure recognition based on the on-off state of the solenoid valve of each air spring circuit; the vehicle component status analysis unit is also used to obtain a solenoid valve status recognition result after performing solenoid valve status recognition based on the solenoid valve current signal; wherein, the status recognition result includes the vehicle component status analysis result; the vehicle component status analysis result includes the suspension height recognition result, the temperature recognition result, the air spring pressure recognition result, the pressure recognition result of each air spring circuit and the solenoid valve status recognition result.

4. The vehicle active suspension control system according to claim 1, characterized in that: The state analysis module includes a preview road surface analysis unit; Wherein, the preview road surface analysis unit is used to obtain road surface feature information collected by the intelligent driving system sensor; the equipment working data includes the road surface feature information; The preview road surface analysis unit is further used to obtain a road surface feature recognition result after performing road surface feature recognition according to the road surface feature information; wherein the state recognition result includes a road surface feature recognition result.

5. The vehicle active suspension control system according to claim 1, characterized in that: The fault diagnosis module includes a communication fault diagnosis unit, a hard line fault diagnosis unit and a vehicle component fault diagnosis unit; The communication fault diagnosis unit is used to obtain a controller area network bus signal of the vehicle active suspension, and is also used to perform communication fault diagnosis according to the controller area network bus signal to obtain a communication fault diagnosis result; the fault monitoring data includes the controller area network bus signal; and the fault diagnosis result includes the communication fault diagnosis result; The hard-wire fault diagnosis unit is used to obtain the small battery voltage and the sensor hard-wire signal, and is also used to perform hard-wire fault diagnosis according to the small battery voltage and the sensor hard-wire signal to obtain a hard-wire fault diagnosis result; the fault monitoring data includes the small battery voltage and the sensor hard-wire signal; the fault diagnosis result includes the hard-wire fault diagnosis result; The vehicle component fault diagnosis unit is used to obtain the suspension height recognition result, the temperature recognition result, the air spring pressure recognition result, the pressure recognition result of each air spring circuit and the solenoid valve state recognition result, and is also used to obtain the fault diagnosis result of the air spring device after performing spring fault diagnosis based on the suspension height recognition result, the temperature recognition result and the pressure recognition result of each air spring circuit; the vehicle component fault diagnosis unit is also used to obtain the fault diagnosis result of the continuous vibration reduction control device after performing vibration reduction fault diagnosis based on the solenoid valve state recognition result; wherein, the state recognition result includes the vehicle component state analysis result; the vehicle component state analysis result includes the suspension height recognition result, the temperature recognition result, the air spring pressure recognition result, the pressure recognition result of each air spring circuit and the solenoid valve state recognition result.

6. The vehicle active suspension control system according to claim 1, characterized in that: The control execution module includes a height analysis unit and an active damping analysis unit; The height analysis unit is used to obtain the current vehicle mode and the current vehicle speed, and is also used to obtain the required height of the air spring device after performing data analysis according to the current vehicle mode, the current vehicle speed, the vehicle motion state analysis result and the road feature recognition result; the required height of the air spring device includes the required height for manual adjustment, the required height for speed adjustment, the required height for trunk loading mode and the required height for welcome mode; The active damping analysis unit is used to obtain the current vehicle mode and the current vehicle speed, and is also used to obtain the required active damping of the continuous vibration damping control device after performing data analysis based on the current vehicle mode, the current vehicle speed, the vehicle motion state analysis result and the road surface feature recognition result; the required active damping of the continuous vibration damping control device includes manually adjusting the required active damping gear, adjusting the required active damping gear with speed, starting anti-squat active damping gear, braking anti-nodding active damping gear, anti-roll active damping gear and road surface compensation active damping gear; wherein, the state recognition result includes the vehicle motion state analysis result and the road surface feature recognition result.

7. The vehicle active suspension control system according to claim 1, characterized in that: The target arbitration module includes a target height arbitration unit and a target active damping arbitration unit; The target height arbitration unit is used to obtain a height arbitration result after performing height arbitration according to the required height and a preset priority order, and is also used to obtain a target height of the air spring device after performing step-by-step adjustment according to the height arbitration result, the vehicle motion state analysis result and the fault diagnosis result of the air spring device; The target active damping arbitration unit is used to obtain a damping arbitration result after performing damping arbitration according to the required active damping and the priority order, and is also used to obtain a target damping of the continuous vibration damping control device after performing step-by-step adjustment according to the damping arbitration result, the vehicle motion state analysis result and the fault diagnosis result of the continuous vibration damping control device; wherein the state recognition result includes the vehicle motion state analysis result.

8. A control method for a vehicle active suspension control system based on SOA architecture, characterized in that: The control method comprises: Acquire device working data of vehicle equipment through a state analysis module, and obtain a state recognition result after performing vehicle state recognition on the device working data; Acquiring fault monitoring data of vehicle equipment through a fault diagnosis module, and obtaining fault diagnosis results after performing fault diagnosis on the fault monitoring data; wherein the fault diagnosis results include vehicle component fault diagnosis results; the vehicle component fault diagnosis results include fault diagnosis results of air spring equipment and fault diagnosis results of continuous vibration reduction control equipment; The current vehicle mode and the current vehicle speed are acquired through the demand analysis module, and data analysis is performed according to the current vehicle mode, the current vehicle speed and the state recognition result to obtain a data analysis result; wherein the data analysis result includes the required height of the air spring device and the required active damping of the continuous vibration reduction control device; The target height of the air spring device is obtained by performing height arbitration and step-by-step adjustment according to the required height, the state identification result and the fault diagnosis result of the air spring device through a target arbitration module, and the target damping of the continuous vibration damping control device is obtained by performing damping arbitration and step-by-step adjustment according to the required active damping, the state identification result and the fault diagnosis result of the continuous vibration damping control device; The valve pump of the air spring device is controlled according to the target height through a control execution module, and the solenoid valve of the continuous vibration damping control device is controlled according to the target damping; the control execution module includes a valve pump control unit and a solenoid valve control unit; wherein the valve pump control unit is used to control the valve pump of the air spring device according to the difference between the target height and the actual height of the air spring device; the solenoid valve control unit is used to control the solenoid valve of the continuous vibration damping control device according to the target damping.

9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the control method according to claim 8 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the control method according to claim 8 are implemented.

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