Vehicle suspension system, method, device and vehicle

Abstract

The present disclosure relates to a vehicle suspension system, method, apparatus and vehicle, wherein the vehicle suspension system comprises: a plurality of height sensors for detecting a vehicle body height; in the event of failure of a portion of the plurality of height sensors, maintaining a partial suspension functionality of the vehicle suspension system available.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of vehicle control, and more particularly, to a vehicle suspension system, method, device and vehicle. BACKGROUND

[0002] Suspension systems of vehicles are connected between vehicle bodies and tires to transmit forces between wheels and vehicle bodies. The main functions of suspension systems include cushioning, vibration filtering and guiding. Suspension systems can be classified into passive suspension, semi-active suspension and active suspension according to control types, wherein passive suspension generally refers to suspension with fixed damping force, which can only be forced to move with wheels; semi-active suspension realizes passive adjustment of damping force by adding electric control elements; active suspension refers to dynamic self-adaptive adjustment according to driving conditions (such as motion state of a vehicle and road conditions) of a vehicle, for example, a vehicle body height can be adjusted by active suspension to adapt to road conditions.

[0003] In order to realize closed-loop control of active suspension to accurately adjust a vehicle body height, a suspension system is provided with multiple height sensors to detect heights between vehicle body action points and corresponding wheels. When a height sensor fails, the suspension system will inhibit all suspension functions, which causes the vehicle body state to be unable to be further adjusted, and thus safety risks exist. SUMMARY

[0004] An object of embodiments of the present disclosure is to provide a new technical solution of a suspension system to improve safety of a vehicle in a height sensor failure state.

[0005] According to a first aspect of the present disclosure, an embodiment of a vehicle suspension system is provided, which comprises:

[0006] Multiple height sensors configured to detect a vehicle body height.

[0007] In a case where some of the multiple height sensors fail, some suspension functions of the vehicle suspension system remain available.

[0008] Optionally, in a case where some height sensors fail, the number of failed height sensors is different, and the type and / or number of available suspension functions of the vehicle suspension system are different.

[0009] Optionally, the number of failed height sensors is different, and the number of available suspension functions is different; wherein the more the number of failed height sensors is, the fewer the number of available suspension functions is.

[0010] Optionally, in the case of partial height sensor failure and the vehicle body being able to be leveled, the type and / or number of available suspension functions is determined according to the number of failed height sensors; wherein the vehicle body is able to be leveled means that the pitch angle and roll angle of the vehicle body are able to be adjusted to within respective corresponding angle ranges.

[0011] Optionally, in the case of partial height sensor failure and the vehicle body being unable to be leveled, the type of available suspension functions is different from the type of available suspension functions when the vehicle body is able to be leveled, wherein the vehicle body being unable to be leveled means that any one of the pitch angle and roll angle of the vehicle body is unable to be adjusted to within a corresponding angle range; and / or

[0012] In the case of partial height sensor failure and the vehicle body being unable to be leveled, the number of available suspension functions is less than the number of available suspension functions when the vehicle body is able to be leveled.

[0013] Optionally, the suspension functions include: a damping control type function, a stiffness control type function, a height adjustment type function, and a height adjustment inhibition type function; wherein,

[0014] The height adjustment type function includes at least one of a voice height adjustment function, a manual height adjustment function, a height speed-dependent adjustment function, a camping leveling function, an ultra-high escape function, a welcome function, a pick-up function, a load balancing function, and a height return function;

[0015] The height adjustment inhibition type function includes at least one of a manual height adjustment inhibition function, an automatic height adjustment inhibition function, a function of stopping height adjustment during a collision, and a function of stopping height adjustment during maintenance.

[0016] Optionally, in the case of single height sensor failure, the available suspension functions include part of the height adjustment type functions, and the height adjustment inhibition type function, the damping control type function, and the stiffness control type function; or

[0017] In the case of two height sensor failures, the available suspension functions include the height adjustment inhibition type function and the damping control type function; or

[0018] In the case of three height sensor failures, the available suspension functions include the height adjustment inhibition type function.

[0019] Optionally, in the case of single height sensor failure, the unavailable height adjustment type functions include at least one of a load balancing function, an ultra-high escape function, a camping leveling function, and a height voice adjustment function.

[0020] Optionally, the height sensor fails when one of a hardware fault and an output value exceeding a limit range occurs.

[0021] Optionally, when one of the height sensor has a hardware failure and the output value is out of the limit range for a time period reaching a first time period, the height sensor is disabled.

[0022] Optionally, the vehicle suspension system further comprises a plurality of shock absorbers, each of the shock absorbers is arranged corresponding to each of the height sensors.

[0023] In the case that part of the height sensors are disabled, the height of the shock absorber corresponding to the disabled height sensor is adjusted based on the height of the shock absorber corresponding to the effective height sensor, so as to adjust the pitch angle and roll angle of the vehicle body to the respective corresponding angle range.

[0024] According to a second aspect of the present disclosure, embodiments of a vehicle control method are also provided, the method comprising:

[0025] In the case that part of the height sensors of the suspension system are disabled, part of the suspension functions of the vehicle suspension system are kept available.

[0026] The height sensor is configured to detect the height of the vehicle body.

[0027] According to a third aspect of the present disclosure, embodiments of a vehicle control device are also provided, the device comprising: a memory and a processor, the memory stores executable instructions, the instructions are configured to control the processor to operate to perform the vehicle control method according to the second aspect.

[0028] According to a fourth aspect of the present disclosure, embodiments of a vehicle are provided, comprising: a vehicle suspension system according to the first aspect, or a vehicle control device according to the third aspect.

[0029] An advantage of the embodiments of the present disclosure is that the vehicle suspension system according to the embodiments comprises: a plurality of height sensors configured to detect the height of the vehicle body, in the case that part of the height sensors are disabled, part of the suspension functions of the vehicle suspension system are kept available. According to the vehicle suspension system of the embodiments, in the case that the height sensors are disabled, part of the functions of the vehicle suspension system are available, which can avoid the problem that in the related art, the suspension functions are all lost due to the failure of a single height sensor, and further cause safety risks, and improve the driving safety of the driver.

[0030] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments thereof, taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0031] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the application and, together with the description, serve to explain the principles of the application.

[0032] Figure 1a is a schematic diagram of a component structure of a vehicle suspension system according to some embodiments;

[0033] Figure 1b is a schematic diagram of a component structure of a vehicle suspension system according to some other embodiments;

[0034] Figure 2 is a schematic diagram of a structure of a vehicle (1) according to some embodiments;

[0035] Figure 3 is a schematic diagram of a test principle of a height sensor of a vehicle according to some embodiments;

[0036] Figure 4 is a schematic diagram of a calculation of a height difference of a failed height sensor according to some embodiments;

[0037] Figure 5 is a schematic diagram of a structure of a vehicle (2) according to some embodiments;

[0038] Figure 6 is a flowchart of a vehicle control method according to some embodiments;

[0039] Figure 7 is a flowchart of a vehicle control method according to some other embodiments;

[0040] Figure 8 is a schematic diagram of a structure of a vehicle control device according to some embodiments;

[0041] Figure 9 is a schematic diagram of a structure of a vehicle according to some embodiments;

[0042] Figure 10 is a schematic diagram of a structure of a vehicle according to some other embodiments. DETAILED DESCRIPTION

[0043] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangements, numerical expressions, and numerical values of the components and steps set forth in these embodiments are not limiting to the scope of the present application unless otherwise specifically stated.

[0044] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way limiting to the scope of the application or its applications or uses.

[0045] Techniques, methods, and apparatus known to those of ordinary skill in the relevant art(s) can not be discussed in detail herein. However, where appropriate, the techniques, methods, and apparatus should be considered as being illustrative only and should not be considered as limiting.

[0046] In all of the compositions and methods disclosed and discussed herein, any reference to a particular value should be understood as being exemplary only and not limiting. Thus, other examples of the exemplary embodiments can have different values.

[0047] It should be noted that like reference numerals and letters refer to like items throughout the several views, and thus a discussion of the same in one view should be understood in relation to the same in another view.

[0048] Embodiments of the present disclosure relate to a processing scheme of a vehicle suspension system in a height sensor failure state. Figure 1a A structural diagram of a vehicle suspension system according to some embodiments is shown. As Figure 1a shown, the vehicle suspension system 100 of the embodiments of the present application includes a plurality of height sensors, such as a left front height sensor 10A, a right front height sensor 10B, a left rear height sensor 10C, and a right rear height sensor 10D.

[0049] The vehicle suspension system 100 also includes an active suspension connected between a vehicle body and a wheel, and the suspension system 100 can adjust the height and attitude of the vehicle body according to the height data detected by the height sensors.

[0050] Figure 1b A vehicle suspension system according to some other embodiments is shown. As Figure 1b shown, the vehicle suspension system 100 includes a height sensor 10 and an active suspension 50, Figure 1b only one height sensor 10 and one suspension 50 are shown schematically, and the number of height sensors and suspensions is not intended to be limiting. As Figure 1b shown, the vehicle suspension system 100 can also include a control device U1 connected to each height sensor 10, receiving the height data output by the height sensors, and controlling the active suspension 50 to act according to the height data. For example, the active suspension can be a hydraulic suspension, and this can include a power component such as a pump and various valves in the hydraulic circuit.

[0051] In addition, as Figure 1b shown, the vehicle suspension system can also include various sensors to detect the state of the vehicle, providing data support for the control device U1 to process the height sensor failure. Figure 1bSeveral sensors are shown non-limitatively, including the camera 40, the wheel speed sensor 60, the inertial measurement unit (IMU) 20, the acceleration sensor 30, etc. In other embodiments, the vehicle suspension system can also be provided with only part of the sensors, such as the inertial measurement unit 20, etc., which are not limited herein.

[0052] In Figure 1b , the camera 40 can be used to capture road surface images to determine the road surface state, such as the inclination of the road surface on which the vehicle is driving, the inclination of the road surface ahead of the vehicle, etc. from the road surface images. The inertial measurement unit 20 can provide acceleration data, such as acceleration of the vehicle in the driving direction, and angle data, such as the pitch angle and roll angle of the vehicle body. The wheel speed sensor 60 can be used to provide wheel speed data to the control device U1. The acceleration sensor 30 is used to provide acceleration data reflecting the acceleration of the suspension action to the control device U1.

[0053] As Figure 2 shown, the vehicle is provided with Figure 1a or Figure 1b the vehicle suspension system 100, the vehicle has four tires, left front, right front, left rear, and right rear, and the suspension system 100 includes active suspensions provided at the four tires, which can be double wishbone active suspensions. One end of the active suspension is connected to the swing arm of the corresponding wheel, and the other end is connected to the corresponding body action point.

[0054] In embodiments in which the vehicle is provided with four independent suspensions, four height sensors 10A, 10B, 10C, 10D are provided corresponding to the four active suspensions, the left front height sensor 10A corresponding to the left front suspension of the vehicle, the right front height sensor 10B corresponding to the right front suspension of the vehicle, the left rear height sensor 10C corresponding to the left rear suspension of the vehicle, and the right rear height sensor 10D corresponding to the right rear suspension of the vehicle, that is, the plurality of suspensions of the suspension system are provided one-to-one with the plurality of height sensors. Each height sensor is used to detect the height between the corresponding body action point and the corresponding wheel.

[0055] Figure 3 A structural schematic diagram of the active suspension according to some embodiments. As Figure 3 shown, in some embodiments, each active suspension includes a shock absorber 3, and the plurality of shock absorbers correspond one-to-one to the plurality of height sensors 10, different shock absorbers corresponding to different wheels, and the body action point corresponding to the height sensor 10 being the connection point between the corresponding shock absorber and the vehicle body.

[0056] The damper 3 in this embodiment can be a hydraulic cylinder, an air spring, etc., and is not limited herein. Different dampers correspond to different wheels, one end of the damper 3 is connected to the swing arm 2 of the corresponding wheel, and the other end of the damper 3 is connected to the vehicle body. The height sensor 10 is arranged one-to-one with the damper 3. The height sensor 10 is used to detect the height of the damper 3.

[0057] The active suspension can also include a spring, which can occupy a different mounting space separately from the damper, the spring can also be sleeved on the damper to save mounting space, the spring can also be connected in series with the damper, one end of the spring is connected to the wheel, the other end of the spring is connected to the damper, and the output end of the damper is connected to the vehicle body, and is not limited herein. In the embodiment in which the active suspension includes a spring, Figure 1b The acceleration sensor in the active suspension can be arranged at the spring of the suspension to detect the sprung acceleration reflecting the spring rebound amount.

[0058] In some embodiments, the height sensor 10 can be an angle sensor, which is arranged at the left front, right front, left rear, and right rear dampers 3 of the vehicle, respectively. The bracket end of each height sensor 10 in the height sensor 10 is fixedly connected to the vehicle body, and the other end is fixedly connected to the swing arm 2 of the corresponding wheel 1. When the damper 3 is pressurized to lift the vehicle body, the swing arm 2 drives the height sensor 10 to move, so that the swing angle of the height sensor 10 changes, the height sensor 10 collects the angle value θ in this state, and then obtains the height value of the damper 3 corresponding to the angle value.

[0059] In some embodiments, after the height sensor 10 collects the angle value θ, a preliminary height value y0 can be obtained by DMU simulation calculation using the design principle of the whole vehicle, in combination with the active suspension and the size of the height sensor components, etc. For example, the preliminary height value y0 can be calculated by formula (1):

[0060] y0 = k * θ + b (1),

[0061] wherein k and b are constant values determined according to the double wishbone swing arm of the active suspension and the size of the height sensor components, etc., for DMU simulation.

[0062] After obtaining the preliminary height value y0, the final height value y corresponding to the angle value is obtained after diagnosis software calibration.

[0063] In some embodiments, the angle limit range of the corresponding height sensor can be determined according to the height limit range of the damper 3.

[0064] In some embodiments, the height sensor fails when one of the following conditions occurs: hardware failure and output value exceeding the limit range.

[0065] In this embodiment, the failure of the height sensor includes two failure modes. First, the height sensor has a hardware failure. In the case that there is a hardware failure, such as a circuit diagnosis failure of a short circuit, a broken circuit, an abnormal voltage, etc., in the four height sensors, the height sensor with the hardware failure cannot collect the angle value θ. In this case, the height sensor corresponding to the missing angle value θ fails. Second, the output value of the height sensor exceeds the limit range. If there is no missing angle value θ in the output angle values θ of the four height sensors, but there is an angle value θ that exceeds the limit range in the four angle values θ due to some improper collision, etc. In this case, the height sensor corresponding to the angle value θ that exceeds the limit range fails.

[0066] It should be noted that both of the above two failure modes of the height sensor can determine the number of failed height sensors and the position of the vehicle body. For example, when the height sensor at the front left wheel does not output an angle value or the output value exceeds the limit range, it is determined that the height sensor at the front left wheel fails.

[0067] In other embodiments, when the duration of one of the hardware failure and the output value exceeding the limit range of the height sensor reaches a first duration, the height sensor fails.

[0068] In this embodiment, the control device of the vehicle suspension system can record the failure maintenance duration when one of the hardware failure and the output value exceeding the limit range of the height sensor occurs. When the failure maintenance duration reaches a first duration, it is determined that the height sensor fails, thereby improving the accuracy of the failure determination.

[0069] In some embodiments, the vehicle suspension system can be used to maintain part of the suspension function of the vehicle suspension system available in the case that part of the height sensors fail.

[0070] For example, the control device of the suspension system sets a corresponding suspension function level to maintain part of the suspension function of the vehicle suspension system available in the case that part of the height sensors fail. The suspension function level indicates the available suspension function under the current failure type. For different suspension function levels, at least one of the type and the number of available suspension functions will be different.

[0071] In some embodiments, the suspension function of the suspension system can include the following categories: damping control type function, stiffness control type function, height adjustment type function, and height suppression type function.

[0072] The damping control type function refers to the function of adjusting the suspension damping. The damping control type function can include at least one of roll damping control, pitch damping control, vertical damping control, and velocity-dependent damping control.

[0073] The stiffness control type function refers to a function of adjusting the stiffness of the suspension. The stiffness control type function can include at least one of a roll stiffness control, a pitch stiffness control, and a vertical stiffness control.

[0074] The height adjustment type function refers to a function of adjusting the height of the vehicle body by the suspension. The height adjustment type function can include at least one of a voice height adjustment function, a manual height adjustment function, a height adjustment with speed function, a camping leveling function, an over-height escape function, a welcome function, a pick-up function, a load balancing function, and a height return function. The voice height adjustment function is a function of adjusting the height of the vehicle body by the voice of the driver. The manual height adjustment function is a function of adjusting the height of the vehicle body by the manual control of the driver. The height adjustment with speed function is a function of adjusting the height of the vehicle body according to the speed of the vehicle. The faster the speed of the vehicle, the lower the height of the vehicle body is set. The slower the speed of the vehicle, the higher the height of the vehicle body is set. The camping leveling function is a function of adjusting the posture of the vehicle body to be flat in the case where the vehicle is on a road with high and low portions. The over-height escape function is a function of raising the height of the vehicle body to the highest. The welcome function is a function of lowering the height of the vehicle body to facilitate the entry of a passenger into the vehicle. The pick-up function is a function of lowering the height of the vehicle body to facilitate the pick-up of an object from the trunk. The load balancing function is a function of adjusting the posture of the vehicle body to be flat in the case where the vehicle is in a stopped state. The height return function is a function of adjusting the posture of the vehicle body in the case where the vehicle is in a running state.

[0075] The height adjustment suppression function refers to a function of suppressing the height adjustment. The height adjustment suppression function can include at least one of a manual height adjustment suppression function, an automatic height adjustment suppression function, a collision-time height adjustment suppression function, and a repair-time height adjustment suppression function. The manual height adjustment suppression function is a function of suppressing all the height adjustment functions by a manual trigger. For example, the height adjustment "off" key is manually triggered to suppress all the height adjustment functions. The automatic height adjustment suppression function is a function of suppressing all the height adjustment functions in the case where a set condition is satisfied. For example, all the height adjustment functions are suppressed in the case where the depth of the brake pedal exceeds a depth threshold or the depth of the accelerator pedal exceeds a depth threshold. The collision-time height adjustment suppression function is a function of suppressing all the height adjustment functions at the time of a collision. The repair-time height adjustment suppression function is a function of suppressing all the height adjustment functions in the case where the vehicle is in a repair state.

[0076] In some embodiments, in the case where a part of the height sensors is disabled, the number of the disabled height sensors is different, and the type of the available suspension functions of the vehicle suspension system is different.

[0077] Correspondingly, the control device of the vehicle suspension system can determine a corresponding suspension function level according to the number of failed height sensors in the case of failure of part of the height sensors in the plurality of height sensors, wherein the number of failed height sensors is different, and the corresponding suspension function level is different. For example, in the case of failure of height sensor 10A in FIG. 10A, the corresponding suspension function level is 3. In the case of failure of height sensor 10A and height sensor 10C or failure of height sensor 10A and height sensor 10D, as shown in FIG. 10B, the corresponding suspension function level is 2. In the case of failure of height sensor 10A, height sensor 10B and height sensor 10C, as shown in FIG. 10C, the corresponding suspension function level is 1. Figure 5 Figure 5 Figure 5

[0078] The types of available suspension functions of the suspension system corresponding to different suspension function levels are different.

[0079] In some embodiments, in the case of failure of a single height sensor, the available suspension functions include part of the functions in the height adjustment type functions, and the functions of suppressing the height adjustment type functions, the damping control type functions and the stiffness control type functions; or, in the case of failure of two height sensors, the available suspension functions include the functions of suppressing the height adjustment type functions and the damping control type functions; or, in the case of failure of three height sensors, the available suspension functions include the functions of suppressing the height adjustment type functions.

[0080] In this embodiment, the number of failed height sensors is different, and the corresponding suspension function level is different. The types of available suspension functions of the suspension system corresponding to different suspension function levels are different.

[0081] The corresponding suspension function level of failure of a single height sensor is 3, and the types of available suspension functions of the suspension system corresponding to the suspension function level 3 include part of the functions in the height adjustment type functions, and the functions of suppressing the height adjustment type functions, the damping control type functions and the stiffness control type functions.

[0082] The corresponding suspension function level of failure of two height sensors is 2, and the types of available suspension functions of the suspension system corresponding to the suspension function level 2 include the functions of suppressing the height adjustment type functions and the damping control type functions.

[0083] The corresponding suspension function level of failure of three height sensors is 1, and the types of available suspension functions of the suspension system corresponding to the suspension function level 1 include the functions of suppressing the height adjustment type functions.

[0084] ​​​Those skilled in the art should understand that the correspondence between the suspension function level in the embodiment and the type of available suspension functions is exemplary and cannot be regarded as a limitation on the embodiments of the application.

[0085] In further embodiments, in the case of failure of a single height sensor, the unavailable height adjustment type functions include at least one of the load balance function, the ultra-high escape function, the camping leveling function, and the height voice adjustment function.

[0086] In the embodiment, in the case that the available suspension functions of the suspension system corresponding to the suspension function level 3 include part of the height adjustment type functions, the unavailable height adjustment functions in the height adjustment type functions can be height adjustment functions with lower usage frequency. For example, at least one of the load balance function, the ultra-high escape function, the camping leveling function, and the height voice adjustment function. Those skilled in the art should understand that the specific unavailable height adjustment functions in the height adjustment type functions when the suspension function level is 3 are not limited herein.

[0087] In other embodiments, in the case of failure of part of the height sensors, the number of failed height sensors is different, and the number of available suspension functions of the vehicle suspension system is different.

[0088] Correspondingly, the control device of the vehicle suspension system can determine the corresponding suspension function level according to the number of failed height sensors in the case of failure of part of the height sensors. In the case of failure of a single height sensor, the corresponding suspension function level is 3, in the case of failure of two height sensors, the corresponding suspension function level is 2, and in the case of failure of three height sensors, the corresponding suspension function level is 1.

[0089] The number of available suspension functions of the suspension system corresponding to different suspension function levels is different.

[0090] In some embodiments, the number of failed height sensors is different, and the number of available suspension functions is different, wherein the more the number of failed height sensors, the fewer the number of available suspension functions.

[0091] Correspondingly, the control device of the vehicle suspension system can determine the corresponding suspension function level according to the number of failed height sensors, wherein the suspension function level is used to reflect the proportion of available suspension functions to all suspension functions of the suspension system. The more the number of failed height sensors, the lower the suspension function level, the smaller the proportion of available suspension functions to all suspension functions of the suspension system, and the fewer the available suspension functions.

[0092] In some examples, the correspondence between the suspension function level and the proportion of available suspension functions of the suspension system is as follows:

[0093] Suspension function level 3: 75%~85% of suspension function available.

[0094] Suspension function level 2: 35%~50% of suspension function available.

[0095] Suspension function level 1: 10%~15% of suspension function available.

[0096] In yet some embodiments, in case of partial height sensor failure, the number of failed height sensors is different, and the type and number of available suspension functions of the vehicle suspension system are different.

[0097] Correspondingly, the control device of the vehicle suspension system can determine a suspension function level according to the number of failed height sensors, wherein the number of failed height sensors is different, and the corresponding suspension function level is different, and the number and type of available suspension functions of different suspension function levels are different.

[0098] In some examples, the number and type of suspension functions corresponding to different suspension function levels are as follows:

[0099] In case of failure of a single height sensor, the available suspension functions include: manual height adjustment function in height adjustment type function, height speed-dependent adjustment function, welcome function, pick-up function, height return function, manual height adjustment inhibition function in height adjustment inhibition type function, automatic height adjustment inhibition function, inhibition function of stopping height adjustment in collision, inhibition function of stopping height adjustment in maintenance, pitch damping control, roll damping control, vertical damping control and speed-dependent damping control in damping control type function, pitch stiffness control, roll stiffness control and vertical stiffness control in stiffness control type function.

[0100] In case of failure of two height sensors, the available suspension functions include: pitch damping control, roll damping control, vertical damping control and speed-dependent damping control in damping control type function, manual height adjustment inhibition function, automatic height adjustment inhibition function, inhibition function of stopping height adjustment in collision, inhibition function of stopping height adjustment in maintenance in height adjustment inhibition type function.

[0101] In case of failure of three height sensors, the available suspension functions include: manual height adjustment inhibition function, automatic height adjustment inhibition function, inhibition function of stopping height adjustment in collision, inhibition function of stopping height adjustment in maintenance in height adjustment inhibition type function.

[0102] According to the embodiment of the present application, in the case of failure of part of the height sensors, the suspension function of the vehicle suspension system is maintained, and the problem of loss of suspension function caused by failure of a single height sensor in the related art is avoided, thereby improving the driving safety of the driver.

[0103] In some embodiments, the vehicle suspension system further comprises a plurality of shock absorbers, each of the shock absorbers being arranged corresponding to each of the height sensors.

[0104] In the embodiment, as shown in Figure 3 a shock absorber 3 is arranged corresponding to a height sensor, and the height sensor is used to detect the height of the shock absorber 3. The principle of the height sensor detecting the height of the shock absorber 3 has been described above, and is not described here to avoid repetition.

[0105] In some embodiments, the vehicle suspension system can be used to adjust the height of the shock absorber corresponding to the failed height sensor based on the height of the shock absorber corresponding to the effective height sensor, so as to adjust the pitch angle and roll angle of the vehicle body to the respective corresponding angle range in the case of failure of part of the height sensors.

[0106] In the embodiment, the action can be performed by the control device of the suspension system, for example.

[0107] In some embodiments, the adjustment of the height of the shock absorber corresponding to the failed height sensor based on the height of the shock absorber corresponding to the effective height sensor comprises steps S1100 and S1200.

[0108] In step S1100, the height difference between the height of the shock absorber corresponding to the failed height sensor and the target height is obtained according to the height value of the shock absorber detected by the effective height sensor and the attitude data reflecting the attitude of the vehicle body.

[0109] In the embodiment, as shown in Figure 2 An inertial measurement unit 20 (IMU) is arranged at the center of mass of the vehicle. A space rectangular coordinate system is established with the center of mass of the vehicle as the origin O, the front-rear direction of the vehicle body as the x-axis, the left-right direction of the vehicle body as the y-axis, and the up-down direction of the vehicle body as the z-axis. The six-axis attitude of the IMU in the current state of the vehicle (IMU_Ax, IMU_Ay, IMU_Az, IMU_pitch, IMU_roll, IMU_yaw) can be obtained by the IMU. Among them, IMU_Ax is the acceleration along the x-axis direction, IMU_Ay is the acceleration along the y-axis direction, IMU_Az is the acceleration along the z-axis direction, IMU_pitch is the pitch angle, IMU_roll is the roll angle, and IMU_yaw is the yaw angle.

[0110] The attitude data reflecting the vehicle's attitude is determined by the pitch angle (IMU_pitch), roll angle (IMU_roll), and yaw angle (IMU_yaw) from the six-axis IMU attitude data. Based on this attitude data, the three-axis full rotation matrix M can be determined. ZYX Based on the three-axis full rotation matrix and the target height, the height difference between the damper height corresponding to the failed height sensor and the target height can be obtained. The target height can be the height value of the damper detected by the effective height sensor.

[0111] In one embodiment, if a single height sensor fails, the target height can be the height value of the shock absorber detected by any one of the other three valid height sensors. Alternatively, it can be the average of the height values ​​of the shock absorber detected by the other three valid height sensors. No limitation is made here.

[0112] Three-axis full rotation matrix M ZYX It can be calculated using the following formula:

[0113]

[0114] The following example, using two failed height sensors, details the process of calculating the height difference between the height of the damper corresponding to the failed height sensor and the target height.

[0115] In the event that both height sensors fail, such as Figure 4 As shown, the height sensors at points A and C are malfunctioning. The height sensors that are functioning correctly detect the height data as the coordinates B(x2,y2,z2) for point B and D(x4,y4,z4) for point D. Based on the coordinates of point B or D, the coordinates of A(x1,y1,z1) and C(x3,y3,z3), i.e., the target height, can be determined. Then, the three-axis full rotation matrix M is determined based on the IMU attitude data. ZYX And through M ZYX By performing coordinate transformation on points A and C, the position coordinates of points A′ and C′ can be obtained, thereby determining the height difference between the height of the damper corresponding to the failed height sensor and the target height.

[0116] Step S1200: Based on the height difference, control the active suspension action corresponding to the failed height sensor to adjust the height of the shock absorber corresponding to the failed height sensor.

[0117] After adjusting the height of the damper corresponding to the failed height sensor, check whether the pitch angle (IMU_pitch) and roll angle (IMU_roll) determined by the IMU six-axis attitude data are within their respective angle ranges.

[0118] After adjusting the vehicle body posture, it is determined whether the current pitch angle and roll angle of the vehicle body are within the respective corresponding angle ranges, and the corresponding step is executed. If the pitch angle and roll angle of the vehicle body are within the respective corresponding angle ranges, the corresponding failure control mode is determined. For example, the corresponding failure control mode of single height sensor failure is 1, the corresponding failure control mode of two height sensor failures is 2, and the corresponding failure control mode of three height sensor failures is 3.

[0119] If any of the pitch angle and roll angle of the vehicle body is not within the corresponding angle range, steps S2100 and S2200 are executed.

[0120] In step S2100, the vehicle suspension system can be used to update the height difference between the height of the shock absorber detected by the valid height sensor and the posture data reflecting the posture of the vehicle body when any of the pitch angle and roll angle of the vehicle body is not within the corresponding angle range.

[0121] In this embodiment, after adjusting the vehicle body posture by controlling the active suspension action, the posture data reflecting the posture of the vehicle body is obtained, and it is determined whether the current vehicle body posture is tilted. If any of the pitch angle and roll angle in the posture data reflecting the posture of the vehicle body is not within the corresponding angle range, it means that the vehicle body posture after leveling the vehicle body posture still has a tilt. At this time, the height difference between the height of the shock absorber corresponding to the failed height sensor and the target height is updated according to the height of the shock absorber detected by the valid height sensor and the posture data reflecting the current vehicle body posture. The method of updating the height difference is the same as the method described in step S1100 above, except that the posture data reflecting the vehicle body posture is not described again.

[0122] In step S2200, the active suspension action corresponding to the failed height sensor is controlled to adjust the vehicle body posture of the vehicle according to the updated height difference and the set compensation amount, wherein the compensation amount is related to the tilt angle of the vehicle body.

[0123] In this embodiment, the compensation amount is an amount related to the pitch angle and roll angle of the vehicle body. For example, after adjusting the vehicle body posture by controlling the active suspension action, the pitch angle and roll angle still differ greatly from their respective corresponding angle ranges. At this time, the compensation amount corresponding to the current pitch angle and roll angle is determined, and the number of updates is recorded. After determining the compensation amount, the updated height difference and the set compensation amount are used as the measured height difference, and the active suspension action corresponding to the failed height sensor is controlled to adjust the vehicle body posture of the vehicle according to the measured height difference.

[0124] According to the embodiment of the present application, by updating the height difference according to the height value of the shock absorber detected by the effective height sensor and the attitude data reflecting the attitude of the vehicle body in the case that any one of the pitch angle and the roll angle of the vehicle body is not within the corresponding angle range, and controlling the active suspension corresponding to the failed height sensor to adjust the attitude of the vehicle body according to the updated height difference and the set compensation amount, the automatic control of the attitude of the vehicle body can be realized, and the safety of the vehicle driving can be ensured.

[0125] In some embodiments, the vehicle suspension system can be configured to increase the angle range corresponding to each of the pitch angle and the roll angle by a set step distance in the case that the number of times of updating the height difference is greater than or equal to a first threshold number of times.

[0126] In the embodiment, the action can be specifically performed by the control device of the vehicle suspension system. In order to improve the efficiency of the adjustment of the attitude of the vehicle body, the first threshold number of times is preset. For example, the first threshold number of times is set to 5.

[0127] In the case that the number of times of updating the height difference is less than the first threshold number of times, whether the attitude of the vehicle body is leveled is determined according to whether the pitch angle and the roll angle are within the corresponding angle range. In the case that the number of times of updating the height difference is greater than or equal to the first threshold number of times, the angle range corresponding to each of the pitch angle and the roll angle is increased by a set step distance, so that whether the attitude of the vehicle body is leveled is determined by using the increased angle range, and the efficiency of the leveling of the attitude of the vehicle body can be improved.

[0128] In some embodiments, the vehicle suspension system can be configured to stop the adjustment of the attitude of the vehicle body in the case that the number of times of updating the height difference is greater than a second threshold number of times.

[0129] In the embodiment, the action can be specifically performed by the control device of the vehicle suspension system. The threshold number of times of the adjustment of the attitude of the vehicle body, i.e., the second threshold number of times, is preset. For example, the second threshold number of times is set to 10.

[0130] In the case that the number of times of updating the height difference is greater than the second threshold number of times, it is indicated that, when the number of times of adjusting the vehicle body is less than or equal to the second threshold number of times, any one of the pitch angle and the roll angle of the vehicle body is not within the corresponding angle range, i.e., the vehicle body cannot be leveled, and the adjustment of the attitude of the vehicle body is stopped at this time. Otherwise, it is indicated that the vehicle body can be leveled.

[0131] In some embodiments, the vehicle suspension system can be configured to determine at least one of the type and the number of available suspension functions according to the number of failed height sensors in the case that part of the height sensors are failed and the vehicle body can be leveled, wherein the vehicle body can be leveled means that the pitch angle and the roll angle of the vehicle body can be adjusted to be within the corresponding angle range.

[0132] In this embodiment, the action can be performed by a control device of the vehicle suspension system, for example. The control device of the vehicle suspension system determines the corresponding failure control mode after the adjustment of the body attitude. After determining the suspension function level according to the number of failed height sensors, if the number of times of adjustment of the body attitude is less than or equal to the second number threshold, the pitch angle and the roll angle of the vehicle body can be adjusted to the respective corresponding angle range, indicating that the vehicle body can be leveled. That is, the failed height sensors have little effect on the leveling of the vehicle body attitude. In this case, the suspension function level in the determined failure control mode corresponds to the number of failed height sensors. That is, the suspension function level in the failure control mode is the same as the suspension function level determined according to the number of failed height sensors.

[0133] For example, in the case of a single height sensor failure, the corresponding suspension function level is 3, and if the vehicle body can be leveled, failure control mode 1 is determined, and the suspension function level in the failure control mode 1 is 3. In the case of two height sensor failures, the corresponding suspension function level is 2, and if the vehicle body can be leveled, failure control mode 2 is determined, and the suspension function level in the failure control mode 2 is 2. In the case of three height sensor failures, the corresponding suspension function level is 1, and if the vehicle body can be leveled, failure control mode 3 is determined, and the suspension function level in the failure control mode 3 is 1.

[0134] In some embodiments, at least one of the type and number of available suspension functions of the vehicle suspension system is different when the number of failed height sensors is different.

[0135] In this embodiment, the number of failed height sensors is different, the corresponding suspension function level is different, and the type and / or number of available suspension functions corresponding to different suspension function levels are different, which has been described in detail above and will not be repeated here.

[0136] In other embodiments, the vehicle suspension system can be used to change at least one of the type and number of available suspension functions when some height sensors fail and the vehicle body cannot be leveled, wherein the vehicle body cannot be leveled means that any one of the pitch angle and the roll angle of the vehicle body cannot be adjusted to the corresponding angle range.

[0137] For example, the number of available suspension functions when some height sensors fail and the vehicle body cannot be leveled is less than the number of available suspension functions when the vehicle body can be leveled.

[0138] In this embodiment, the action can be specifically performed by the control device of the vehicle suspension system. The control device of the vehicle suspension system reduces the suspension function level in the case that part of the height sensors fail and the vehicle body cannot be leveled. In the process of adjusting the body posture, if the updating frequency of the height difference is greater than the second frequency threshold, it indicates that in the case that the updating frequency of the height difference is less than or equal to the second frequency threshold, any one of the pitch angle and the roll angle of the vehicle body is not within the corresponding angle range, the vehicle body cannot be leveled, the failed height sensor has a greater impact on the body posture, and there is a greater safety risk. In this case, the suspension function level is reduced.

[0139] Continuing the above example, in the case that a single height sensor fails, the corresponding suspension function level is 3, and if the vehicle body cannot be leveled, it is determined that the failure control mode 2, and the corresponding suspension function level is 2. In the case that two height sensors fail, the corresponding suspension function level is 2, and if the vehicle body cannot be leveled, it is determined that the failure control mode 3, and the corresponding suspension function level of the failure control mode 3 is 1. In the case that three height sensors fail, the corresponding suspension function level is 1, and if the vehicle body cannot be leveled, it is determined that the failure control mode 4, and the suspension function level under the failure control mode 4 is 0, and all the available suspension functions of the suspension system are disabled.

[0140] In some embodiments, the number of failed height sensors is different, the suspension function level is different, and the type and / or number of available suspension functions of the vehicle suspension system is different. The corresponding relationship has been described in detail above, and to avoid repetition, it will not be described in detail here.

[0141] In some embodiments, the vehicle suspension system can be used to calculate the height value of the failed height sensor corresponding shock absorber after determining the specific control mode to execute the available suspension function. The calculation method can refer to the description in combination with Figure 4 , which will not be described here.

[0142] In some embodiments, the action can be specifically performed by the control device of the vehicle suspension system. In the case that part of the height sensors fail, the driving state information of the vehicle is obtained; wherein the driving state information includes at least one of the driving speed information, the driving acceleration information and the road inclination information; when the driving state information matches the failure processing condition corresponding to the current failure type, the step of adjusting the height of the shock absorber corresponding to the failed height sensor based on the height of the shock absorber corresponding to the effective height sensor is executed; wherein the current failure type is related to the number of failed height sensors possessed by the vehicle.

[0143] In this embodiment, in the case that part of the height sensors fail, the driving state information of the vehicle is obtained to determine whether the vehicle satisfies the failure processing condition.

[0144] In some embodiments, the acceleration information can be IMU_Ax in the IMU six-axis attitude data, or the driving acceleration information of the vehicle is determined by acquiring the under-spring acceleration value and the acceleration value of IMU_Ax through the four under-spring acceleration sensors 30.

[0145] The speed information is determined by the speedometer of the vehicle wheel, as shown in the following formula: Figure 2 As shown, the road inclination information can be determined according to the road image acquired by installing the camera 40 at the position in front of the vehicle body, and those skilled in the art should understand that this is only an example of acquiring the driving state information, and cannot be regarded as a limitation to the embodiments of the present application.

[0146] After acquiring the driving state information, the driving state information is compared with the failure handling condition corresponding to the current failure type. The current failure type is related to the number of failed height sensors possessed by the vehicle. When the number of failed height sensors is 1, the current failure type is single height sensor failure. When the number of failed height sensors is 2, the current failure type is two height sensor failure. When the number of failed height sensors is 3, the current failure type is three height sensor failure.

[0147] In some embodiments, since the failed height sensor in the failure state is determined, the position of the vehicle body where it is located can also be obtained, and therefore, the current failure type can also be determined according to the number of failed height sensors and the position of the vehicle body where it is located.

[0148] When the number of failed height sensors is 1, the failure type is single height sensor failure. When the number of failed height sensors is 2, and the two height sensors are diagonal, the failure type is diagonal two height sensor failure. When the number of failed height sensors is 2, and the two height sensors are on the same side, the failure type is same-side two height sensor failure. When the number of failed height sensors is 3, the failure type is three height sensor failure.

[0149] The failure handling condition corresponding to the failure type includes at least one of the driving speed limit value, the driving acceleration limit value, and the road inclination threshold value.

[0150] Exemplarily, the failure handling condition corresponding to the single sensor failure: the road inclination threshold value, and 0 < A x < a1 && vehicle speed 0 < V0 < 50 kpm. The failure handling condition corresponding to the same-side two height sensor failure: 0 < A x < a1 && vehicle speed 0 < V0 < 50 kpm. The failure handling condition corresponding to the same-side two height sensor failure: 0 < A xA1 && vehicle speed V0 = 0 kpm < V0 < 30 kpm. The failure handling condition corresponding to the failure type of three height sensors failure: 0 = A x && vehicle speed V0 = 0 kpm.

[0151] In the case that the number of failed height sensors is 3, the corresponding failure type is three height sensors failure. If the running acceleration is equal to 0 and the running speed V0 is 0, it is determined that the running state information matches the failure handling condition corresponding to the failure type, and the step of adjusting the height of the shock absorber corresponding to the failed height sensor based on the height of the shock absorber corresponding to the valid height sensor is performed.

[0152] According to the embodiments of the present application, in the case of partial height sensor failure, by acquiring the running state information of the vehicle, when the running state information matches the failure handling condition corresponding to the current failure type, the step of adjusting the height of the shock absorber corresponding to the failed height sensor based on the height of the shock absorber corresponding to the valid height sensor is performed, which can further improve the accuracy of body posture adjustment while ensuring driving safety.

[0153] Based on the vehicle suspension system according to the embodiments of the present disclosure, the present disclosure also provides embodiments of a vehicle control method. Figure 6 A vehicle control method according to some embodiments is shown. The vehicle control method can be implemented by a control device of a suspension system. As shown, the vehicle control method can include the following steps S6100 and S6200: Figure 6

[0154] Step S6100, determining that part of the height sensors of the suspension system fail.

[0155] In this step S6100, for each height sensor of the suspension system, it can be determined whether the height sensor fails according to one of whether it has a hardware failure and whether its output value is out of the limit range.

[0156] Step S6200, in the case of partial height sensor failure of the suspension system, keeping part of the suspension functions of the vehicle suspension system available; wherein the height sensor is used to detect the body height.

[0157] That is, in the case of partial height sensor failure, the available suspension functions of the vehicle suspension system are determined, i.e. the suspension function level of the vehicle suspension system is determined, to keep part of the suspension functions of the vehicle suspension system available.

[0158] Taking the case of four height sensors of the suspension system as an example, in the case of one, two or three height sensors of the suspension system failing, part of the suspension functions can be kept available.

[0159] ​Figure 7 A vehicle control method according to further embodiments is shown, which can also be implemented by the control device of the suspension system. As shown, the vehicle control method can comprise steps S1 to S17. Figure 7

[0160] Step S1, for each height sensor, determine whether the height sensor has one of a hardware failure and an output value out of a limit range, if yes, execute step S2; if no, continue to execute step S1 to monitor the status of the height sensor.

[0161] In further embodiments, if the height sensor has neither a hardware failure nor an output value out of a limit range, detection of whether the height sensor has other failure conditions can also be performed, which are not limited herein.

[0162] Step S2, record the failure duration.

[0163] Step S3, determine whether the failure duration reaches a first duration, if yes, execute step S4; if no, execute step S2.

[0164] Step S4, determine that the height sensor is in a failure state.

[0165] Step S5, set a suspension function level according to the number of failed height sensors.

[0166] In the present embodiment, different suspension function levels differ in the type and / or number of available suspension functions. In some examples, the more the number of failed height sensors, the lower the suspension function level, and the less the number of available suspension functions.

[0167] For example, in the case of a single height sensor failure, the available suspension functions include part of the functions in the height adjustment type, and the height adjustment type, the damping control type and the stiffness control type are suppressed.

[0168] In some examples, in the case of a single height sensor failure, the unavailable height adjustment type functions include at least one of the load balance function, the off-road escape function, the camping leveling function, and the height voice adjustment function.

[0169] For another example, in the case of two height sensor failures, the available suspension functions include the height adjustment type and the damping control type.

[0170] For another example, in the case of three height sensor failures, the available suspension functions include the height adjustment type.

[0171] In the case of all height sensors being failed, all suspension functions can be disabled to ensure safety. ​

[0172] Step S6, acquiring the running state information of the vehicle.

[0173] Step S7, determining whether the running state information matches the failure handling condition corresponding to the current failure type; if yes, executing step S8; if no, executing step S6.

[0174] Step S8, adjusting the height of the shock absorber corresponding to the failed height sensor based on the height of the shock absorber corresponding to the active height sensor. After executing step S8, executing step S9.

[0175] Step S9, acquiring the pitch angle and roll angle of the current vehicle body, and executing step S10.

[0176] Step S10, determining whether the pitch angle and roll angle of the vehicle body are within the respective angle ranges; if yes, executing step S11; if no, i.e., any one of the pitch angle and roll angle of the vehicle body is not within the corresponding angle range, executing step S12.

[0177] Step S11, determining the failure control mode and the suspension function level.

[0178] In this embodiment, the failure control mode is determined by the height sensor failure parameter. In the case where the pitch angle and roll angle can be adjusted to be within the first angle range, the determined suspension function level is the initial suspension function level set in step S6.

[0179] After determining the failure control mode and the suspension function level, the available suspension function can be executed according to the failure control mode, for example, the control mode of the left front height sensor failure.

[0180] Step S12, updating the height difference based on the height value of the shock absorber detected by the active height sensor and the posture data reflecting the posture of the vehicle body.

[0181] Step S13, controlling the active suspension corresponding to the failed height sensor to adjust the posture of the vehicle body according to the updated height difference and the set compensation amount.

[0182] When executing step S12 and step S13, the number of times of updating the height difference is recorded, and steps S14 and S15 are executed to determine the number of times of updating the height difference.

[0183] Step S14, determining whether the number of times of updating the height difference is greater than or equal to a first number threshold; if yes, executing step S15; otherwise, executing step S9.

[0184] Step S15, determining whether the number of times of updating the height difference is less than or equal to a second number threshold; if yes, executing step S17; if no, executing step S16.

[0185] Step S16: Increase the angle range corresponding to the pitch angle and roll angle by the set step size, and then execute step S9.

[0186] In this embodiment, the angle range corresponding to the pitch angle and roll angle is increased by the set step size for the judgment in step S10.

[0187] Step S17: Stop adjusting the vehicle body posture and lower the suspension function level.

[0188] After step S17, step S11 can be executed to determine the current failure control mode and suspension function level, wherein the determined suspension function level is the downgraded suspension function level.

[0189] According to the embodiments of this application, by maintaining the partial functionality of the suspension system even when some of the multiple height sensors fail, the problem of suspension function loss due to the failure of a single height sensor, which leads to safety risks, can be avoided in related technologies, thereby improving the driver's vehicle driving safety.

[0190] In some embodiments, such as Figure 8 As shown, a vehicle control device 800 is also provided, which includes a memory 801 and a processor 802. The memory 801 is used to store executable instructions, which are used to control the processor 802 to operate in order to execute the vehicle control method described in the embodiments of this application.

[0191] In some embodiments, a vehicle 900 is also provided, such as Figure 9 As shown, the vehicle 900 includes a vehicle suspension system 100 as shown in FIG1.

[0192] In other embodiments, such as Figure 10 As shown, vehicle 900 includes, for example Figure 8 The vehicle control device shown.

[0193] This invention can be a system, method, and / or computer program product. A computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of the invention.

[0194] Computer readable storage media can be tangible storage media which can retain and store instructions for use by an instruction execution device. Computer readable storage media can be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of computer readable storage media include the following: a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or raised structures in a groove having instructions recorded thereon, and any suitable combination of the foregoing. A computer readable storage medium, as used herein, is not to be construed as being transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission media (e.g., light pulses passing through a fiber-optic cable), or electrical signals transmitted through a wire.

[0195] Computer readable program instructions described herein can be downloaded to respective computing / processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and / or a wireless network. The network can comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and / or edge servers. A network adapter card or network interface in each computing / processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing / processing device.

[0196] Computer readable program instructions for carrying out operations of the present application can be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate array (FPGA), or programmable logic array (PLA) can execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present application.

[0197] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0198] These computer readable program instructions can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer readable program instructions can also be stored in a computer readable storage medium that can include random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other data storage device. When the computer readable program instructions are loaded into the computer and other programmable data processing apparatus, a series of operational steps are implemented that provide processes such that the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0199] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer, other programmable data processing apparatus, or other device implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0200] The flow diagrams and the block diagrams in the drawings are presented to illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flow diagrams and the block diagrams can represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logic functions. In some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks can sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flow diagrams, and combinations thereof, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and

[0201] Embodiments of the application have been described above. The descriptions are intended to be illustrative, and not restrictive, of possible embodiments of the application. Many modifications and variations of the described embodiments are possible, given the benefit of the present disclosure, without departing from the scope and spirit of the described embodiments. The scope of the application is defined by the appended claims.

Claims

1. A vehicle suspension system, characterized in that, include: Multiple height sensors are used to detect the vehicle height; In the event that some of the multiple height sensors fail, the vehicle suspension system retains some suspension functionality. The suspension functions include: damping control functions, stiffness control functions, height adjustment functions, and anti-height adjustment functions; In the event of a single height sensor failure, available suspension functions include some of the height adjustment functions, as well as functions to suppress height adjustment, damping control, and stiffness control; or In the event of a failure of both height sensors, available suspension functions include height adjustment suppression functions and damping control functions; or In the event of a failure of all three height sensors, available suspension functions include suppressing height adjustment functions.

2. The vehicle suspension system according to claim 1, characterized in that, In the event of partial height sensor failure, the number of failed height sensors will vary, resulting in different types and / or numbers of available suspension functions in the vehicle suspension system.

3. The vehicle suspension system according to claim 2, characterized in that, The number of failed height sensors affects the number of available suspension functions; the more failed height sensors there are, the fewer available suspension functions there are.

4. The vehicle suspension system according to claim 1, characterized in that, In the event that some height sensors fail and the vehicle body can be leveled, the type and / or number of available suspension functions can be determined based on the number of failed height sensors; wherein, the vehicle body can be leveled means that the pitch angle and roll angle of the vehicle body can be adjusted to their respective angle ranges.

5. The vehicle suspension system according to claim 4, characterized in that, In cases where some height sensors fail and the vehicle body cannot be leveled, the type of suspension function available differs from the type available when the vehicle body can be leveled. Specifically, the inability to level the vehicle body means that either the pitch angle or roll angle cannot be adjusted to the corresponding angle range; and / or When some height sensors fail or the vehicle body cannot be leveled, the number of available suspension functions is less than the number available when the vehicle body can be leveled.

6. The vehicle suspension system according to any one of claims 1 to 5, characterized in that, The height adjustment functions include at least one of the following: voice height adjustment, manual height adjustment, speed-sensitive height adjustment, camping leveling, high-altitude escape function, welcoming function, item retrieval function, load balancing function, and height return function. The height adjustment suppression function includes at least one of the following: manual height adjustment suppression function, automatic height adjustment suppression function, height adjustment stopping function during collision, and height adjustment stopping function during maintenance.

7. The vehicle suspension system according to claim 1, characterized in that, In the event of a single altitude sensor failure, unavailable altitude adjustment functions include at least one of the following: load balancing function, extreme altitude recovery function, camping leveling function, and altitude voice adjustment function.

8. The vehicle suspension system according to any one of claims 1 to 5, characterized in that, The height sensor fails when either a hardware malfunction occurs or the output value exceeds the limit range.

9. The vehicle suspension system according to claim 8, characterized in that, The height sensor fails when either a hardware malfunction occurs or the output value exceeds the limit range for a duration of a first duration.

10. The vehicle suspension system according to any one of claims 1 to 5, characterized in that, The vehicle suspension system also includes multiple shock absorbers, each of which is configured to correspond to each of the height sensors; In the event of partial height sensor failure, the height of the shock absorber corresponding to the effective height sensor is used as a reference, and the height of the shock absorber corresponding to the failed height sensor is adjusted to adjust the pitch angle and roll angle of the vehicle body to their respective angle ranges.

11. A vehicle control method, characterized in that, include: Even if some height sensors in the suspension system fail, the vehicle's suspension system will retain some of its suspension functions. The height sensor is used to detect the vehicle height; The suspension functions include: damping control functions, stiffness control functions, height adjustment functions, and anti-height adjustment functions; In the event of a single height sensor failure, available suspension functions include some of the height adjustment functions, as well as functions to suppress height adjustment, damping control, and stiffness control; or In the event of a failure of both height sensors, available suspension functions include height adjustment suppression functions and damping control functions; or In the event of a failure of all three height sensors, available suspension functions include suppressing height adjustment functions.

12. A vehicle control device, characterized in that, It includes a memory and a processor, the memory storing executable instructions for controlling the processor to operate in order to perform the vehicle control method according to claim 11.

13. A vehicle, characterized in that, It includes the vehicle suspension system according to any one of claims 1 to 10, or the vehicle control device according to claim 12.

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