Shock Absorber Working State Detection Method, Device, Equipment and Storage Medium

Abstract

The present application discloses a method, device, equipment and storage medium for detecting the working state of a shock absorber, relating to the technical field of vehicles. The method for detecting the working state of the shock absorber includes: when the active suspension execution system is activated, determining a current roll angle and a current pitch angle according to multiple-direction accelerations; determining a target required current according to the current roll angle and the current pitch angle; and determining the working state of a target shock absorber according to the target required current. By adding the result evaluation and determination of the actual control effect of the vehicle body, the response execution state of the shock absorber is monitored in real time to determine whether the working state of the shock absorber is abnormal, and the efficiency of detecting the working state of the shock absorber is improved.

Description

Technical Field

[0001] This application relates to the technical field of vehicles, and particularly to a method, device, equipment and storage medium for detecting the working state of a shock absorber. Background Art

[0002] At present, most automobiles estimate the remaining life of the shock absorber according to the working duration of the shock absorber at various currents, but they cannot monitor whether the shock absorber is working properly, nor can they detect in time the working conditions in which the shock absorber has failed. The following situations may actually occur. For example, the output current value of the electronic control system is normal, but the shock absorber has actually malfunctioned, and its response execution effect has seriously exceeded the standard, resulting in poor body vibration isolation, insufficient body control, deteriorating the driving experience, and even posing a certain safety hazard to driving. Therefore, how to solve the problem of detecting whether the working state of the shock absorber is abnormal has become an urgent problem to be solved. Summary of the Invention

[0003] The main purpose of this application is to provide a method, device, equipment and storage medium for detecting the working state of a shock absorber, aiming to solve the technical problem of detecting whether the working state of the shock absorber is abnormal.

[0004] To achieve the above object, this application proposes a method for detecting the working state of a shock absorber, and the method for detecting the working state of the shock absorber includes:

[0005] When the active suspension execution system is activated, determine the current roll angle and the current pitch angle according to multiple direction accelerations;

[0006] Determine the target required current according to the current roll angle and the current pitch angle;

[0007] Determine the working state of the target shock absorber according to the target required current.

[0008] In one embodiment, after determining the working state of the target shock absorber according to the target required current, it further includes:

[0009] When the working state of the target shock absorber is an abnormal working state, generate a shock absorber fault warning message, and switch the working state of the target shock absorber to a safety control state;

[0010] Prohibit adjusting the damping force of the target shock absorber according to the safety control state.

[0011] In one embodiment, determining the working state of the target shock absorber according to the target required current includes:

[0012] Determine the target roll angle and the target pitch angle according to the target required current;

[0013] Determine the working state of the target shock absorber according to the target roll angle, the target pitch angle, and a preset angle range.

[0014] In one embodiment, the determining the target roll angle and the target pitch angle according to the target required current includes:

[0015] Determine a corresponding target damping force value according to the target required current and a preset shock absorber control strategy;

[0016] Adjust the target shock absorber according to the target damping force value, and obtain a plurality of target accelerations;

[0017] Determine the target roll angle and the target pitch angle according to the plurality of target accelerations.

[0018] In one embodiment, the determining the working state of the target shock absorber according to the target roll angle, the target pitch angle, and a preset angle range includes:

[0019] When both the target roll angle and the target pitch angle satisfy the preset angle range, determine that the working state of the target shock absorber is the normal working state;

[0020] When both the target roll angle and the target pitch angle do not satisfy the preset angle range, determine that the working state of the target shock absorber is the abnormal working state.

[0021] In one embodiment, before determining the current roll angle and the current pitch angle according to a plurality of direction accelerations when the active suspension execution system is activated, it further includes:

[0022] Obtain the current vehicle speed;

[0023] Compare the current vehicle speed with a vehicle speed threshold;

[0024] When the current vehicle speed is greater than the vehicle speed threshold, activate the active suspension execution system.

[0025] In one embodiment, the determining the target required current according to the current roll angle and the current pitch angle includes:

[0026] Determine a control roll angle and a control pitch angle according to a preset shock absorber control strategy;

[0027] Determine a roll angle difference and a pitch angle difference according to the control roll angle, the control pitch angle, the current roll angle, and the current pitch angle respectively;

[0028] Determine the target required current according to the roll angle difference and the pitch angle difference.

[0029] In addition, to achieve the above object, the present application further provides a shock absorber working state detection device, which includes:

[0030] A processing module, configured to determine a current roll angle and a current pitch angle according to multiple-direction accelerations when the active suspension execution system is activated;

[0031] The processing module is further configured to determine a target demand current according to the current roll angle and the current pitch angle;

[0032] A detection module, configured to determine the working state of a target shock absorber according to the target demand current.

[0033] In addition, to achieve the above object, the present application further provides a shock absorber working state detection device, which includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the shock absorber working state detection method as described above.

[0034] In addition, to achieve the above object, the present application further provides a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium, and when the computer program is executed by a processor, the steps of the shock absorber working state detection method as described above are implemented.

[0035] In addition, to achieve the above object, the present application further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the shock absorber working state detection method as described above are implemented.

[0036] In the present application, when the active suspension execution system is activated, a current roll angle and a current pitch angle are determined according to multiple-direction accelerations; a target demand current is determined according to the current roll angle and the current pitch angle; the working state of a target shock absorber is determined according to the target demand current. By adding a result evaluation of the actual control effect of the vehicle body, the response execution state of the shock absorber is monitored in real time to determine whether the working state of the shock absorber is abnormal, and the efficiency of detecting the working state of the shock absorber is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0038] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following briefly introduces the accompanying drawings required for the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0039] Figure 1 It is a schematic flowchart provided for the first embodiment of the method for detecting the working state of the shock absorber of the present application;

[0040] Figure 2 It is a schematic diagram of the pitch angle and roll angle of the vehicle provided for the first embodiment of the method for detecting the working state of the shock absorber of the present application;

[0041] Figure 3 It is a schematic flowchart provided for the second embodiment of the method for detecting the working state of the shock absorber of the present application;

[0042] Figure 4 It is a schematic brief flowchart of the method for detecting the working state of the shock absorber provided for the second embodiment of the present application;

[0043] Figure 5 It is a schematic diagram of the module structure of the device for detecting the working state of the shock absorber in the embodiment of the present application;

[0044] Figure 6 It is a schematic diagram of the device structure of the hardware operating environment involved in the method for detecting the working state of the shock absorber in the embodiment of the present application.

[0045] The realization of the purpose, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. Detailed Embodiments

[0046] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0047] To better understand the technical solutions of the present application, the following will be described in detail in combination with the accompanying drawings of the specification and the specific embodiments.

[0048] The main solution of the embodiment of the present application is: when the active suspension execution system is activated, determine the current roll angle and the current pitch angle according to the accelerations in multiple directions; determine the target required current according to the current roll angle and the current pitch angle; determine the working state of the target shock absorber according to the target required current.

[0049] Currently, most automobiles estimate the remaining life of shock absorbers based on the working duration of shock absorbers at various currents. However, they cannot monitor whether the shock absorbers are working properly, nor can they detect in a timely manner the conditions where the shock absorbers have failed. The following actual situations may occur. For example, the output current value of the electronic control system is normal, but the shock absorber has actually become abnormal, and its response execution effect has seriously exceeded the tolerance, resulting in poor vehicle body vibration isolation, insufficient vehicle body control, deteriorating the driving experience, and even bringing certain safety hazards to driving. Therefore, how to solve the problem of detecting whether the working state of the shock absorber is abnormal has become an urgent problem to be solved.

[0050] In this application, when the active suspension execution system is activated, the current roll angle and the current pitch angle are determined according to accelerations in multiple directions; the target demand current is determined according to the current roll angle and the current pitch angle; the working state of the target shock absorber is determined according to the target demand current. By adding the result evaluation and determination of the actual vehicle body control effect, the response execution state of the shock absorber is monitored in real time to determine whether the working state of the shock absorber is abnormal, and the efficiency of detecting the working state of the shock absorber is improved.

[0051] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication, and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or a shock absorber working state detection device capable of implementing the above functions. Hereinafter, taking the Electronic Control Unit (ECU) as the execution subject as an example, this embodiment and the following embodiments will be described.

[0052] Based on this, the embodiments of this application provide a method for detecting the working state of a shock absorber, referring to Figure 1 , Figure 1 which is a schematic flowchart of the first embodiment of the method for detecting the working state of the shock absorber in this application.

[0053] In this embodiment, the method for detecting the working state of the shock absorber includes steps S10 to S40:

[0054] Step S10, when the active suspension execution system is activated, determine the current roll angle and the current pitch angle according to accelerations in multiple directions;

[0055] It can be understood that the accelerations in multiple directions refer to the acceleration values in the three directions of the vehicle's X, Y, and Z axes. When the active suspension execution system is activated, it indicates that the shock absorber working state detection state is entered. Therefore, the acceleration values in the three directions of the vehicle's X, Y, and Z axes are collected by the vehicle body acceleration sensor, and then the angle calculation is performed to obtain the current roll angle and pitch angle of the vehicle.

[0056] It should be noted that the roll and pitch angles of the vehicle body in different directions are simplified as Figure 2As shown, the calculation formulas for the vehicle body roll angle and pitch angle are as follows in Formula (1) and Formula (2).

[0057]

[0058]

[0059] Among them, α is the vehicle body roll angle, β is the vehicle body pitch angle, a x 、a y 、a z are the acceleration values in the three directions of the vehicle X, Y, and Z axes collected by the vehicle body acceleration sensor respectively.

[0060] In a feasible implementation manner, steps A11 to A13 may be included before step S10:

[0061] Step A11, obtaining the current vehicle speed;

[0062] It can be understood that when the vehicle is driving normally and all sensors, controllers, etc. related to the continuously variable damping system are working properly, it is determined whether the continuously variable damping shock absorber control intervention condition is met according to the vehicle speed condition, and the current vehicle driving speed is collected by the sensor.

[0063] Step A12, comparing the current vehicle speed with the vehicle speed threshold;

[0064] It can be understood that the vehicle speed threshold refers to the speed critical value used to determine whether the current vehicle meets the continuously variable damping shock absorber control intervention condition.

[0065] Step A13, activating the active suspension execution system when the current vehicle speed is greater than the vehicle speed threshold.

[0066] It can be understood that when the current vehicle driving speed is greater than the vehicle speed threshold, it is determined that the current vehicle meets the continuously variable damping shock absorber control intervention condition, so the active suspension execution system is activated.

[0067] Step S20, determining the target demand current according to the current roll angle and the current pitch angle;

[0068] It can be understood that the target demand current refers to the working current of the shock absorber. When the current roll angle and the current pitch angle are obtained through calculation, the corresponding working current of the shock absorber is calibrated according to the control calibration to determine the working current of the shock absorber.

[0069] In a feasible implementation manner, step S20 may include steps A21 to A23:

[0070] Step A21, determining the control roll angle and the control pitch angle according to the preset shock absorber control strategy;

[0071] It can be understood that the preset shock absorber control strategy refers to the strategy for controlling the operation of the shock absorber set in advance. Controlling the roll angle refers to the roll angle after controlling the shock absorber, and controlling the pitch angle refers to the pitch angle after controlling the shock absorber.

[0072] In a specific implementation, the shock absorber is controlled by the preset strategy for controlling the operation of the shock absorber. For example, by changing the working current of the shock absorber, and then changing the roll angle and pitch angle of the vehicle, the acceleration values in each direction after control are collected to determine the roll angle and pitch angle after controlling the shock absorber.

[0073] Step A22, respectively determine the roll angle difference and the pitch angle difference according to the controlled roll angle, the controlled pitch angle, the current roll angle, and the current pitch angle;

[0074] It can be understood that by respectively calculating the differences between the controlled roll angle and the current roll angle, and between the controlled pitch angle and the current pitch angle, the roll angle difference and the pitch angle difference are obtained.

[0075] Step A23, determine the target required current according to the roll angle difference and the pitch angle difference.

[0076] It can be understood that according to the control calibration, the working current corresponding to the shock absorber is calibrated, and the working current of the corresponding shock absorber is determined through the roll angle difference and the pitch angle difference.

[0077] Step S30, determine the working state of the target shock absorber according to the target required current.

[0078] It can be understood that the working state includes the normal working state of the shock absorber and the abnormal working state of the shock absorber. The shock absorber is adjusted and controlled through the working current of the shock absorber, and then the accelerations of each part of the vehicle body are collected, and the roll angle and pitch angle of the vehicle at this time are calculated, so as to determine the working state of the target shock absorber.

[0079] In a feasible implementation manner, after step S30, steps A31 to A32 may be included:

[0080] Step A31, when the working state of the target shock absorber is the abnormal working state, generate a shock absorber fault warning message, and switch the working state of the target shock absorber to the safety control state;

[0081] It can be understood that the shock absorber fault warning message refers to the information reminding the driver of the shock absorber fault. For example, reminding the driver to replace the shock absorber. The safety control state refers to the Fail safe control strategy state. In the Fail safe control strategy state, adjusting the damping force of the shock absorber is prohibited.

[0082] Step A32, prohibit adjusting the damping force of the target shock absorber according to the safety control state.

[0083] It can be understood that, in order to ensure the driving safety of the vehicle, when the shock absorber does not affect the current use, but the performance of the damping adjustment system or the active suspension execution system deteriorates, at this time, through the Fail safe control strategy, the damping force of the shock absorber is controlled to be non-adjustable.

[0084] In this embodiment, when the active suspension execution system is activated, the current roll angle and the current pitch angle are determined according to multiple direction accelerations; the target required current is determined according to the current roll angle and the current pitch angle; the working state of the target shock absorber is determined according to the target required current. By adding the result evaluation of the actual control effect on the vehicle body, the response execution state of the shock absorber is monitored in real time to determine whether the working state of the shock absorber is abnormal, and the efficiency of detecting the working state of the shock absorber is improved.

[0085] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar content as that in the above-mentioned first embodiment can be referred to the above introduction and will not be repeated hereinafter. On this basis, please refer to Figure 3 , step S30, the shock absorber working state detection method further includes steps S01 to S02:

[0086] Step S01, determine the target roll angle and the target pitch angle according to the target required current;

[0087] It can be understood that the shock absorber is controlled by the calibrated shock absorber working current to obtain the roll angle and the pitch angle after the shock absorber executes the response.

[0088] In a feasible implementation manner, step S01 may include steps A011 to A013:

[0089] Step A011, determine the corresponding target damping force value according to the target required current and the preset shock absorber control strategy;

[0090] It can be understood that the target damping force value refers to the damping force value for adjusting the shock absorber, and the damping force value of the shock absorber is determined according to the required current calculated through the preset shock absorber control strategy.

[0091] Step A012, adjust the target shock absorber according to the target damping force value and obtain multiple target accelerations;

[0092] It can be understood that the target acceleration refers to the acceleration values of the X, Y, and Z axes after the shock absorber is adjusted. The damping force value of the target shock absorber is adjusted according to the determined damping force value for adjusting the shock absorber, and the acceleration values of the X, Y, and Z axes after the shock absorber is adjusted are collected.

[0093] Step A013: Determine the target roll angle and the target pitch angle based on multiple target accelerations.

[0094] It can be understood that the target roll angle and the target pitch angle refer to the roll angle and the pitch angle corresponding to the target acceleration. The corresponding roll angle and pitch angle are calculated according to the roll angle calculation formula and the pitch angle calculation formula for the acceleration values of the X, Y, and Z axes after the shock absorber is adjusted.

[0095] Step S02: Determine the working state of the target shock absorber according to the target roll angle, the target pitch angle, and a preset angle range.

[0096] It can be understood that the preset angle range refers to the preset normal roll angle range and the normal pitch angle range. By comparing whether the target roll angle and the target pitch angle are within the preset angle range, the working state of the target shock absorber is determined.

[0097] In a feasible implementation manner, step S02 may include steps A021 to A022:

[0098] Step A021: When both the target roll angle and the target pitch angle meet the preset angle range, determine that the working state of the target shock absorber is the normal working state.

[0099] It can be understood that when the target roll angle and the target pitch angle are within the preset angle range, it is determined that the working state of the target shock absorber is the normal working state. At this time, the vehicle is driving normally without any prompt to enter the next cycle of detecting the working state of the shock absorber.

[0100] Step A022: When both the target roll angle and the target pitch angle do not meet the preset angle range, determine that the working state of the target shock absorber is the abnormal working state.

[0101] It can be understood that when the target roll angle and the target pitch angle are not within the preset angle range, it is determined that the working state of the target shock absorber is the abnormal working state. At this time, the driver is reminded to replace the shock absorber and enter the Fail safe control strategy to make the damping force of the shock absorber non-adjustable.

[0102] It should be noted that in this embodiment, based on the existing control strategy, a control strategy for evaluating the result of the actual control effect of the vehicle body is added, the response execution state of the shock absorber is monitored in real time, the user is warned or reminded of the working state of the shock absorber in a timely manner, the fear and worry of the user about the sudden decline of the vehicle performance are reduced, the shock absorber is replaced in a timely manner, the correct control level of the vehicle is continuously guaranteed, and the driving controllability, stability, and comfort of the vehicle are ensured.

[0103] In this embodiment, the target roll angle and the target pitch angle are determined according to the target required current; the working state of the target shock absorber is determined according to the target roll angle, the target pitch angle, and a preset angle range. The acceleration values in all directions of the vehicle body are collected by sensors, and the real-time roll angle and pitch angle of the vehicle body are calculated through the ECU-set algorithm. Then, a comparison is made according to the preset angle range, and finally, the working state of the target shock absorber is determined according to the comparison result, which improves the efficiency of detecting the working state of the shock absorber and ensures the driving controllability, stability, and comfort of the vehicle.

[0104] Exemplarily, to facilitate understanding of the implementation process of the shock absorber working state detection method obtained by combining the above Embodiment 1, please refer to Figure 4 , Figure 4 A brief flow schematic diagram of a shock absorber working state detection method is provided. Specifically: the acceleration values in all directions of the vehicle body are collected by sensors, and the real-time roll angle and pitch angle of the vehicle body are calculated through the ECU-set algorithm. To achieve the target driving experience, according to the control calibration, the working current corresponding to the shock absorber is calibrated. The skyhook control module performs system interpolation calls according to the pre-entered damping force values. Other control modules such as roll and pitch calibrate the vehicle body roll and pitch control levels according to the damping force values of the front reference standard parts. On this basis, considering the production tolerances of the shock absorbers and the corresponding acceptable overall vehicle correct comfort performance, handling performance, and vehicle body control safety performance, the vehicle body roll angle and pitch angle ranges are established as calibration values. Then, according to the control strategy, the vehicle body roll acceleration and roll angle are determined in real time. When the determination conditions are met, no prompt is made. When the range exceeds the control level calibration value, it is determined to enter the prompt interface, and the Fail safe control strategy is executed on the shock absorber, and the damping force of the shock absorber is not adjustable to reduce system energy consumption.

[0105] It should be noted that the above examples are only for understanding the present application and do not constitute a limitation on the shock absorber working state detection method of the present application. Based on this technical concept, more forms of simple transformations are within the protection scope of the present application.

[0106] The present application also provides a shock absorber working state detection device. Please refer to Figure 5 , the shock absorber working state detection device includes:

[0107] A processing module 10, configured to determine the current roll angle and the current pitch angle according to the acceleration in multiple directions when the active suspension execution system is activated.

[0108] The processing module 10 is further configured to determine the target required current according to the current roll angle and the current pitch angle.

[0109] A detection module 20, configured to determine the working state of the target shock absorber according to the target required current.

[0110] Optionally, the detection module 20 is further configured to:

[0111] When the working state of the target shock absorber is an abnormal working state, generate a shock absorber fault warning message and switch the working state of the target shock absorber to a safety control state;

[0112] Prohibit adjusting the damping force of the target shock absorber according to the safety control state.

[0113] Optionally, the detection module 20 is further configured to:

[0114] Determine a target roll angle and a target pitch angle according to the target demand current;

[0115] Determine the working state of the target shock absorber according to the target roll angle, the target pitch angle and a preset angle range.

[0116] Optionally, the detection module 20 is further configured to:

[0117] Determine a corresponding target damping force value according to the target demand current and a preset shock absorber control strategy;

[0118] Adjust the target shock absorber according to the target damping force value and obtain multiple target accelerations;

[0119] Determine a target roll angle and a target pitch angle according to the multiple target accelerations.

[0120] Optionally, the detection module 20 is further configured to:

[0121] When both the target roll angle and the target pitch angle satisfy a preset angle range, determine that the working state of the target shock absorber is a normal working state;

[0122] When both the target roll angle and the target pitch angle do not satisfy a preset angle range, determine that the working state of the target shock absorber is an abnormal working state.

[0123] Optionally, the processing module 10 is further configured to:

[0124] Obtain the current vehicle speed;

[0125] Compare the current vehicle speed with a vehicle speed threshold;

[0126] When the current vehicle speed is greater than the vehicle speed threshold, activate the active suspension execution system.

[0127] Optionally, the processing module 10 is further configured to:

[0128] Determine a control roll angle and a control pitch angle according to a preset shock absorber control strategy;

[0129] Determine a roll angle difference and a pitch angle difference respectively according to the controlled roll angle, the controlled pitch angle, the current roll angle, and the current pitch angle;

[0130] Determine a target required current according to the roll angle difference and the pitch angle difference.

[0131] The shock absorber working state detection device provided by the present application adopts the shock absorber working state detection method in the above embodiment, and can solve the technical problem of detecting whether the working state of the shock absorber is abnormal. Compared with the prior art, the beneficial effects of the shock absorber working state detection device provided by the present application are the same as those of the shock absorber working state detection method provided by the above embodiment, and other technical features in the shock absorber working state detection device are the same as the features disclosed in the above embodiment method, and will not be elaborated here.

[0132] The present application provides a shock absorber working state detection device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the shock absorber working state detection method in the first embodiment above.

[0133] Next, refer to Figure 6 , which shows a schematic structural diagram of a shock absorber working state detection device suitable for implementing the embodiments of the present application. The shock absorber working state detection device in the embodiments of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions: tablet computers), PMPs (Portable Media Players), in-vehicle terminals (such as in-vehicle navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 6 The shown shock absorber working state detection device is only an example, and should not impose any limitations on the functions and usage scopes of the embodiments of the present application.

[0134] As Figure 6As shown, the shock absorber working state detection device may include a processing device 1001 (such as a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM: Read Only Memory) 1002 or the program loaded from the storage device 1003 into the random access memory (RAM: Random Access Memory) 1004. In the RAM 1004, various programs and data required for the operation of the shock absorber working state detection device are also stored. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the shock absorber working state detection device to communicate with other devices wirelessly or wiredly to exchange data. Although the figure shows a shock absorber working state detection device having various systems, it should be understood that it is not required to implement or have all the shown systems. Instead, more or fewer systems can be implemented or had.

[0135] Specifically, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program codes for executing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from the network through the communication device, or installed from the storage device 1003, or installed from the ROM 1002. When the computer program is executed by the processing device 1001, the above functions defined in the methods of the embodiments disclosed in the present application are executed.

[0136] The shock absorber working state detection device provided by the present application adopts the shock absorber working state detection method in the above embodiment, and can solve the technical problem of detecting whether the working state of the shock absorber is abnormal. Compared with the prior art, the beneficial effects of the shock absorber working state detection device provided by the present application are the same as those of the shock absorber working state detection method provided by the above embodiment, and other technical features in the shock absorber working state detection device are the same as the features disclosed in the method of the previous embodiment, and will not be elaborated here.

[0137] It should be understood that each part disclosed in this application can be implemented by hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in a suitable manner in any one or more embodiments or examples.

[0138] As described above, the above is only the specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope disclosed in this application can easily think of changes or substitutions, which should all be covered within the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

[0139] This application provides a computer-readable storage medium with computer-readable program instructions (i.e., computer programs) stored thereon, and the computer-readable program instructions are used to execute the shock absorber working state detection method in the above embodiments.

[0140] The computer-readable storage medium provided by this application can be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) or flash memory, optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this embodiment, the computer-readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or combined with an instruction execution system, device, or device. The program code contained on the computer-readable storage medium can be transmitted by any appropriate medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0141] The above computer-readable storage medium can be included in the shock absorber working state detection device; it can also exist separately and not be assembled into the shock absorber working state detection device.

[0142] The above computer-readable storage medium carries one or more programs, which, when executed by the shock absorber working state detection device, cause the shock absorber working state detection device: The state detection method includes: when the active suspension execution system is activated, determining the current roll angle and the current pitch angle according to multiple directional accelerations; determining the target required current according to the current roll angle and the current pitch angle; and determining the working state of the target shock absorber according to the target required current.

[0143] Computer program code for performing the operations of the present application may be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may 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 may be connected to an external computer (for example, by connecting through an Internet service provider using the Internet).

[0144] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code that contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, may be implemented by a dedicated hardware-based system for performing the specified functions or operations, or may be implemented by a combination of dedicated hardware and computer instructions.

[0145] The modules described in the embodiments of the present application may be implemented in software or in hardware. Among them, the name of the module does not constitute a limitation to the unit itself in some cases.

[0146] The readable storage medium provided by this application is a computer-readable storage medium. The computer-readable storage medium stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned shock absorber working state detection method, and can solve the technical problem of detecting whether the working state of the shock absorber is abnormal. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by this application are the same as those of the shock absorber working state detection method provided by the above embodiment, and will not be elaborated here.

[0147] This application also provides a computer program product, including a computer program, and when the computer program is executed by a processor, it implements the steps of the shock absorber working state detection method as described above.

[0148] The computer program product provided by this application can solve the technical problem of detecting whether the working state of the shock absorber is abnormal. Compared with the prior art, the beneficial effects of the computer program product provided by this application are the same as those of the shock absorber working state detection method provided by the above embodiment, and will not be elaborated here.

[0149] The above are only partial embodiments of this application, and do not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application by using the content of the specification and drawings of this application, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A method for detecting the working state of a shock absorber, characterized in that, The shock absorber working state detection method includes: When the active suspension execution system is activated, determining the current roll angle and the current pitch angle according to multiple-direction accelerations; Determining the target demand current according to the current roll angle and the current pitch angle; Determining the working state of the target shock absorber according to the target demand current; Wherein, determining the working state of the target shock absorber according to the target demand current includes: Determining the target roll angle and the target pitch angle according to the target demand current; Determining the working state of the target shock absorber according to the target roll angle, the target pitch angle and a preset angle range; Wherein, determining the target roll angle and the target pitch angle according to the target demand current includes: Determining the corresponding target damping force value according to the target demand current and a preset shock absorber control strategy; Adjusting the target shock absorber according to the target damping force value and acquiring multiple target accelerations; Determining the target roll angle and the target pitch angle according to the multiple target accelerations.

2. The method according to claim 1, characterized in that After determining the working state of the target shock absorber according to the target demand current, it further includes: When the working state of the target shock absorber is an abnormal working state, generating a shock absorber fault warning message and switching the working state of the target shock absorber to a safety control state; Prohibiting the adjustment of the damping force of the target shock absorber according to the safety control state.

3. The method according to claim 1, characterized in that Determining the working state of the target shock absorber according to the target roll angle, the target pitch angle and a preset angle range includes: When both the target roll angle and the target pitch angle satisfy the preset angle range, determining that the working state of the target shock absorber is a normal working state; When both the target roll angle and the target pitch angle do not satisfy the preset angle range, determining that the working state of the target shock absorber is an abnormal working state.

4. The method according to claim 1, characterized in that Before determining the current roll angle and the current pitch angle according to multiple-direction accelerations when the active suspension execution system is activated, it further includes: Acquiring the current vehicle speed; Comparing the current vehicle speed with a vehicle speed threshold; When the current vehicle speed is greater than the vehicle speed threshold, activating the active suspension execution system.

5. The method according to claim 1, wherein Determining the target demand current according to the current roll angle and the current pitch angle includes: Determining the control roll angle and the control pitch angle according to a preset shock absorber control strategy; Respectively determining a roll angle difference and a pitch angle difference according to the control roll angle, the control pitch angle, the current roll angle and the current pitch angle; Determining the target demand current according to the roll angle difference and the pitch angle difference.

6. A shock absorber working state detection device, characterized in that, The device includes: A processing module, configured to determine the current roll angle and the current pitch angle according to multiple-direction accelerations when the active suspension execution system is activated; The processing module is further configured to determine the target demand current according to the current roll angle and the current pitch angle; A detection module, configured to determine the working state of the target shock absorber according to the target demand current; The detection module is further configured to determine the target roll angle and the target pitch angle according to the target demand current; Determining the working state of the target shock absorber according to the target roll angle, the target pitch angle and a preset angle range; The detection module is further configured to determine a corresponding target damping force value according to the target demand current and a preset shock absorber control strategy; Adjust a target shock absorber according to the target damping force value, and obtain a plurality of target accelerations; Determine a target roll angle and a target pitch angle according to the plurality of target accelerations.

7. A shock absorber operating state detection device, characterized in that, The device includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, where the computer program is configured to implement the steps of the shock absorber working state detection method according to any one of claims 1 to 5.

8. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the shock absorber working state detection method according to any one of claims 1 to 5.

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