Vehicle active suspension height calibration method, device, equipment and medium

Abstract

The present disclosure relates to a vehicle active suspension height calibration method, device, equipment and medium, the vehicle comprises a height sensor, the method comprises: determining the height compensation value corresponding to the height sensor at different positions of the active suspension respectively; according to the height compensation value corresponding to the height sensor at different positions of the active suspension respectively, the best height detection function of the height sensor is obtained; wherein the best height detection function is used to output the actual suspension height of the active suspension at any position.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of suspension height calibration, and more particularly, to a vehicle active suspension height calibration method, device, equipment and medium. BACKGROUND

[0002] The active suspension of the automobile can lift or lower the suspension height, and the lifting and lowering of the suspension depend on the suspension height perceived by the height sensor. However, the value collected by the height sensor cannot truly reflect the suspension height because it has not been calibrated, and therefore cannot be directly used for the lifting and lowering control of the suspension.

[0003] In the related art, a single height is usually verified, and the error is applied to all heights. However, for different height sensors, if a single height error is used to replace all height errors, there will be a situation that the actual suspension ideal height does not coincide with the design, and at this time, the design requirements of the vehicle height cannot be met. SUMMARY

[0004] An object of embodiments of the present disclosure is to provide a new technical solution for vehicle active suspension height calibration.

[0005] According to a first aspect of the present disclosure, a vehicle active suspension height calibration method is provided, the vehicle comprising a height sensor, and the method comprising:

[0006] determining height compensation values respectively corresponding to the height sensor at different positions of the active suspension;

[0007] obtaining an optimal height detection function of the height sensor according to the height compensation values respectively corresponding to the height sensor at different positions of the active suspension;

[0008] The optimal height detection function is used to output the actual suspension height of the active suspension at any position.

[0009] Optionally, the determination of the height compensation values respectively corresponding to the height sensor at different positions comprises:

[0010] determining height compensation values respectively corresponding to the height sensor at at least one calibration position of the active suspension;

[0011] interpolating the height compensation values respectively corresponding to the height sensor at the at least one calibration position to obtain the height compensation values respectively corresponding to the height sensor at different positions.

[0012] Optionally, the determination of the height compensation values respectively corresponding to the height sensor at at least one calibration position of the active suspension comprises:

[0013] determining a first reference point and a second reference point; wherein the first reference point is a point that does not move when the body position of the vehicle is adjusted, and the second reference point is a point that moves when the body position of the vehicle is adjusted;

[0014] determining a height compensation value of the height sensor at the arbitrary calibration position according to the first reference point and the second reference point.

[0015] Optionally, the determining of the height compensation value of the height sensor at the arbitrary calibration position according to the first reference point and the second reference point comprises:

[0016] acquiring a theoretical distance between the first reference point and the second reference point at the arbitrary calibration position when the suspension position of the active suspension is adjusted to the arbitrary calibration position, and acquiring an actual distance between the first reference point and the second reference point at the arbitrary calibration position;

[0017] acquiring a deviation between the theoretical distance and the actual distance;

[0018] determining the height compensation value of the height sensor at the arbitrary calibration position according to the deviation.

[0019] Optionally, the acquiring of the theoretical distance between the first reference point and the second reference point at the arbitrary calibration position when the suspension position of the active suspension is adjusted to the arbitrary calibration position comprises:

[0020] acquiring a parameter value of a calibration parameter when the suspension position of the active suspension is adjusted to the arbitrary calibration position;

[0021] determining a theoretical suspension height of the active suspension at the arbitrary calibration position according to the parameter value of the calibration parameter and a height detection function of the height sensor;

[0022] acquiring the theoretical distance between the first reference point and the second reference point at the arbitrary calibration position according to a reference height and the theoretical suspension height of the active suspension at the arbitrary calibration position. The determining of the height compensation value of the height sensor at the arbitrary calibration position according to the deviation comprises:

[0023] determining the height compensation value of the height sensor at the arbitrary calibration position according to the deviation and a height compensation value of the height sensor at a previous calibration position of the arbitrary calibration position.

[0024] Optionally, when the arbitrary calibration position is a first calibration position of the at least one calibration position, the height detection function is a set height detection function.

[0025] In a case where the arbitrary calibration position is other than the at least one calibration position, the height detection function is determined based on the set height detection function and a height compensation value at a previous calibration position of the arbitrary calibration position.

[0026] According to a second aspect of the present disclosure, there is provided a vehicle active suspension height calibration device, the vehicle comprising a height sensor, the device comprising:

[0027] a determination module configured to determine height compensation values respectively corresponding to the height sensor at different positions of the active suspension;

[0028] an acquisition module configured to obtain an optimal height detection function of the height sensor according to the height compensation values respectively corresponding to the height sensor at different positions of the active suspension;

[0029] wherein the optimal height detection function is configured to output an actual suspension height of the active suspension at an arbitrary position.

[0030] According to a third aspect of the present disclosure, there is provided an electronic device comprising a memory and a processor, the memory being configured to store an executable computer program; the computer program being configured to control the processor to execute the method according to the first aspect of the present disclosure.

[0031] According to a fourth aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon a computer program, the computer program being configured to implement the method according to the first aspect of the present disclosure when executed by a processor.

[0032] An advantage of the embodiments of the present disclosure is that height compensation values respectively corresponding to the height sensor at different positions of the active suspension are obtained, and an optimal height detection function of the height sensor is obtained according to the height compensation values respectively corresponding to the height sensor at different positions of the active suspension, the optimal height detection function can truly feedback a suspension height of the active suspension at an arbitrary position, that is, can output an actual suspension height of the active suspension at an arbitrary position, so as to calibrate the height sensor, and the optimal height detection function obtained after calibration can meet the design requirements of different suspension heights of the vehicle.

[0033] 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

[0034] The accompanying drawings incorporated in and forming a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0035] Figure 1 A block diagram illustrating a hardware configuration of an electronic device in which an embodiment of the disclosure can be implemented is shown.

[0036] Figure 2 is a flowchart of a vehicle active suspension height calibration method according to an embodiment of the disclosure;

[0037] Figure 3 is one of scenario diagrams according to an embodiment of the disclosure;

[0038] Figure 4 is another of scenario diagrams according to an embodiment of the disclosure;

[0039] Figure 5 is a block diagram of a vehicle active suspension height calibration apparatus according to an embodiment of the disclosure;

[0040] Figure 6 is a block diagram of an electronic device according to an embodiment of the disclosure. DETAILED DESCRIPTION

[0041] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. Note that the relative arrangement, numerical expressions, and numerical values of components and steps set forth in these embodiments are illustrative only and do not limit the scope of the present application unless otherwise specifically stated.

[0042] 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.

[0043] Techniques, methods, and devices known to those of ordinary skill in the relevant art can not be discussed in detail herein. However, the techniques, methods, and devices should be considered part of the specification, if appropriate.

[0044] In all examples shown and discussed herein, any specific values should be interpreted as merely illustrative and not as a limitation. Thus, other examples of the exemplary embodiments can have different values.

[0045] It should be noted that like numbers and letters refer to like items throughout the drawings, and once an item is defined in one drawing, that definition is applicable to all drawings, unless otherwise specifically stated.

[0046] <Hardware Configuration>

[0047] Figure 1 A block diagram illustrating a hardware configuration of an electronic device 1000 in which an embodiment of the disclosure can be implemented is shown.

[0048] The electronic device 1000 can be a laptop computer, a desktop computer, a mobile phone, a tablet computer, etc. As shown in FIG. 10, the electronic device 1000 includes a bus 1001, a processor 1002, a memory 1003, an input / output (I / O) interface 1004, a display 1005, and a communication interface 1006.Figure 1 As shown in FIG. 1, the electronic device 1000 can include a processor 1100, a memory 1200, an interface device 1300, a communication device 1400, a display device 1500, an input device 1600, a speaker 1700, a microphone 1800, and the like. The processor 1100 can be a central processing unit (CPU), a micro processing unit (MCU), or the like. The memory 1200 can include, for example, a ROM (read only memory), a RAM (random access memory), a nonvolatile memory such as a hard disk, and the like. The interface device 1300 can include, for example, a USB interface, a headphone interface, and the like. The communication device 1400 can be capable of wired or wireless communication, and can include, for example, a Wifi communication, a Bluetooth communication, a 2G / 3G / 4G / 5G communication, and the like. The display device 1500 can be, for example, a liquid crystal display, a touch display, or the like. The input device 1600 can include, for example, a touch screen, a keyboard, a body-sensing input, and the like. A user can input / output voice information through the speaker 1700 and the microphone 1800.

[0049] Figure 1 The electronic device shown is merely illustrative and is in no way meant to limit the present disclosure, its application, or use. In the embodiments of the present disclosure, the memory 1200 of the electronic device 1000 is configured to store instructions for controlling the processor 1100 to operate to perform any one of the vehicle active suspension height calibration methods provided by the embodiments of the present disclosure. Those skilled in the art should understand that although a plurality of devices are shown in the electronic device 1000, the present disclosure can only involve some of the devices, for example, the electronic device 1000 can only involve the processor 1100 and the memory device 1200. Those skilled in the art can design instructions according to the solutions disclosed in the present disclosure. How the instructions control the processor to operate is well known in the art, and therefore will not be described in detail here. Figure 1

[0050] It should be noted that the vehicle active suspension can lift or lower the suspension height, and the lifting or lowering of the suspension depends on the suspension height sensed by the height sensor. Since the values collected by the height sensor are not calibrated, the values cannot truly reflect the suspension height of the suspension, and therefore cannot be directly used for the lifting or lowering control of the suspension. Therefore, before the values sensed by the height sensor are applied to the lifting or lowering control of the suspension, the values need to be calibrated.

[0051] Generally, the height sensor can be an angle sensor or a length sensor, that is, the height sensor reflects the suspension height of the active suspension by sensing an angle or a length. Taking the height sensor as an angle sensor as an example, the relationship between the installation angle of the height sensor and the suspension height can be simulated by a digital-analog converter to obtain the corresponding relationship between the suspension height h and the angle θ of the height sensor h = f(θ).

[0052] ​However, in actual mass production, there is a certain error between the positions of each component of the active suspension actually assembled and the design state, which leads to a certain deviation of the corresponding relationship h=f(θ) between the suspension height h and the angle θ measured by the height sensor, and this deviation leads to that the corresponding relationship h=f(θ) cannot truly feedback the suspension height h of the active suspension, and cannot be directly used for the control of the suspension height.

[0053] <Method embodiment>

[0054] The embodiments of the present disclosure disclose a vehicle active suspension height calibration method, the vehicle comprising a height sensor, as shown in the figure, the vehicle active suspension height calibration method comprises the following steps S2100-S2200. Figure 2

[0055] Step S2100, determining the height compensation value corresponding to the height sensor at different positions of the active suspension.

[0056] Wherein, the height sensor can be an angle sensor or a length sensor, wherein the angle sensor reflects the suspension height of the active suspension by measuring the angle, and the length sensor reflects the suspension height of the active suspension by measuring the length of the line. Wherein, the angle and the length of the line can be called a calibration parameter, that is, there is a corresponding relationship between the calibration parameter and the suspension height. Exemplarily, taking the height sensor as an angle sensor as an example, the corresponding relationship h=f(θ) between the suspension height h and the angle θ measured by the height sensor.

[0057] In one embodiment, the step S2100 of determining the height compensation value corresponding to the height sensor at different positions of the active suspension can further comprise the following steps S2110-S2120:

[0058] Step S2110, determining the height compensation value corresponding to the height sensor at at least one calibration position of the active suspension.

[0059] In this step S2110, usually n calibration positions are selected, n is greater than or equal to 1, n needs to be selected according to the actual situation, if the corresponding relationship between the suspension height and the calibration parameter such as the angle is a simple linear relationship, only one position needs to be selected as the calibration position, and n is equal to 1. If the corresponding relationship between the suspension height and the calibration parameter such as the angle is more complex, more positions need to be selected to obtain multiple calibration positions, and the more complex the corresponding relationship is, the more calibration positions are needed under the same calibration accuracy, and the greater the value of n is.

[0060] Optionally, the step S2110 of determining the height compensation value corresponding to the height sensor at at least one calibration position of the active suspension can further comprise the following steps S2111-S2112:​

[0061] In step S2111, the first reference point and the second reference point are acquired.

[0062] The first reference point is a point that does not move when the body position of the vehicle is adjusted, and the second reference point is a point that moves when the body position of the vehicle is adjusted. This can also be understood as the first reference point being a fixed point and the second reference point being a moving point.

[0063] In step S2112, the height compensation value of the height sensor corresponding to at least one calibration position of the active suspension is determined according to the first reference point and the second reference point.

[0064] Optionally, the step S2112 of determining the height compensation value of the height sensor corresponding to at least one calibration position of the active suspension according to the first reference point and the second reference point can further include: acquiring a theoretical distance between the first reference point and the second reference point at the arbitrary calibration position and an actual distance between the first reference point and the second reference point when the suspension position of the active suspension is adjusted to the arbitrary calibration position; acquiring a deviation between the theoretical distance and the actual distance; and determining the height compensation value of the height sensor at the arbitrary calibration position according to the deviation.

[0065] Specifically, the step of acquiring the actual distance between the first reference point and the second reference point at the arbitrary calibration position when the suspension position of the active suspension is adjusted to the arbitrary calibration position includes: acquiring the actual distance between the first reference point and the second reference point measured by a laser range finder when the suspension position of the active suspension is adjusted to the arbitrary calibration position.

[0066] Specifically, the step of acquiring the theoretical distance between the first reference point and the second reference point at the arbitrary calibration position when the suspension position of the active suspension is adjusted to the arbitrary calibration position includes: acquiring a parameter value of a calibration parameter when the suspension position of the active suspension is adjusted to the arbitrary calibration position; determining a theoretical suspension height of the active suspension at the arbitrary calibration position according to the parameter value of the calibration parameter and a height detection function of the height sensor; and obtaining the theoretical distance between the first reference point and the second reference point at the arbitrary calibration position according to a reference height and the theoretical suspension height of the active suspension at the arbitrary calibration position.

[0067] In a case where the arbitrary calibration position is a first calibration position among the at least one calibration position, the height detection function is a set height detection function. In a case where the arbitrary calibration position is another calibration position among the at least one calibration position, the height detection function is determined based on the set height detection function and a height compensation value at a previous calibration position of the arbitrary calibration position.

[0068] It should be noted that the set height detection function is an original height detection function, which can be understood as a function reflecting the correspondence between the calibration parameter and the suspension height before calibration. The set height detection function generally cannot truly reflect the suspension height of the active suspension. The purpose of the embodiment is to calibrate the set height detection function to obtain an optimal height detection function that can truly reflect the suspension height of the active suspension at any position.

[0069] In a case where the arbitrary calibration position is a first calibration position among the at least one calibration position, the height detection function is a set height detection function. In a case where the arbitrary calibration position is another calibration position among the at least one calibration position, the height detection function is determined based on the set height detection function and a height compensation value at a previous calibration position of the arbitrary calibration position. i satisfies the following formula:

[0070] T i = h i + h 基准

[0071] The above h i represents the theoretical suspension height of the active suspension at the arbitrary calibration position, and the above h 基准 represents a reference height, which is usually a value set according to actual conditions.

[0072] Specifically, the above determining the height compensation value of the height sensor at the arbitrary calibration position according to the deviation specifically includes: determining the height compensation value of the height sensor at the arbitrary calibration position according to the deviation and the height compensation value of the height sensor at the previous calibration position of the arbitrary calibration position.

[0073] Continuing with the example of the height sensor as the angle sensor, the suspension position of the active suspension is adjusted to the first calibration position, the angle θ1 collected by the height sensor is recorded, and the angle θ1 is substituted into the set height detection function h = f(θ) to obtain the theoretical suspension height h1 = f(θ1) at the first calibration position, and based on the theoretical suspension height h1 at the first calibration position and the reference height, the theoretical distance T1 between the first reference point and the second reference point at the first calibration position is obtained. Then, the actual distance D1 between the first reference point and the second reference point at the first calibration position is measured by the laser range finder. Further, the deviation dh1 = T1 - D1 between the theoretical distance T1 and the actual distance D1 is calculated, and the deviation is the height compensation value DH1 of the height sensor at the first calibration position, i.e. DH1 = dh1. Next, the set height detection function h = f(θ) is offset to obtain the height detection function h = f(θ) - dh1 = f(θ) - DH1.

[0074] Then, the suspension position of the active suspension is adjusted to the second calibration position, the angle θ2 collected by the height sensor is recorded, and the angle θ2 is substituted into the height detection function h = f(θ) - DH1 to obtain the theoretical suspension height h2 = f(θ2) - DH1 at the second calibration position, and based on the theoretical suspension height h2 at the second calibration position and the reference height, the theoretical distance T2 between the first reference point and the second reference point at the second calibration position is obtained. Then, the actual distance D2 between the first reference point and the second reference point at the second calibration position is measured by the laser range finder. Further, the deviation dh2 = T2 - D2 between the theoretical distance T2 and the actual distance D2 is calculated, and the height compensation value DH2 of the height sensor at the second calibration position is DH2 = dh1 + dh2 = DH1 + dh2. Next, the height detection function h = f(θ) - DH1 is offset to obtain the height detection function h = f(θ) - dh1 - dh2 = f(θ) - (dh1 + dh2) = f(θ) - DH2.

[0075] Then, the suspension position of the active suspension is adjusted to the third calibration position, the angle θ3 collected by the height sensor is recorded, and the angle θ3 is substituted into the height detection function h = f(θ)-DH2, to obtain the theoretical suspension height h3 = f(θ3)-DH2 at the third calibration position, and based on the theoretical suspension height h3 at the third calibration position and the reference height, the theoretical distance T3 between the first reference point and the second reference point at the third calibration position is obtained. Then, the actual distance D3 between the first reference point and the second reference point at the third calibration position is measured by the laser range finder. Further, the deviation dh3 = T3-D3 between the theoretical distance T3 and the actual distance D3 is calculated, and the height compensation value DH3 of the height sensor at the third calibration position is DH3 = dh1+dh2+dh3 = DH2+dh3. Secondly, the height detection function h = f(θ)-DH2 is offset to obtain the height detection function h = f(θ)-dh1-dh2-dh3 = f(θ)-(dh1+dh2+dh3) = f(θ)-DH3.

[0076] Similarly, the suspension position of the active suspension is adjusted to the nth calibration position, the angle θn collected by the height sensor is recorded, and the angle θn is substituted into the height detection function h = f(θ)-DHn-1, to obtain the theoretical suspension height hn = f(θn)-DHn-1 at the nth calibration position, and based on the theoretical suspension height hn at the nth calibration position and the reference height, the theoretical distance Tn between the first reference point and the second reference point at the nth calibration position is obtained. Then, the actual distance Dn between the first reference point and the second reference point at the nth calibration position is measured by the laser range finder. Further, the deviation dhn = Tn-Dn between the theoretical distance Tn and the actual distance Dn is calculated, and the height compensation value DHn of the height sensor at the nth calibration position is DHn = dh1+dh2+dh3+…+dhn-1+dhn = DHn-1+dhn. Secondly, the height detection function h = f(θ)-DHn-1 is offset to obtain the height detection function h = f(θ)-dh1-dh2-dh3-…-dhn-1-dhn = f(θ)-(dh1+dh2+dh3+…+dhn-1+dhn) = f(θ)-DHn. n n n-1 n n n-1 n n n n n n n n n n n n-1 n n-1 n n ​​​​​​​​​​​​​​​​​​​​​= f(θ) - (dh1+ dh2+ dh3+…+dh n-1 +dh n ) = f(θ) - DH n .

[0077] Step S2120, interpolating the height compensation value pairs respectively corresponding to the height sensor at the at least one calibration position to obtain the height compensation value respectively corresponding to the height sensor at different positions.

[0078] The interpolation processing includes at least one of linear interpolation processing and high-order interpolation processing.

[0079] In this step S2120, after obtaining the height compensation values respectively corresponding to the n calibration positions, the height compensation values respectively corresponding to the n calibration positions and the calibration parameters such as the angle are interpolated to obtain the height compensation values at different angles.

[0080] Taking the height sensor as an angle sensor as an example, the height compensation values respectively corresponding to the n calibration positions and the angle are interpolated to obtain the height compensation value DH(θ) at any angle θ. The specific interpolation processing method includes the following two kinds:

[0081] The first kind: linear interpolation usually selects two adjacent points [1, 2] [3, 4]... [n-1, n]. If θ is between θ n and θ n-1 , then the corresponding is:

[0082]

[0083] wherein

[0084] The second kind: high-order difference usually selects m adjacent points as a group [1, 2, …, m] [m+1, m+2, …, 2m]… [k*m+1, k*m+2, …, (k+1)*m]. If θ is between θ k*m+1 and θ (k+1)*m , then the corresponding is:

[0085]

[0086] wherein,

[0087] Step S2200, obtaining the optimal height detection function of the height sensor according to the height compensation values respectively corresponding to the height sensor at different positions of the active suspension.

[0088] The optimal height detection function is used to output the actual suspension height of the active suspension at any position.

[0089] Specifically, the height compensation values corresponding to the height sensor at different suspension positions are fitted to obtain the optimal height detection function of the height sensor. The optimal theoretical curve can truly feedback the suspension height of the active suspension and provide input for subsequent suspension control.

[0090] Continuing with the height sensor as an example, the optimal height detection function of the height sensor can be h=f(θ)-DH(θ). It can be understood that the embodiment is based on offsetting the function h=f(θ) to obtain a new conversion function h=f'(θ), which uses fewer calibration points.

[0091] According to the embodiments of the present disclosure, the height compensation values corresponding to the height sensor at different positions of the active suspension are obtained, and the optimal height detection function of the height sensor is obtained according to the height compensation values corresponding to the height sensor at different positions of the active suspension. The optimal height detection function can truly feedback the suspension height of the active suspension at any position, that is, it can output the actual suspension height of the active suspension at any position, thereby achieving the purpose of calibrating the height sensor. The optimal height detection function obtained after calibration can meet the design requirements of different suspension heights of the vehicle.

[0092] On the one hand, the n different heights are calibrated, and the height compensation values at different heights are determined by interpolation with the height compensation values at n positions, thereby achieving the purpose of calibrating the height sensor and obtaining height data consistent with the actual value, meeting the design requirements of different height gears of the vehicle. On the other hand, high-order interpolation or linear interpolation method is used to self-learn the height compensation values at other different heights based on the known height compensation values, which can be used to solve the problem that the actual process cannot reach some heights due to large deviation between the calibrated set height detection function and the actual value.

[0093] <application scenario>

[0094] The vehicle active suspension height calibration method described in the above embodiments is applied to Figure 3 and Figure 4 Specifically, when the active suspension is adjusted to position 1, the actual distance D1 between reference point 2 and reference point 1 at position 1 and the theoretical distance T1 can be measured according to the dynamic reference point 2 and the fixed reference point 1. At this time, there is a deviation dh1 between the theoretical distance T1 and the actual distance D1. This error is usually caused by process and assembly errors. A new theoretical curve S1 is obtained at position 1 (the new theoretical curve S1 is obtained based on offsetting the original theoretical curve S0 by DH1, where the height compensation value DH1= dh1).

[0095] Then, the active suspension is adjusted to position 2, and a new theoretical curve S2 is obtained by calibrating the theoretical curve S1 according to the dynamic reference point 2 and the fixed reference point 1 (the new theoretical curve S2 is obtained based on offsetting the original theoretical curve S0 by DH2, where the height compensation value DH2 = dh1 + dh2).

[0096] Secondly, the active suspension is adjusted to position 3, and a new theoretical curve S3 is obtained by calibrating the theoretical curve S2 according to the dynamic reference point 2 and the fixed reference point 1 (the new theoretical curve S3 is obtained based on offsetting the original theoretical curve S0 by DH3, where the height compensation value DH3 = dh1 + dh2 + dh3).

[0097] Referring to Figure 3 After obtaining the height compensation value at position 1, the height compensation value at position 2, and the height compensation value at position 3, an interpolation process is performed, which can be linear interpolation or high-order interpolation. The different angles after interpolation and the corresponding height compensation values are fitted to obtain the best theoretical curve, which can truly feedback the suspension height of the active suspension and provide input for subsequent suspension control.

[0098] The method can be applied to a production line, and a laser range finder or a tape measure is used in cooperation. The terminal device of the production line controls the vehicle height to a certain position, and then the laser range finder measures the actual distance from the fixed point to the moving point and returns the value to the terminal device at the same time. Moreover, the terminal device reads the theoretical distance obtained by the height sensor, and the difference between the two values is used as the compensation of the current theoretical height detection curve. The similar operation is performed four times to obtain four compensated theoretical height detection curves, which are written into the ECU and subjected to linear interpolation or high-order interpolation. Secondly, the data after interpolation is fitted to obtain the best theoretical height detection function, so that the calibration of the original theoretical height curve and the production line calibration can be completed.

[0099] <Device Embodiment>

[0100] The embodiments of the present disclosure further provide a vehicle active suspension height calibration device 500. The vehicle includes a height sensor, such as Figure 5 As shown, the vehicle active suspension height calibration device 500 includes a determination module 510 and an acquisition module 520.

[0101] The determination module 510 is configured to determine height compensation values of the height sensor corresponding to different positions of the active suspension.

[0102] The acquisition module 520 is configured to obtain a best height detection function of the height sensor according to the height compensation values of the height sensor corresponding to the different positions of the active suspension.

[0103] The optimal height detection function is used to output an actual suspension height of the active suspension at any position.

[0104] In one embodiment, the determining module 510 is specifically configured to determine height compensation values of the height sensor corresponding to at least one calibration position of the active suspension respectively; and perform interpolation processing on the height compensation values of the height sensor corresponding to the at least one calibration position respectively to obtain height compensation values of the height sensor corresponding to different positions respectively.

[0105] In one embodiment, the determining module 510 is specifically configured to determine a first reference point and a second reference point; the first reference point is a point that does not move when the body position of the vehicle is adjusted, and the second reference point is a point that moves when the body position of the vehicle is adjusted; and determine height compensation values of the height sensor corresponding to at least one calibration position of the active suspension respectively according to the first reference point and the second reference point.

[0106] In one embodiment, the determining module 510 is specifically configured to, in a case where the suspension position of the active suspension is adjusted to the any calibration position, obtain a theoretical distance between the first reference point and the second reference point at the any calibration position and an actual distance between the first reference point and the second reference point; obtain a deviation between the theoretical distance and the actual distance; and determine a height compensation value of the height sensor at the any calibration position according to the deviation.

[0107] In one embodiment, the determining module 510 is specifically configured to, in a case where the suspension position of the active suspension is adjusted to the any calibration position, obtain a parameter value of a calibration parameter; determine a theoretical suspension height of the active suspension at the any calibration position according to the parameter value of the calibration parameter and a height detection function of the height sensor; and obtain a theoretical distance between the first reference point and the second reference point at the any calibration position according to a reference height and the theoretical suspension height of the active suspension at the any calibration position.

[0108] In one embodiment, the determining module 510 is specifically configured to determine a height compensation value of the height sensor at the any calibration position according to the deviation and a height compensation value of the height sensor at a previous calibration position of the any calibration position.

[0109] In one embodiment, in a case where the any calibration position is a first calibration position of the at least one calibration position, the height detection function is a set height detection function.

[0110] In a case that the arbitrary calibration position is other calibration position in the at least one calibration position, the height detection function is determined based on the set height detection function and a height compensation value at a previous calibration position of the arbitrary calibration position.

[0111] According to the embodiments of the present disclosure, the height sensor corresponding height compensation values at different positions of the active suspension are obtained, and the optimal height detection function of the height sensor is obtained according to the height sensor corresponding height compensation values at different positions of the active suspension, so that the active suspension height at any position can be truly fed back, that is, the actual suspension height of the active suspension at any position can be output, so as to calibrate the height sensor, and the optimal height detection function obtained after calibration can meet the design requirements of different suspension heights of the vehicle.

[0112] <Electronic device>

[0113] In the embodiment, an electronic device 600 is further provided, as shown in the figure, comprising a memory 620 and a processor 610. Figure 6

[0114] The memory 620 is used for storing an executable computer program; the computer program is used for controlling the processor 610 to execute the vehicle active suspension height calibration method provided in any one of the embodiments.

[0115] In the embodiment, the electronic device 600 can be an electronic device 1000 as shown in the figure. It can also be a device with other hardware structures, which is not limited here. Figure 1

[0116] In another embodiment, the electronic device 600 can comprise the above vehicle active suspension height calibration apparatus 500.

[0117] <Computer readable storage medium>

[0118] In the embodiment, a computer readable storage medium is further provided, which stores a computer program, and the computer program is executed by a processor to implement the method of any embodiment of the present disclosure.

[0119] The present application can be a system, a method, and / or a computer program product. The computer program product can include a computer readable storage medium having computer readable program instructions embodied therewith, and the computer readable program instructions are used to cause a processor to implement various aspects of the present application.

[0120] ​​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.

[0121] 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.

[0122] 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.

[0123] 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.

[0124] 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.

[0125] 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.

[0126] 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.

[0127] Embodiments of the present application have been described above, and the description is intended to be illustrative, and not restrictive, of the disclosed embodiments. Many modifications and variations of the described embodiments are possible, and all such modifications and variations are intended to be within the scope of the described embodiments. The description used herein is intended to best explain the principles of the embodiments, the practical application, and the technical improvement over the technologies found in the art. The scope of the present application is defined by the appended claims.

Claims

1. A method of active suspension height calibration for a vehicle, the method comprising: The vehicle comprises a height sensor, and the method comprises: determining height compensation values corresponding to different positions of the active suspension of the height sensor; wherein the determination of the height compensation values corresponding to different positions of the active suspension of the height sensor comprises: determining a first reference point and a second reference point; wherein the first reference point is a point that does not move when the body position of the vehicle is adjusted, and the second reference point is a point that moves when the body position of the vehicle is adjusted; determining height compensation values corresponding to at least one calibration position of the active suspension of the height sensor according to the first reference point and the second reference point; and interpolating the height compensation values corresponding to the at least one calibration position of the height sensor to obtain height compensation values corresponding to different positions of the height sensor. According to the height compensation values corresponding to different positions of the active suspension of the height sensor, an optimal height detection function of the height sensor is obtained; wherein the optimal height detection function is used to output the actual suspension height of the active suspension at any position.

2. The method of claim 1, wherein, According to the first reference point and the second reference point, the height compensation value of the height sensor at any calibration position comprises: under the condition that the suspension position of the active suspension is adjusted to the arbitrary calibration position, the theoretical distance between the first reference point and the second reference point at the arbitrary calibration position and the actual distance between the first reference point and the second reference point are obtained; the deviation between the theoretical distance and the actual distance is obtained; according to the deviation, the height compensation value of the height sensor at the arbitrary calibration position is determined.

3. The method of claim 2, wherein, under the condition that the suspension position of the active suspension is adjusted to the arbitrary calibration position, the theoretical distance between the first reference point and the second reference point at the arbitrary calibration position comprises: under the condition that the suspension position of the active suspension is adjusted to the arbitrary calibration position, the parameter value of a calibration parameter is obtained; according to the parameter value of the calibration parameter and the height detection function of the height sensor, the theoretical suspension height of the active suspension at the arbitrary calibration position is determined; according to the reference height and the theoretical suspension height of the active suspension at the arbitrary calibration position, the theoretical distance between the first reference point and the second reference point at the arbitrary calibration position is obtained.

4. The method of claim 2, wherein, According to the deviation and the height compensation value of the height sensor at the previous calibration position of the arbitrary calibration position, the height compensation value of the height sensor at the arbitrary calibration position is determined.

5. The method of claim 3, wherein, in the case that the arbitrary calibration position is the first calibration position of the at least one calibration position, the height detection function is a set height detection function. ​ In a case that the arbitrary calibration position is other calibration position in the at least one calibration position, the height detection function is determined based on the set height detection function and a height compensation value at a previous calibration position of the arbitrary calibration position.

6. A vehicle active suspension height calibration apparatus characterized by comprising: The vehicle comprises a height sensor, and the device comprises: A determining module is configured to determine height compensation values corresponding to different positions of the height sensor when the active suspension is located at the different positions; wherein the determining module is specifically configured to determine a first reference point and a second reference point; the first reference point is a point that does not move when a body position of the vehicle is adjusted, and the second reference point is a point that moves when the body position of the vehicle is adjusted; the height compensation values corresponding to the different positions of the height sensor when the active suspension is located at the at least one calibration position are determined according to the first reference point and the second reference point; and the height compensation values corresponding to the different positions of the height sensor are subjected to interpolation processing to obtain the height compensation values corresponding to the different positions of the height sensor; An obtaining module is configured to obtain a best height detection function of the height sensor according to the height compensation values corresponding to the different positions of the height sensor when the active suspension is located at the different positions. The best height detection function is used to output an actual suspension height of the active suspension at an arbitrary position.

7. An electronic device, comprising: A computer program product is provided, and the computer program product comprises a memory and a processor; the memory is used to store an executable computer program; the computer program is used to control the processor to execute the method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, A computer program product is provided, and the computer program product comprises a memory and a processor; the memory is used to store an executable computer program; the computer program is used to control the processor to execute the method according to any one of claims 1 to 5.

Images