Control method and device of electronic control air suspension system, vehicle, medium and product

Abstract

The invention discloses a control method and device for an electronic control air suspension system of a vehicle, the vehicle, a storage medium and a computer program product. Based on the relation that a driving shaft in a front axle left shaft, a front axle right shaft, a rear axle left shaft and a rear axle right shaft of a vehicle changes to enable a driven shaft to correspondingly change, the difference value between actual data and a target value of a height sensor of each shaft in the front axle left shaft, the front axle right shaft, the rear axle left shaft and the rear axle right shaft of the vehicle is combined; and the rear axle and the front axle are calibrated by stages in combination with control over valve assemblies arranged on the front axle and the rear axle of the vehicle, so that calibration of the electric control air suspension system is completed. According to the scheme, the rear axle and the front axle are calibrated in stages based on the relation that the change of the driving shaft can influence the corresponding change of each driven shaft, and the calibration precision and efficiency can be improved.

Description

Technical Field

[0001] The present invention belongs to the field of vehicle engineering technology, and specifically relates to a control method, device, vehicle, storage medium and computer program product of a vehicle's electronically controlled air suspension system, and more particularly to a high-precision calibration method, device, vehicle, storage medium and computer program product of a vehicle's electronically controlled air suspension system based on simultaneous rise and fall of the front axle. Background Art

[0002] The electronically controlled air suspension system (ECAS) adjusts the vehicle height, suspension stiffness and damping through air springs and shock absorbers to adapt to various vehicle operating conditions. The electronically controlled air suspension system mainly includes height and pressure sensors, electronic control units (ECUs), solenoid valves and shock absorbers. The main function of the electronically controlled air suspension system is to stabilize the vehicle body, suppress body roll and pitch, and improve ride comfort, taking into account both the sportiness and comfort of the vehicle.

[0003] In the related scheme, in the process of calibrating each axis of the electronically controlled air suspension system to keep the vehicle body level and the vehicle body height at an appropriate position (reset position), there is a problem of poor calibration accuracy and low efficiency due to the mutual disturbance of the four axes of the suspension, which requires multiple measurements and calibrations.

[0004] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The object of the present invention is to provide a control method, device, vehicle, storage medium and computer program product for an electronically controlled air suspension system of a vehicle, so as to solve the problem that in the process of calibrating each axis of the electronically controlled air suspension system, multiple measurements and calibrations are required due to the mutual disturbance of the four axes of the suspension, resulting in poor calibration accuracy and low efficiency. The rear axle and the front axle are calibrated in stages based on the specific relationship that the change of the active axle will affect the corresponding changes of each passive axle, so as to improve the calibration accuracy and efficiency.

[0006] The present invention provides a control method for an electronically controlled air suspension system of a vehicle, wherein valve assemblies are respectively arranged on a front axle and a rear axle of the vehicle; the control method for the electronically controlled air suspension system of the vehicle comprises: when it is necessary to calibrate the electronically controlled air suspension system, obtaining the difference between actual data of height sensors of each of the front axle left axle, the front axle right axle, the rear axle left axle and the rear axle right axle of the vehicle and a target value; based on the relationship that the change of the active axle among the front axle left axle, the front axle right axle, the rear axle left axle and the rear axle right axle of the vehicle causes the corresponding change of the passive axle, in combination with the difference between actual data of height sensors of each of the front axle left axle, the front axle right axle, the rear axle left axle and the rear axle right axle of the vehicle and a target value, and in combination with the control of the valve assemblies respectively arranged on the front axle and the rear axle of the vehicle, calibrating the rear axle and the front axle in stages, so as to complete the calibration of the electronically controlled air suspension system.

[0007] In some embodiments, valve assemblies are respectively provided on the front axle and the rear axle of the vehicle, including: providing an inflation valve and an exhaust valve on the front axle of the vehicle, and providing an inflation valve and an exhaust valve on the left axle and the right axle of the rear axle of the vehicle respectively; based on the relationship that the active axle changes in the left axle, the right axle, the left axle and the right axle of the front axle of the vehicle so that the passive axle changes accordingly, combined with the difference between the actual data of the height sensor of each axle in the left axle, the right axle, the left axle and the right axle of the rear axle of the vehicle and the target value, and combined with the control of the valve assemblies respectively provided on the front axle and the rear axle of the vehicle, the rear axle and the right axle are controlled in stages. The front axle is calibrated to complete the calibration of the electronically controlled air suspension system, including: based on the relationship that the change of the active axle among the front left axle, the front right axle, the rear left axle and the rear right axle of the vehicle causes the corresponding change of the passive axle, combined with the difference between the actual data of the height sensor of each axle among the front left axle, the front right axle, the rear left axle and the rear right axle of the vehicle and the target value, and combined with the control of the inflation valve and the exhaust valve of the front axle, the inflation valve and the exhaust valve of the rear left axle, and the inflation valve and the exhaust valve of the rear right axle, the rear axle and the front axle are calibrated in stages to complete the calibration of the electronically controlled air suspension system.

[0008] In some embodiments, obtaining the difference between actual data of height sensors of each of the front left axle, front right axle, rear left axle and rear right axle of the vehicle and a target value includes: obtaining the height of the body marking line of each of the front left axle, front right axle, rear left axle and rear right axle of the vehicle, and determining the difference between the body marking line target height of the vehicle and the body marking line height of each of the front left axle, front right axle, rear left axle and rear right axle of the vehicle as the difference between the body height marking line target height and the actual height of each of the front left axle, front right axle, rear left axle and rear right axle of the vehicle, so as to: mapping the difference between actual data of height sensors of each of the front left axle, front right axle, rear left axle and rear right axle of the vehicle according to the difference between the body height marking line target height and the actual height of each of the front left axle, front right axle, rear left axle and rear right axle of the vehicle.

[0009] In some embodiments, based on the relationship that the change of the active shaft among the front left shaft, the front right shaft, the rear left shaft and the rear right shaft of the vehicle causes the corresponding change of the passive shaft, combined with the difference between the actual data of the height sensor of each shaft among the front left shaft, the front right shaft, the rear left shaft and the rear right shaft of the vehicle and the target value, and combined with the control of the inflation valve and the exhaust valve of the front axle, the inflation valve and the exhaust valve of the left shaft of the rear axle, and the inflation valve and the exhaust valve of the right shaft of the rear axle, the rear axle and the front axle are calibrated in stages to complete the calibration of the electronically controlled air suspension system, including: according to the difference between the actual data of the height sensor of each shaft among the rear left shaft and the rear right shaft of the vehicle and the target value, combined with the control of the inflation valve and the exhaust valve of the left shaft of the rear axle, and the inflation valve and the exhaust valve of the right shaft of the rear axle Valve control, realize calibration of the rear axle in the first stage; according to the difference between actual data of height sensors of each axle among the left axle of the front axle and the right axle of the vehicle and the target value, combined with control of the inflation valve and exhaust valve of the front axle, the inflation valve and exhaust valve of the left axle of the rear axle, and the inflation valve and exhaust valve of the right axle of the rear axle, realize calibration of the front axle in the first stage; according to the difference between actual data of height sensors of each axle among the left axle of the front axle, the right axle of the front axle, the left axle of the rear axle and the right axle of the vehicle and the target value, combined with control of the inflation valve and exhaust valve of the front axle, the inflation valve and exhaust valve of the left axle of the rear axle, and the inflation valve and exhaust valve of the right axle of the rear axle, realize calibration of the front axle and the rear axle in the second stage, so as to complete the calibration of the electronically controlled air suspension system.

[0010] In some embodiments, according to the difference between the actual data of the height sensor of each of the left and right shafts of the rear axle of the vehicle and the target value, combined with the control of the inflation valve and the exhaust valve of the left shaft of the rear axle, and the inflation valve and the exhaust valve of the right shaft of the rear axle, the calibration of the rear axle is implemented in the first stage, including: starting the first stage rear axle adjustment timer to obtain the first stage rear axle adjustment time; and marking the adjustment process flag bit = 0; determining whether the absolute value of the difference between the actual data of the height sensor of the left shaft of the rear axle of the vehicle and the target value is less than or equal to the preset first stage rear axle adjustment accuracy value: if satisfied, the rear axle of the vehicle is The flag bit of the left axle is set to 1, otherwise the flag bit of the left axle of the rear axle of the vehicle is set to 0; determine whether the absolute value of the difference between the actual data of the height sensor of the right axle of the rear axle of the vehicle and the target value is less than or equal to the preset first-stage rear axle adjustment accuracy value: if it is satisfied, the flag bit of the right axle of the rear axle of the vehicle is set to 1, otherwise the flag bit of the right axle of the rear axle of the vehicle is set to 0; if it is determined that the flag bit of the left axle of the rear axle of the vehicle is 1 and the flag bit of the right axle of the rear axle of the vehicle is 1, then the adjustment process flag bit is set to 1, determining that the adjustment of the rear axle in the first stage is successful, and ending the current adjustment to achieve calibration of the rear axle in the first stage. ; If it is determined that the flag bit of the left shaft of the rear axle of the vehicle is 1, and the flag bit of the right shaft of the rear axle of the vehicle is 0, then: if it is determined that the difference between the actual data of the height sensor of the right shaft of the rear axle of the vehicle and the target value is greater than 0, the inflation valve of the right shaft of the rear axle is controlled to perform the inflation action; if it is determined that the difference between the actual data of the height sensor of the right shaft of the rear axle of the vehicle and the target value is less than 0, the exhaust valve of the right shaft of the rear axle is controlled to perform the exhaust action; if it is determined that the flag bit of the left shaft of the rear axle of the vehicle is 0, and the flag bit of the right shaft of the rear axle of the vehicle is 1 or 0, then: if it is determined that the actual data of the height sensor of the left shaft of the rear axle of the vehicle is If the difference between the actual data of the height sensor of the left shaft of the rear axle of the vehicle and the target value is greater than 0, the exhaust valve of the left shaft of the rear axle is controlled to perform an exhaust action; if it is determined that the difference between the actual data of the height sensor of the left shaft of the rear axle of the vehicle and the target value is less than 0, the exhaust valve of the left shaft of the rear axle is controlled to perform an exhaust action; when the rear axle adjustment time of the first stage is less than or equal to the preset maximum adjustment time of the first stage rear axle, the adjustment is returned to continue, until the rear axle adjustment time of the first stage is greater than the preset maximum adjustment time of the first stage rear axle, the adjustment process flag bit is set to 4, it is determined that the adjustment of the rear axle in the first stage has timed out, and the current adjustment is ended to achieve calibration of the rear axle in the first stage.

[0011] In some embodiments, according to the difference between the actual data of the height sensor of each of the left and right axes of the front axle of the vehicle and the target value, combined with the control of the inflation valve and the exhaust valve of the front axle, the inflation valve and the exhaust valve of the left axis of the rear axle, and the inflation valve and the exhaust valve of the right axis of the rear axle, the calibration of the front axle is implemented in the first stage, including: determining whether the adjustment process flag bit = 1 or the adjustment process flag bit = 4 is satisfied; if it is determined that the adjustment process flag bit = 4, canceling the adjustment of the front axle in the first stage; if it is determined that the adjustment process flag bit = 1, executing the adjustment of the front axle in the first stage, starting the timing of the first stage front axle adjustment timer, and obtaining the first stage front axle adjustment timer. The first-stage front axle adjustment time; determine whether the absolute value of the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is less than or equal to the preset first-stage front axle adjustment accuracy value: if satisfied, set the flag bit of the left shaft of the front axle of the vehicle = 1, otherwise set the flag bit of the left shaft of the front axle of the vehicle = 0; determine whether the absolute value of the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is less than or equal to the preset first-stage front axle adjustment accuracy value: if satisfied, set the flag bit of the right shaft of the front axle of the vehicle = 1, otherwise set the flag bit of the right shaft of the front axle of the vehicle = 0; if it is determined that the flag bit of the left shaft of the front axle of the vehicle is satisfied =1, and the flag bit of the right shaft of the front axle of the vehicle =1, then set the adjustment process flag bit =2, determine that the adjustment of the front axle in the first stage is successful, end the current adjustment, and realize the calibration of the front axle in the first stage; if it is determined that the flag bit of the left shaft of the front axle of the vehicle =1, and the flag bit of the right shaft of the front axle of the vehicle =0, then: if it is determined that the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is less than 0, and the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is greater than 0, then control the exhaust valve of the left shaft of the rear axle to perform the exhaust action so that the right shaft of the front axle of the vehicle is raised and the left shaft of the front axle is lowered, and control The inflation valve of the right shaft of the rear axle performs an inflation action to raise the right shaft of the front axle of the vehicle and lower the left shaft of the front axle; if it is determined that the flag bit of the left shaft of the front axle of the vehicle=0, and the flag bit of the right shaft of the front axle of the vehicle=1, then: if it is determined that the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is greater than 0, and the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is less than 0, then the inflation valve of the left shaft of the rear axle is controlled to perform an inflation action to lower the right shaft of the front axle of the vehicle and raise the left shaft of the front axle, and the exhaust valve of the right shaft of the rear axle is controlled to perform an exhaust action to lower the right shaft of the front axle of the vehicle and raise the left shaft of the front axle;If it is determined that the flag bit of the left shaft of the front axle of the vehicle is 0, and the flag bit of the right shaft of the front axle of the vehicle is 0, then: if it is determined that the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is greater than 0, and the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is greater than 0, then the inflation valve of the front axle is controlled to perform an inflation action to raise the front axle of the vehicle; if it is determined that the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is less than 0, and the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is less than 0, then the exhaust valve of the front axle is controlled to perform an exhaust action to lower the front axle of the vehicle; if the front axle adjustment time of the first stage is less than or equal to the preset maximum time of the front axle adjustment of the first stage, return to continuous adjustment, until the front axle adjustment time of the first stage is greater than the preset maximum time of the front axle adjustment of the first stage, set the adjustment process flag bit to 4, determine that the adjustment of the front axle in the first stage has timed out, end the current adjustment, and realize the calibration of the front axle in the first stage. ;

[0012] In some embodiments, according to the difference between the actual data of the height sensor of each of the front left axle, the front right axle, the rear left axle and the rear right axle of the vehicle and the target value, combined with the control of the inflation valve and the exhaust valve of the front axle, the inflation valve and the exhaust valve of the left axle of the rear axle, and the inflation valve and the exhaust valve of the right axle of the rear axle, the calibration of the front axle and the rear axle is implemented in the second stage to complete the calibration of the electronically controlled air suspension system, including: starting the second stage adjustment timer to obtain the second stage adjustment time; determining whether the absolute value of the difference between the actual data of the height sensor of the left axle of the rear axle of the vehicle and the target value is less than or equal to the preset first stage rear axle adjustment accuracy value; if satisfied, the vehicle The flag bit of the left shaft of the rear axle of the vehicle is set to 1, otherwise the flag bit of the left shaft of the rear axle of the vehicle is set to 0; determine whether the absolute value of the difference between the actual data of the height sensor of the right shaft of the rear axle of the vehicle and the target value is less than or equal to the preset first-stage rear axle adjustment accuracy value: if satisfied, the flag bit of the right shaft of the rear axle of the vehicle is set to 1, otherwise the flag bit of the right shaft of the rear axle of the vehicle is set to 0; determine whether the absolute value of the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is less than or equal to the preset first-stage front axle adjustment accuracy value: if satisfied, the flag bit of the left shaft of the front axle of the vehicle is set to 1, otherwise the flag bit of the left shaft of the front axle of the vehicle is set to 0; determine whether the height of the right shaft of the front axle of the vehicle is satisfied The absolute value of the difference between the actual sensor data and the target value is less than or equal to the preset first-stage front axle adjustment accuracy value: if it is satisfied, the flag bit of the right axle of the front axle of the vehicle is set to 1, otherwise the flag bit of the right axle of the front axle of the vehicle is set to 0; if it is determined that the flag bit of the left axle of the rear axle of the vehicle is 1, the flag bit of the right axle of the rear axle of the vehicle is 1, the flag bit of the left axle of the front axle of the vehicle is 1, and the flag bit of the right axle of the front axle of the vehicle is 1, then the adjustment process flag bit is set to 3, and it is determined that the adjustment of the front axle and the rear axle in the second stage is successful, and the current adjustment is ended to realize the calibration of the front axle and the rear axle in the second stage, and complete the calibration of the electronically controlled air suspension system; if it is determined that the rear axle of the vehicle is not satisfied If the flag bit of the left axle of the rear axle of the vehicle is 1 and the flag bit of the right axle of the rear axle of the vehicle is 1, then: if it is determined that the difference between the actual data of the height sensor of the right axle of the rear axle of the vehicle and the target value is greater than 0, the inflation valve of the right axle of the rear axle is controlled to perform an inflation action; if it is determined that the difference between the actual data of the height sensor of the right axle of the rear axle of the vehicle and the target value is less than 0, the exhaust valve of the right axle of the rear axle is controlled to perform an exhaust action; if it is determined that the difference between the actual data of the height sensor of the left axle of the rear axle of the vehicle and the target value is greater than 0, the inflation valve of the left axle of the rear axle is controlled to perform an inflation action; if it is determined that the difference between the actual data of the height sensor of the left axle of the rear axle of the vehicle and the target value is less than 0, the exhaust valve of the left axle of the rear axle is controlled to perform an exhaust action;If it is determined that the flag bit of the left shaft of the front axle of the vehicle is not satisfied = 1, and the flag bit of the right shaft of the front axle of the vehicle is 1, then: if it is determined that the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is greater than 0, and the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is greater than 0, then the inflation valve of the front axle is controlled to perform an inflation action to raise the front axle of the vehicle; if it is determined that the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is less than 0, and the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is less than 0, then the exhaust valve of the front axle is controlled to perform an exhaust action to lower the front axle of the vehicle; if it is determined that the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is greater than 0, and the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is less than 0, then the inflation valve of the left shaft of the rear axle is controlled to perform an inflation action to lower the right shaft of the front axle of the vehicle and raise the left shaft of the front axle, and Control the exhaust valve of the right shaft of the rear axle to perform exhaust action so that the right shaft of the front axle of the vehicle is lowered and the left shaft of the front axle is raised; if it is determined that the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is less than 0, and the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is greater than 0, then control the exhaust valve of the left shaft of the rear axle to perform exhaust action so that the right shaft of the front axle of the vehicle is raised and the left shaft of the front axle is lowered, and control the inflation valve of the right shaft of the rear axle to perform inflation action so that the right shaft of the front axle of the vehicle is raised and the left shaft of the front axle is lowered; return to continuous adjustment when the second stage adjustment time is less than or equal to the preset second stage adjustment maximum time, until when the second stage adjustment time is greater than the preset second stage adjustment maximum time, set the adjustment process flag bit = 5, determine that the adjustment of the rear axle in the second stage has timed out, end the current adjustment, so as to realize the calibration of the front axle and the rear axle in the second stage, so as to complete the calibration of the electronically controlled air suspension system. ;

[0013] Matching the above method, the present invention provides, on the other hand, a control device for an electronically controlled air suspension system of a vehicle, wherein valve assemblies are respectively arranged on the front axle and the rear axle of the vehicle; the control device for the electronically controlled air suspension system of the vehicle comprises: an acquisition unit, configured to acquire the difference between actual data of height sensors of each of the front axle left axle, the front axle right axle, the rear axle left axle and the rear axle right axle of the vehicle and a target value when the electronically controlled air suspension system needs to be calibrated; a control unit, configured to calibrate the rear axle and the front axle in stages based on the relationship that the change of the active axle causes the corresponding change of the passive axle among the front axle left axle, the front axle right axle, the rear axle left axle and the rear axle right axle of the vehicle, in combination with the difference between actual data of height sensors of each of the front axle left axle, the front axle right axle, the rear axle left axle and the rear axle right axle of the vehicle, and in combination with the control of the valve assemblies respectively arranged on the front axle and the rear axle of the vehicle, so as to complete the calibration of the electronically controlled air suspension system.

[0014] In some embodiments, valve assemblies are respectively provided on the front axle and the rear axle of the vehicle, including: an inflation valve and an exhaust valve are provided on the front axle of the vehicle, and an inflation valve and an exhaust valve are respectively provided on the left shaft and the right shaft of the rear axle of the vehicle; the control unit controls the rear axle in stages based on the relationship that the active shaft among the left shaft, the right shaft, the left shaft and the right shaft of the front axle of the vehicle causes the passive shaft to change accordingly, in combination with the difference between the actual data of the height sensor of each shaft among the left shaft, the right shaft, the left shaft and the right shaft of the rear axle of the vehicle and the target value, and in combination with the control of the valve assemblies respectively provided on the front axle and the rear axle of the vehicle. and calibrating the front axle to complete the calibration of the electronically controlled air suspension system, including: based on the relationship that the passive axle changes correspondingly due to the change of the active axle among the front left axle, the front right axle, the rear left axle and the rear right axle of the vehicle, combined with the difference between the actual data of the height sensor of each axle among the front left axle, the front right axle, the rear left axle and the rear right axle of the vehicle and the target value, and combined with the control of the inflation valve and the exhaust valve of the front axle, the inflation valve and the exhaust valve of the rear left axle, and the inflation valve and the exhaust valve of the rear right axle, calibrating the rear axle and the front axle in stages to complete the calibration of the electronically controlled air suspension system.

[0015] In some embodiments, the acquisition unit acquires the difference between actual data of height sensors of each of the front left axle, front right axle, rear left axle and rear right axle of the vehicle and a target value, including: acquiring the height of the body mark line of each of the front left axle, front right axle, rear left axle and rear right axle of the vehicle, and determining the difference between the body mark line target height of the vehicle and the body mark line height of each of the front left axle, front right axle, rear left axle and rear right axle of the vehicle as the difference between the body height mark line target height and the actual height of each of the front left axle, front right axle, rear left axle and rear right axle of the vehicle, so as to: map the difference between actual data of height sensors of each of the front left axle, front right axle, rear left axle and rear right axle of the vehicle according to the difference between the body height mark line target height and the actual height of each of the front left axle, front right axle, rear left axle and rear right axle of the vehicle.

[0016] In some embodiments, the control unit calibrates the rear axle and the front axle in stages to complete the calibration of the electronically controlled air suspension system, based on the relationship that the change of the active axle among the front left axle, the front right axle, the rear left axle and the rear right axle of the vehicle causes the corresponding change of the passive axle, combined with the difference between actual data of the height sensors of each of the front left axle, the front right axle, the rear left axle and the rear right axle of the vehicle and the target value, and combined with the control of the inflation valve and the exhaust valve of the front axle, the inflation valve and the exhaust valve of the rear left axle, and the inflation valve and the exhaust valve of the rear right axle. and exhaust valves, to calibrate the rear axle in the first stage; according to the difference between the actual data of the height sensors of the left and right axles of the front axle of the vehicle and the target value, combined with the control of the inflation valve and exhaust valve of the front axle, the inflation valve and exhaust valve of the left axle of the rear axle, and the inflation valve and exhaust valve of the right axle of the rear axle, to calibrate the front axle in the first stage; according to the difference between the actual data of the height sensors of the left and right axles of the front axle of the vehicle and the target value, combined with the control of the inflation valve and exhaust valve of the front axle, the inflation valve and exhaust valve of the left axle of the rear axle, and the inflation valve and exhaust valve of the right axle of the rear axle, to calibrate the front axle and the rear axle in the second stage, so as to complete the calibration of the electronically controlled air suspension system.

[0017] In some embodiments, the control unit, according to the difference between the actual data of the height sensor of each of the left and right shafts of the rear axle of the vehicle and the target value, combines the control of the inflation valve and the exhaust valve of the left shaft of the rear axle, and the inflation valve and the exhaust valve of the right shaft of the rear axle, to calibrate the rear axle in the first stage, including: starting the first-stage rear axle adjustment timer to obtain the first-stage rear axle adjustment time; and marking the adjustment process flag bit = 0; determining whether the absolute value of the difference between the actual data of the height sensor of the left shaft of the rear axle of the vehicle and the target value is less than or equal to the preset first-stage rear axle adjustment accuracy value: if satisfied, then The flag bit of the left shaft of the rear axle of the vehicle is set to 1, otherwise, the flag bit of the left shaft of the rear axle of the vehicle is set to 0; determine whether the absolute value of the difference between the actual data of the height sensor of the right shaft of the rear axle of the vehicle and the target value is less than or equal to the preset first-stage rear axle adjustment accuracy value: if it is satisfied, the flag bit of the right shaft of the rear axle of the vehicle is set to 1, otherwise, the flag bit of the right shaft of the rear axle of the vehicle is set to 0; if it is determined that the flag bit of the left shaft of the rear axle of the vehicle is 1 and the flag bit of the right shaft of the rear axle of the vehicle is 1, then the adjustment process flag bit is set to 1, and it is determined that the adjustment of the rear axle in the first stage is successful, and the current adjustment is ended to achieve the adjustment of the rear axle in the first stage. calibration; if it is determined that the flag bit of the left shaft of the rear axle of the vehicle is 1, and the flag bit of the right shaft of the rear axle of the vehicle is 0, then: if it is determined that the difference between the actual data of the height sensor of the right shaft of the rear axle of the vehicle and the target value is greater than 0, the inflation valve of the right shaft of the rear axle is controlled to perform the inflation action; if it is determined that the difference between the actual data of the height sensor of the right shaft of the rear axle of the vehicle and the target value is less than 0, the exhaust valve of the right shaft of the rear axle is controlled to perform the exhaust action; if it is determined that the flag bit of the left shaft of the rear axle of the vehicle is 0, and the flag bit of the right shaft of the rear axle of the vehicle is 1 or 0, then: if it is determined that the actual data of the height sensor of the left shaft of the rear axle of the vehicle is If the difference between the calibration values ​​is greater than 0, the inflation valve of the left shaft of the rear axle is controlled to perform an inflation action; if it is determined that the difference between the actual data of the height sensor of the left shaft of the rear axle of the vehicle and the target value is less than 0, the exhaust valve of the left shaft of the rear axle is controlled to perform an exhaust action; when the rear axle adjustment time of the first stage is less than or equal to the preset maximum adjustment time of the first stage rear axle, the adjustment is returned to continue, until the rear axle adjustment time of the first stage is greater than the preset maximum adjustment time of the first stage rear axle, the adjustment process flag is set to 4, it is determined that the adjustment of the rear axle in the first stage has timed out, and the current adjustment is ended to achieve calibration of the rear axle in the first stage.

[0018] In some embodiments, the control unit, based on the difference between the actual data of the height sensor of each of the left and right shafts of the front axle of the vehicle and the target value, combines the control of the inflation valve and the exhaust valve of the front axle, the inflation valve and the exhaust valve of the left shaft of the rear axle, and the inflation valve and the exhaust valve of the right shaft of the rear axle, to implement calibration of the front axle in the first stage, including: determining whether the adjustment process flag bit = 1 or the adjustment process flag bit = 4 is satisfied; if it is determined that the adjustment process flag bit = 4, canceling the adjustment of the front axle in the first stage; if it is determined that the adjustment process flag bit = 1, executing the adjustment of the front axle in the first stage, so that the first stage front axle adjustment timer starts counting , obtain the first-stage front axle adjustment time; determine whether the absolute value of the difference between the actual data of the height sensor of the left axle of the front axle of the vehicle and the target value is less than or equal to the preset first-stage front axle adjustment accuracy value: if satisfied, set the flag bit of the left axle of the front axle of the vehicle = 1, otherwise, set the flag bit of the left axle of the front axle of the vehicle = 0; determine whether the absolute value of the difference between the actual data of the height sensor of the right axle of the front axle of the vehicle and the target value is less than or equal to the preset first-stage front axle adjustment accuracy value: if satisfied, set the flag bit of the right axle of the front axle of the vehicle = 1, otherwise, set the flag bit of the right axle of the front axle of the vehicle = 0; if it is determined that the left axle of the front axle of the vehicle is satisfied If the flag bit is 1 and the flag bit of the right shaft of the front axle of the vehicle is 1, then the adjustment process flag bit is set to 2, and it is determined that the adjustment of the front axle in the first stage is successful, and the current adjustment is ended to realize the calibration of the front axle in the first stage; if it is determined that the flag bit of the left shaft of the front axle of the vehicle is 1, and the flag bit of the right shaft of the front axle of the vehicle is 0, then: if it is determined that the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is less than 0, and the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is greater than 0, then the exhaust valve of the left shaft of the rear axle is controlled to perform the exhaust action to raise the right shaft of the front axle of the vehicle and lower the left shaft of the front axle, and control The inflation valve of the right shaft of the rear axle is controlled to perform an inflation action so that the right shaft of the front axle of the vehicle is raised and the left shaft of the front axle is lowered; if it is determined that the flag position of the left shaft of the front axle of the vehicle is 0, and the flag position of the right shaft of the front axle of the vehicle is 1, then: if it is determined that the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is greater than 0, and the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is less than 0, the inflation valve of the left shaft of the rear axle is controlled to perform an inflation action so that the right shaft of the front axle of the vehicle is lowered and the left shaft of the front axle is raised, and the exhaust valve of the right shaft of the rear axle is controlled to perform an exhaust action so that the right shaft of the front axle of the vehicle is lowered and the left shaft of the front axle is raised;If it is determined that the flag bit of the left shaft of the front axle of the vehicle is 0, and the flag bit of the right shaft of the front axle of the vehicle is 0, then: if it is determined that the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is greater than 0, and the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is greater than 0, then the inflation valve of the front axle is controlled to perform an inflation action to raise the front axle of the vehicle; if it is determined that the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is less than 0, and the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is less than 0, then the exhaust valve of the front axle is controlled to perform an exhaust action to lower the front axle of the vehicle; if the front axle adjustment time of the first stage is less than or equal to the preset maximum time of the front axle adjustment of the first stage, return to continuous adjustment, until the front axle adjustment time of the first stage is greater than the preset maximum time of the front axle adjustment of the first stage, set the adjustment process flag bit to 4, determine that the adjustment of the front axle in the first stage has timed out, end the current adjustment, and realize the calibration of the front axle in the first stage. ;

[0019] In some embodiments, the control unit, based on the difference between actual data of the height sensor of each of the front left axle, the front right axle, the rear left axle and the rear right axle of the vehicle and the target value, combines the control of the inflation valve and the exhaust valve of the front axle, the inflation valve and the exhaust valve of the left axle of the rear axle, and the inflation valve and the exhaust valve of the right axle of the rear axle, to calibrate the front axle and the rear axle in the second stage to complete the calibration of the electronically controlled air suspension system, including: starting the second stage adjustment timer to obtain the second stage adjustment time; determining whether the absolute value of the difference between the actual data of the height sensor of the left axle of the rear axle of the vehicle and the target value is less than or equal to the preset first stage rear axle adjustment accuracy value: if satisfied, then Set the flag bit of the left shaft of the rear axle of the vehicle = 1, otherwise set the flag bit of the left shaft of the rear axle of the vehicle = 0; determine whether the absolute value of the difference between the actual data of the height sensor of the right shaft of the rear axle of the vehicle and the target value is less than or equal to the preset first-stage rear axle adjustment accuracy value: if satisfied, set the flag bit of the right shaft of the rear axle of the vehicle = 1, otherwise set the flag bit of the right shaft of the rear axle of the vehicle = 0; determine whether the absolute value of the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is less than or equal to the preset first-stage front axle adjustment accuracy value: if satisfied, set the flag bit of the left shaft of the front axle of the vehicle = 1, otherwise set the flag bit of the left shaft of the front axle of the vehicle = 0; determine whether the right shaft of the front axle of the vehicle is satisfied The absolute value of the difference between the actual data of the height sensor and the target value is less than or equal to the preset first-stage front axle adjustment accuracy value: if it is satisfied, the flag bit of the right axle of the front axle of the vehicle is set to 1, otherwise the flag bit of the right axle of the front axle of the vehicle is set to 0; if it is determined that the flag bit of the left axle of the rear axle of the vehicle is 1, the flag bit of the right axle of the rear axle of the vehicle is 1, the flag bit of the left axle of the front axle of the vehicle is 1, and the flag bit of the right axle of the front axle of the vehicle is 1, then the adjustment process flag bit is set to 3, and it is determined that the adjustment of the front axle and the rear axle in the second stage is successful, and the current adjustment is ended to realize the calibration of the front axle and the rear axle in the second stage, and complete the calibration of the electronically controlled air suspension system; if it is determined that the vehicle is not satisfied The flag bit of the left shaft of the rear axle of the vehicle is 1, and the flag bit of the right shaft of the rear axle of the vehicle is 1, then: if it is determined that the difference between the actual data of the height sensor of the right shaft of the rear axle of the vehicle and the target value is greater than 0, the inflation valve of the right shaft of the rear axle is controlled to perform an inflation action; if it is determined that the difference between the actual data of the height sensor of the right shaft of the rear axle of the vehicle and the target value is less than 0, the exhaust valve of the right shaft of the rear axle is controlled to perform an exhaust action; if it is determined that the difference between the actual data of the height sensor of the left shaft of the rear axle of the vehicle and the target value is greater than 0, the inflation valve of the left shaft of the rear axle is controlled to perform an inflation action; if it is determined that the difference between the actual data of the height sensor of the left shaft of the rear axle of the vehicle and the target value is less than 0, the exhaust valve of the left shaft of the rear axle is controlled to perform an exhaust action;If it is determined that the flag bit of the left shaft of the front axle of the vehicle is not satisfied = 1, and the flag bit of the right shaft of the front axle of the vehicle is 1, then: if it is determined that the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is greater than 0, and the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is greater than 0, then the inflation valve of the front axle is controlled to perform an inflation action to raise the front axle of the vehicle; if it is determined that the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is less than 0, and the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is less than 0, then the exhaust valve of the front axle is controlled to perform an exhaust action to lower the front axle of the vehicle; if it is determined that the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is greater than 0, and the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is less than 0, then the inflation valve of the left shaft of the rear axle is controlled to perform an inflation action to lower the right shaft of the front axle of the vehicle and raise the left shaft of the front axle, and Control the exhaust valve of the right shaft of the rear axle to perform exhaust action so that the right shaft of the front axle of the vehicle is lowered and the left shaft of the front axle is raised; if it is determined that the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is less than 0, and the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is greater than 0, then control the exhaust valve of the left shaft of the rear axle to perform exhaust action so that the right shaft of the front axle of the vehicle is raised and the left shaft of the front axle is lowered, and control the inflation valve of the right shaft of the rear axle to perform inflation action so that the right shaft of the front axle of the vehicle is raised and the left shaft of the front axle is lowered; return to continuous adjustment when the second stage adjustment time is less than or equal to the preset second stage adjustment maximum time, until when the second stage adjustment time is greater than the preset second stage adjustment maximum time, set the adjustment process flag bit = 5, determine that the adjustment of the rear axle in the second stage has timed out, end the current adjustment, so as to realize the calibration of the front axle and the rear axle in the second stage, so as to complete the calibration of the electronically controlled air suspension system. ;

[0020] Matching the above device, the present invention further provides a vehicle on the other hand, including: the control device of the electronically controlled air suspension system of the vehicle as described above.

[0021] In matching with the above method, the present invention provides a storage medium on another aspect, wherein the storage medium includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute the steps of the control method of the vehicle's electronically controlled air suspension system as described above.

[0022] Matching the above method, the present invention further provides a computer program product on the other hand, including a computer program, which implements the steps of the control method of the electronically controlled air suspension system of the vehicle described above when executed by a processor.

[0023] Therefore, the scheme of the present invention installs an inflation valve and an exhaust valve on the front axle of the vehicle, and installs an inflation valve and an exhaust valve on each axle of the rear axle of the vehicle. When the ECAS system needs to be calibrated, based on the difference between the actual data of the height sensors on the left and right sides of each axle of the vehicle and the target value, and the high-level time of the PWM that controls the solenoid valve, the rear axle is calibrated in the first stage, the front axle is calibrated, and the rear axle and the front axle are calibrated in combination in the second stage, so as to realize the calibration function of the electronically controlled air suspension system; thus, by calibrating the rear axle and the front axle in stages based on the specific relationship that the change of the active axle will affect the corresponding change of each passive axle, the calibration accuracy and efficiency can be improved.

[0024] Other features and advantages of the present invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the present invention.

[0025] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic flow chart of an embodiment of a control method of an electronically controlled air suspension system for a vehicle of the present invention;

[0027] Figure 2 It is a flow chart of an embodiment of calibrating the rear axle and the front axle in stages in the method of the present invention;

[0028] Figure 3 A schematic diagram of a flow chart of an embodiment of realizing calibration of the rear axle in the first stage in the method of the present invention;

[0029] Figure 4 A schematic flow chart of an embodiment of realizing calibration of the front axle in the first stage in the method of the present invention;

[0030] Figure 5 A schematic flow chart of an embodiment of implementing calibration of the front axle and the rear axle in the second stage in the method of the present invention;

[0031] Figure 6 It is a structural schematic diagram of an embodiment of a control device of an electronically controlled air suspension system of a vehicle of the present invention;

[0032] Figure 7 It is a schematic diagram of the structure of the electronically controlled air suspension system (vehicle side view);

[0033] Figure 8 It is a structural diagram of the vehicle's electronically controlled air suspension system (vehicle side view);

[0034] Fig. 9It is a calibration diagram of the electronically controlled air suspension system;

[0035] Fig.10 It is a structural diagram of the chassis suspension;

[0036] Fig.11 The schematic diagram of the structure of the whole vehicle;

[0037] Fig.12 It is a schematic diagram of the structure of the front left wheel of the vehicle;

[0038] Fig.13 It is a flowchart of the rear axle adjustment method in the first stage;

[0039] Fig.14 It is a flowchart of the front axle adjustment method in the first stage;

[0040] Fig.15 It is a flow chart of the second stage adjustment method;

[0041] Fig.16 This is a flowchart of the one-key calibration function.

[0042] In conjunction with the accompanying drawings, the reference numerals in the embodiments of the present invention are as follows:

[0043] 1-frame; 2-wheel bracket; 3-wheel; 4-air spring; 5-shock absorber; 6-height sensor; 7-height sensor connecting rod; 8-solenoid valve; 9-air tank; 10-height control unit ECU; 11-air circuit; 12-signal circuit; 13-sway bar; 14-rocker switch; 21-front axle exhaust valve; 22-front axle charging valve; 23-RL exhaust valve; 24-RL charging valve; 25-RR exhaust valve; 26-RR charging valve; 102-acquisition unit; 104-control unit. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0045] Figure 7 The schematic diagram of the structure of the electronically controlled air suspension system (vehicle side view) is shown in FIG. Figure 7 As shown: single air spring and control system structure. Figure 7As shown, a single air spring and control system includes: a vehicle frame 1, a wheel bracket 2, a wheel 3, an air spring 4, a shock absorber 5, a height sensor 6, a height sensor connecting rod 7, a solenoid valve 8, an air tank 9, a height control unit ECU 10, an air circuit 11, a signal line 12, and a sway bar 13. The air tank 9 is connected to the air circuit 11, the solenoid valve 8 is arranged on the air circuit 11, the shock absorber 5 and the air spring 4 are arranged between the vehicle frame 1 and the vehicle bracket 2, the height sensor 6, the sway bar 13 and the height sensor connecting rod 7 are arranged between the vehicle frame 1 and the vehicle bracket 2, and the height control unit ECU 10 is respectively connected to the solenoid valve 8 and the signal line 12. The wheel 3 is mounted on the wheel bracket 2.

[0046] Figure 8 The structure diagram of the electronically controlled air suspension system of the whole vehicle (vehicle side view), specifically the structure diagram of the electronically controlled air suspension system of the four-axle whole vehicle. Figure 8 As shown, the four-axle vehicle electronically controlled air suspension system includes: a front axle right axle FR, a front axle left axle FL, a rear axle right axle RR, a rear axle left axle RL, a front axle exhaust valve 21, a front axle charging valve 22, an RL exhaust valve 23, an RL charging valve 24, an RR exhaust valve 25, and an RR charging valve 26.

[0047] Fig. 9 Figure 1 is a calibration diagram of the electronically controlled air suspension system. Fig. 9 As shown, a rocker switch 14 is also connected to the height control unit ECU10. After the OEM completes the installation of the entire system, it is necessary to calibrate each axle according to each type of vehicle to keep the vehicle body level and keep the vehicle body height at a suitable position (reset position). The calibration process in the relevant scheme is: the ECAS calibrator measures the baseline height of each axle of the vehicle body (front right, front left, rear left, rear right), and then subtracts the height of each axle after the desired vehicle body is level from the measured data to reach the height that each axle needs to rise or fall, and finally sends the calculated height difference to the ECU through the calibration tool (computer, mobile phone, etc.) Fig. 9 The ECU shown can interact with a mobile phone APP). After receiving the command, the ECU controls the height change of each axis. The method of adjusting the balance of the four axes in sequence in the related scheme will be very time-consuming and low in accuracy during the actual debugging process, because each axis affects each other during the debugging process. When the first axis is calibrated with inflation and deflation, the height of the other three axes will also change. According to this operation method, after completing the fourth axis calibration, the other three axes are no longer in the original target position, so the previous calibration process must be repeated until the body is adjusted to a level and the calibration is completed.

[0048] Some solutions disclose suspension calibration methods, but in actual operation, due to the above-mentioned mutual disturbance phenomenon, multiple measurement calibrations are required to make the suspension level.

[0049] Some other schemes disclose a control method, device, vehicle and storage medium for an electronically controlled air suspension system of a vehicle. The control method relies on the fact that all four axles of the vehicle can be adjusted individually, and cannot achieve the high-precision calibration function when the front axle only has inflation and exhaust solenoid valves.

[0050] Some other schemes disclose an automatic calibration method using the mutual disturbance of the suspension, which calculates the disturbance ratio of other axes (passive) by the rise and fall of one axis (active), and adjusts the body level by using the disturbance ratio of each axis. Since the body load is uneven and the deformation of the air spring is nonlinear during the inflation and deflation process. If each axis can rise and fall, the most efficient adjustment should be made separately. This patent calculates the disturbance ratio of other axes by the rise and fall of one axis, which increases the difficulty of adjustment and takes longer time.

[0051] Therefore, the scheme of the present invention proposes a control method for an electronically controlled air suspension system of a vehicle, specifically a high-precision calibration method for an electronically controlled air suspension system of a vehicle based on the simultaneous rise and fall of the front axle, by installing an inflation valve and an exhaust valve (such as the front axle exhaust valve 21 and the front axle inflation valve 22) on the front axle of the vehicle, and installing an inflation valve and an exhaust valve on each axle of the rear axle of the vehicle, the front axle of the vehicle has only two two-position two-way valves, which can only achieve simultaneous rise and fall actions, and the law that adjusting the rear axle will affect the height of the two axles of the front axle is reasonably and accurately used. Under this condition, high-precision calibration of the vehicle can still be achieved, which not only improves the calibration accuracy and efficiency, but also avoids errors caused by multiple manual measurements.

[0052] According to an embodiment of the present invention, a control method for an electronically controlled air suspension system of a vehicle is provided, such as Figure 1 The flow chart of an embodiment of the method of the present invention is shown in FIG. A valve assembly is respectively arranged on the front axle and the rear axle of the vehicle; in the solution of the present invention, as Figure 1 As shown, the control method of the electronically controlled air suspension system of the vehicle includes: steps S110 to S120.

[0053] At step S110, when the electronically controlled air suspension system needs to be calibrated, the difference between the actual data of the height sensor of each of the front axle left axle, the front axle right axle, the rear axle left axle and the rear axle right axle of the vehicle and the target value is obtained, such as the difference Δσ between the actual data of the height sensor of the left side of the first axle of the vehicle and the target value L , the difference between the actual data of the height sensor on the right side of the first bridge of the vehicle and the target value Δσ R .

[0054] In some embodiments, obtaining the difference between actual data of height sensors of each of the front left axle, front right axle, rear left axle and rear right axle of the vehicle and a target value in step S110 includes: obtaining the height of the body mark line of each of the front left axle, front right axle, rear left axle and rear right axle of the vehicle, and determining the difference between the body mark line target height of the vehicle and the body mark line height of each of the front left axle, front right axle, rear left axle and rear right axle of the vehicle as the difference between the body height mark line target height and the actual height of each of the front left axle, front right axle, rear left axle and rear right axle of the vehicle, so as to: map the difference between actual data of height sensors of each of the front left axle, front right axle, rear left axle and rear right axle of the vehicle according to the difference between the body height mark line target height and the actual height of each of the front left axle, front right axle, rear left axle and rear right axle of the vehicle.

[0055] After the OEM completes vehicle production, the ECAS system needs to be calibrated. Fig.16 The figure is a flowchart of the one-key calibration function. Fig.16 As shown, in the high-precision calibration method of the electronically controlled air suspension based on the simultaneous rise and fall of the front axle proposed by the solution of the present invention, the process of the one-key calibration function includes: Step 1, the schematic diagram of the ECAS system structure is as shown Figure 7 , Figure 8 , the ECAS system electronic control system part is as follows Fig. 9 As shown, after the vehicle is produced, place the vehicle in the trench position, and ensure that the sway bar 13 is basically level before calibration. Step 2: Power on the vehicle, and use the ECAS APP to establish a connection with the ECU via Bluetooth.

[0056] Fig.10 Figure 1 is a schematic diagram of the chassis suspension structure. Fig.10 As shown, FL, FR, RL, and RR are schematic diagrams of the dynamic models of the front axle left airbag, the front axle right airbag, the rear axle left airbag, and the rear axle right airbag of the suspension, respectively. Fig.11 The schematic diagram of the vehicle structure is shown in Figure 1. Fig.12 It is a schematic diagram of the structure of the front left wheel of the vehicle. Fig.11 and Fig.12 As shown in the figure, the body mark line is the horizontal line selected by the calibration personnel on the body, which varies with different models; H is the height from the current ground to the body mark line; H goal The height of the vehicle body line from the ground after adjusting the balance is also called the target height; H goal -H=h, where h is the distance from the vehicle body marking line to the target height, which is also the data value that the mobile phone or computer interacts with the ECU during the high-precision calibration process.

[0057] You need to use the measuring equipment first. Fig.12The height H of the body marking line of the four axles of the vehicle is measured as shown i (i=FL / FR / RL / RR), the target height of the vehicle body marking line depends on the vehicle model H goal , by H goal -H i =h i (i=FL / FR / RL / RR) can calculate the difference between the target height and the actual height of each axle body mark line hi, and input this height difference hi to the ECU through the ECAS APP. The ECU can map this height difference hi to Fig.13 , Fig.14 , Fig.15 The height sensor actual data and the target value difference Δσ are shown. At the same time, the high level time Tpwm (ms) of the PWM that controls the solenoid valve 8 needs to be input. After the input is completed, the ECU can automatically calibrate through the difference between the four axes and the PWM. Among them, the automatic calibration is divided into three parts: the first stage is coarse adjustment, and the second stage is fine adjustment. According to the high level time Tpwm (ms) of PWM, the amount of filling or exhaust of the control valve is controlled.

[0058] The solution of the present invention can obtain the input value required by the ECU by manually measuring the height of the vehicle body mark line and subtracting it from the target height. The height of the vehicle body mark line can be automatically measured by installing wireless distance measuring devices on the four axes of the vehicle. In some alternative embodiments, the height of the vehicle body mark line is automatically measured by the wireless distance measuring devices installed on the four axes.

[0059] At step S120, based on the relationship that the change of the active shaft among the front axle left shaft, the front axle right shaft, the rear axle left shaft and the rear axle right shaft of the vehicle causes the corresponding change of the passive shaft, combined with the difference between the actual data of the height sensor of each shaft among the front axle left shaft, the front axle right shaft, the rear axle left shaft and the rear axle right shaft of the vehicle and the target value, and combined with the control of the valve components respectively provided on the front axle and the rear axle of the vehicle, the rear axle and the front axle are calibrated in stages to complete the calibration of the electronically controlled air suspension system. Among them, the active shaft is each shaft of the rear axle, and the passive shaft is each shaft of the front axle.

[0060] The scheme of the present invention proposes a high-precision calibration scheme for an electronically controlled air suspension based on the simultaneous rise and fall of the front axle. By respectively arranging valve assemblies (such as inflation valves and exhaust valves) on the front and rear axles of the vehicle, relying on the relationship that changes in the active shaft will affect corresponding changes in each passive shaft, the mutual disturbance law (positive correlation for the same-side shafts and negative correlation for the diagonal shafts) is reasonably and accurately used to quickly and efficiently implement the calibration function of the electronically controlled air suspension system, which not only improves the calibration accuracy and efficiency, but also avoids errors caused by multiple manual measurements, thereby solving the problem of multiple measurements and calibrations required due to mutual disturbances of the four axes of the suspension, and solving the problem of low calibration accuracy and complicated calibration process caused by only having an inflation valve and an exhaust valve on the front axle of the suspension.

[0061] Preferably, valve assemblies are respectively provided on the front axle and the rear axle of the vehicle, including: an inflation valve and an exhaust valve are respectively provided on the front axle of the vehicle, and an inflation valve and an exhaust valve are respectively provided on the left shaft and the right shaft of the rear axle of the vehicle. Specifically, the inflation valve and the exhaust valve are provided on the front axle of the vehicle, specifically, the inflation valve and the exhaust valve are provided between the left shaft and the right shaft of the front axle of the vehicle, that is, the inflation valve and the exhaust valve are provided between the left and right axles of the front axle (such as the front axle exhaust valve 21 and the front axle inflation valve 22), and the inflation valve and the exhaust valve are respectively provided on the left shaft and the right shaft of the rear axle of the vehicle (such as the RL exhaust valve 23, the RL inflation valve 24, the RR exhaust valve 25 and the RR inflation valve 26).

[0062] Accordingly, in step S120, based on the relationship that the passive shaft changes correspondingly due to the change of the active shaft among the front axle left shaft, the front axle right shaft, the rear axle left shaft and the rear axle right shaft of the vehicle, combined with the difference between the actual data of the height sensor of each shaft among the front axle left shaft, the front axle right shaft, the rear axle left shaft and the rear axle right shaft of the vehicle and the target value, and combined with the control of the valve components respectively provided on the front axle and the rear axle of the vehicle, the rear axle and the front axle are calibrated in stages to complete the calibration of the electronically controlled air suspension system, specifically including: based on the The relationship between the change of the active shaft among the front left shaft, front right shaft, rear left shaft and rear right shaft of the vehicle causing the corresponding change of the passive shaft, combined with the difference between the actual data of the height sensor of each shaft among the front left shaft, front right shaft, rear left shaft and rear right shaft of the vehicle and the target value, and combined with the control of the inflation valve and exhaust valve of the front axle, the inflation valve and exhaust valve of the rear left shaft, and the inflation valve and exhaust valve of the rear right shaft, the rear axle and the front axle are calibrated in stages to complete the calibration of the electronically controlled air suspension system.

[0063] The scheme of the present invention is to install an inflation valve and an exhaust valve (such as the front axle exhaust valve 21 and the front axle inflation valve 22) on the front axle of the vehicle, specifically between the front axle FR and FL; and install an inflation valve and an exhaust valve (such as the RL exhaust valve 23, the RL inflation valve 24, the RR exhaust valve 25 and the RR inflation valve 26) on each axle of the rear axle, relying on the relationship that the change of the active shaft will affect the corresponding change of each passive shaft, reasonably and accurately use the mutual disturbance law (positive correlation of the same side shaft and negative correlation of the diagonal shaft), and quickly and efficiently realize the calibration function of the electronically controlled air suspension system, thereby improving the calibration accuracy and efficiency and avoiding the error caused by multiple manual measurements, thereby solving the problem of multiple measurements and calibrations required due to mutual disturbance of the four axes of the suspension, and solving the problem of low calibration accuracy and complicated calibration process caused by only having an inflation valve and an exhaust valve on the front axle of the suspension.

[0064] In some embodiments, in step S120, based on the relationship that changes in the active shafts among the front left axle, front right axle, rear left axle and rear right axle of the vehicle cause corresponding changes in the passive shafts, combined with the difference between actual data of height sensors of each of the front left axle, front right axle, rear left axle and rear right axle of the vehicle and the target value, and combined with the control of the inflation valve and exhaust valve of the front axle, the inflation valve and exhaust valve of the rear left axle, and the inflation valve and exhaust valve of the rear right axle, the rear axle and the front axle are calibrated in stages to complete the specific process of calibration of the electronically controlled air suspension system, see the following exemplary description.

[0065] Combine the following Figure 2 The flowchart of an embodiment of calibrating the rear axle and the front axle in stages in the method of the present invention is shown, which further illustrates the specific process of calibrating the rear axle and the front axle in stages in step S120, including: steps S210 to S230.

[0066] Step S210, based on the difference between the actual data of the height sensors of each axis of the left and right rear axles of the vehicle and the target value, combined with the control of the inflation valve and the exhaust valve of the left rear axle, and the inflation valve and the exhaust valve of the right rear axle, the rear axle is calibrated in the first stage.

[0067] In some embodiments, in step S210, based on the difference between actual data of height sensors of each of the left and right rear axles of the vehicle and the target value, combined with the control of the inflation valve and exhaust valve of the left rear axle, as well as the inflation valve and exhaust valve of the right rear axle, the specific process of calibrating the rear axle is implemented in the first stage, see the following exemplary description.

[0068] Combine the following Figure 3 The flowchart of an embodiment of the method of the present invention for realizing the calibration of the rear axle in the first stage further illustrates the specific process of realizing the calibration of the rear axle in the first stage in step S210, including: step S310 to step S370.

[0069] Step S310, start the first stage rear axle adjustment timer to obtain the first stage rear axle adjustment time; and mark the adjustment process flag bit = 0.

[0070] Step S320, determining whether the absolute value of the difference between the actual data of the height sensor of the left rear axle of the vehicle and the target value is less than or equal to the preset first-stage rear axle adjustment accuracy value: if it is satisfied, the flag of the left rear axle of the vehicle is set to 1, otherwise the flag of the left rear axle of the vehicle is set to 0. The flag of the left rear axle of the vehicle is specifically a flag of whether the actual data of the height sensor of the left rear axle of the vehicle reaches the target value.

[0071] Step S330, determining whether the absolute value of the difference between the actual data of the height sensor of the right shaft of the rear axle of the vehicle and the target value is less than or equal to the preset first-stage rear axle adjustment accuracy value: if it is satisfied, the flag bit of the right shaft of the rear axle of the vehicle is set to 1, otherwise the flag bit of the right shaft of the rear axle of the vehicle is set to 0. The flag bit of the right shaft of the rear axle of the vehicle is a flag bit indicating whether the actual data of the height sensor of the right shaft of the rear axle of the vehicle reaches the target value.

[0072] Step S340, if it is determined that the flag bit of the left shaft of the rear axle of the vehicle = 1 and the flag bit of the right shaft of the rear axle of the vehicle = 1, then set the adjustment process flag bit = 1, determine that the adjustment of the rear axle in the first stage is successful, end the current adjustment, and realize the calibration of the rear axle in the first stage.

[0073] Step S350, if it is determined that the flag of the left rear axle of the vehicle is 1 and the flag of the right rear axle of the vehicle is 0, then: if it is determined that the difference between the actual data of the height sensor of the right rear axle of the vehicle and the target value is greater than 0, the inflation valve of the right rear axle is controlled to perform inflation; if it is determined that the difference between the actual data of the height sensor of the right rear axle of the vehicle and the target value is less than 0, the exhaust valve of the right rear axle is controlled to perform exhaust. When it is equal to 0, no adjustment is made.

[0074] Step S360, if it is determined that the flag bit of the left shaft of the rear axle of the vehicle = 0, and the flag bit of the right shaft of the rear axle of the vehicle = 1 or 0, then: if it is determined that the difference between the actual data of the height sensor of the left shaft of the rear axle of the vehicle and the target value is greater than 0, the inflation valve of the left shaft of the rear axle is controlled to perform an inflation action; if it is determined that the difference between the actual data of the height sensor of the left shaft of the rear axle of the vehicle and the target value is less than 0, the exhaust valve of the left shaft of the rear axle is controlled to perform an exhaust action.

[0075] Step S370, when the first-stage rear axle adjustment time is less than or equal to the preset first-stage rear axle adjustment maximum time, return to continue adjustment until the first-stage rear axle adjustment time is greater than the preset first-stage rear axle adjustment maximum time, set the adjustment process flag = 4, determine that the first-stage adjustment of the rear axle has timed out, end the current adjustment, and realize calibration of the rear axle in the first stage.

[0076] like Fig.16 As shown, in the high-precision calibration method of the electronically controlled air suspension based on the simultaneous rise and fall of the front axle proposed in the solution of the present invention, the process of the one-key calibration function also includes: Step 3, the first-stage rear axle calibration.

[0077] Fig.13 Schematic diagram of the process flow of the first-stage rear axle adjustment method. Fig.13 Explanation of relevant symbols in: Δσ L : The difference between the actual data of the left side height sensor of the first bridge of the vehicle and the target value. The initial value is Fig.12 The corresponding axle h is mapped to; Δσ R : The difference between the actual data of the height sensor on the right side of the first bridge of the vehicle and the target value. The initial value is Fig.12 The corresponding axle h is shown mapped to; |Δσ L |,|Δσ R | means taking the absolute value; flag L : Flag indicating whether the actual data of the height sensor on the left side of the first bridge of the vehicle reaches the target value; flag R : Whether the actual data of the height sensor on the right side of the first bridge of the vehicle reaches the target value flag; T Axle : First stage rear axle adjustment timer; T Axle_max : Maximum time of the first-stage rear axle adjustment; CalibrateFlag: High-precision adjustment process flag, CalibrateFlag = 0, 1, 2, 3, 4, 5, representing the start of the first-stage rear axle adjustment, the success of the first-stage rear axle adjustment, the success of the first-stage front axle adjustment, the success of the second-stage adjustment, the timeout of the first-stage adjustment, and the timeout of the second-stage adjustment, respectively; ε1: The accuracy value of the first-stage rear axle adjustment.

[0078] like Fig.13 As shown, the first stage rear axle adjustment method includes:

[0079] Step 31: During the first stage rear axle adjustment, the first stage rear axle adjustment timer T Axle Start timing, the first stage rear axle adjustment starts CalibrateFlag = 0, determine whether the absolute value of the difference between the actual data of the left height sensor of the first axle of the vehicle and the target value |Δσ L |≤The first-stage rear axle adjustment accuracy value ε1, the absolute value of the difference between the actual data of the right height sensor of the first axle of the vehicle and the target value|Δσ R |≤First stage rear axle adjustment accuracy value ε1:

[0080] If both |Δσ L |≤ε1, |Δσ R |≤ε1, whether the actual data of the left height sensor of the first bridge of the vehicle reaches the target value flag L Flag indicating whether the actual data of the height sensor on the right side of the first bridge of the vehicle reaches the target value R Both are set to 1, the first stage rear axle adjustment is successful, and CalibrateFlag is set to 1.

[0081] If |Δσ L |≤ε1, does not satisfy |Δσ R|≤ε1, flag L Set to 1, flag R Set to 0, judge Δσ R >0, the right RR of the rear axle is inflated, otherwise the RR is deflated, and then step 32 is executed.

[0082] If |Δσ is not satisfied L |≤ε1, satisfying |Δσ R |≤ε1, flag L Set to 0, flag R Set to 1, judge Δσ L >0, the right RL of the rear axle is inflated, otherwise the RL is deflated, and then step 32 is executed.

[0083] If |Δσ is not satisfied L |≤ε1, |Δσ R |≤ε1, flag L Set to 0, flag R Set to 0, judge Δσ L >0, the right RL of the rear axle is inflated, otherwise the RL is deflated, and then step 32 is executed.

[0084] Step 32: If T Axle >The maximum time T for the first stage rear axle adjustment Axle_max If it is not satisfied, the iteration process will continue until T Axle >T Axle_max If it is satisfied, the first stage rear axle adjustment times out, CalibrateFlag is set to 4, and the first stage rear axle adjustment ends.

[0085] Among them, the front axle can also be calibrated in the first stage, but from the experiment, the time efficiency of adjusting the rear axle is faster. The rear axle can be adjusted separately, while the front axle can only be raised and lowered at the same time.

[0086] In the solution of the present invention, the valves of the entire air suspension system are only two two-position two-way valves on the front axle (such as the front axle exhaust valve 21 and the front axle inflation valve 22), and the rear axle is a separate liftable valve, the overall cost is lower, and by reasonably adjusting the rear axle to affect the front axle, high-precision vehicle calibration can be achieved, and at the same time, the calibration efficiency and accuracy are higher than those of related solutions.

[0087] Step S220, based on the difference between the actual data of the height sensors of each axis of the left and right front axles of the vehicle and the target value, combined with the control of the inflation valve and the exhaust valve of the front axle, the inflation valve and the exhaust valve of the left rear axle, and the inflation valve and the exhaust valve of the right rear axle, the front axle is calibrated in the first stage.

[0088] In some embodiments, in step S220, based on the difference between actual data of height sensors of each of the left and right front axles of the vehicle and the target value, combined with the control of the inflation valve and the exhaust valve of the front axle, the inflation valve and the exhaust valve of the left rear axle, and the inflation valve and the exhaust valve of the right rear axle, the specific process of calibrating the front axle is implemented in the first stage, see the following exemplary description.

[0089] Combine the following Figure 4 The flowchart of an embodiment of the method of the present invention for realizing the calibration of the front axle in the first stage further illustrates the specific process of realizing the calibration of the front axle in the first stage in step S220, including: step S410 to step S490.

[0090] Step S410, determining whether the adjustment process flag bit=1 or the adjustment process flag bit=4 is satisfied.

[0091] Step S420, if it is determined that the adjustment process flag bit = 4, cancel the first stage adjustment of the front axle; if it is determined that the adjustment process flag bit = 1, execute the first stage adjustment of the front axle, start the first stage front axle adjustment timer, and obtain the first stage front axle adjustment time.

[0092] Step S430, determining whether the absolute value of the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is less than or equal to the preset first-stage front axle adjustment accuracy value: if it is satisfied, the flag of the left shaft of the front axle of the vehicle is set to 1, otherwise the flag of the left shaft of the front axle of the vehicle is set to 0. The flag of the left shaft of the front axle of the vehicle is specifically a flag of whether the actual data of the height sensor of the left shaft of the front axle of the vehicle reaches the target value.

[0093] Step S440, determining whether the absolute value of the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is less than or equal to the preset first-stage front axle adjustment accuracy value: if it is satisfied, the flag of the right shaft of the front axle of the vehicle is set to 1, otherwise the flag of the right shaft of the front axle of the vehicle is set to 0. The flag of the right shaft of the front axle of the vehicle is specifically a flag of whether the actual data of the height sensor of the right shaft of the front axle of the vehicle reaches the target value.

[0094] Step S450, if it is determined that the flag bit of the left shaft of the front axle of the vehicle = 1, and the flag bit of the right shaft of the front axle of the vehicle = 1, then set the adjustment process flag bit = 2, determine that the adjustment of the front axle in the first stage is successful, end the current adjustment, and realize the calibration of the front axle in the first stage.

[0095] Step S460, if it is determined that the flag bit of the left shaft of the front axle of the vehicle = 1, and the flag bit of the right shaft of the front axle of the vehicle = 0, then: if it is determined that the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is less than 0, and the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is greater than 0, then the exhaust valve of the left shaft of the rear axle is controlled to perform an exhaust action to raise the right shaft of the front axle of the vehicle and lower the left shaft of the front axle, and the inflation valve of the right shaft of the rear axle is controlled to perform an inflation action to raise the right shaft of the front axle of the vehicle and lower the left shaft of the front axle.

[0096] Step S470, if it is determined that the flag bit of the left shaft of the front axle of the vehicle = 0, and the flag bit of the right shaft of the front axle of the vehicle = 1, then: if it is determined that the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is greater than 0, and the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is less than 0, then the inflation valve of the left shaft of the rear axle is controlled to perform an inflation action to lower the right shaft of the front axle of the vehicle and raise the left shaft of the front axle, and the exhaust valve of the right shaft of the rear axle is controlled to perform an exhaust action to lower the right shaft of the front axle of the vehicle and raise the left shaft of the front axle.

[0097] Step S480, if it is determined that the flag bit of the left shaft of the front axle of the vehicle = 0, and the flag bit of the right shaft of the front axle of the vehicle = 0, then: if it is determined that the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is greater than 0, and the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is greater than 0, then the inflation valve of the front axle is controlled to perform an inflation action to raise the front axle of the vehicle; if it is determined that the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is less than 0, and the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is less than 0, then the exhaust valve of the front axle is controlled to perform an exhaust action to lower the front axle of the vehicle.

[0098] Step S490, when the adjustment time of the front axle in the first stage is less than or equal to the preset maximum adjustment time of the front axle in the first stage, return to continuous adjustment, until when the adjustment time of the front axle in the first stage is greater than the preset maximum adjustment time of the front axle in the first stage, set the adjustment process flag = 4, determine that the adjustment of the front axle in the first stage has timed out, end the current adjustment, and implement calibration of the front axle in the first stage. Wherein, during the calibration of the front axle in the first stage, when the adjustment time of the front axle in the first stage is less than or equal to the preset maximum adjustment time of the front axle in the first stage, return to continuous adjustment, specifically return to step S410 for continuous adjustment; during the calibration of the front axle in the first stage, as long as the adjustment time of the front axle in the first stage is greater than the preset maximum adjustment time of the front axle in the first stage, set the adjustment process flag = 4, end the current adjustment, and then continue the adjustment of the second stage.

[0099] like Fig.16 As shown, in the high-precision calibration method of the electronically controlled air suspension based on the simultaneous rise and fall of the front axle proposed in the solution of the present invention, the process of the one-key calibration function also includes: Step 4, the first-stage front axle calibration.

[0100] Fig.14 Schematic diagram of the process flow of the front axle adjustment method in the first stage. Fig.14 Explanation of relevant symbols in: Δσ L :The initial value of the difference between the actual data and the target value of the height sensor on the left side of the first bridge of the vehicle is Fig.12 The corresponding axle h is mapped to; Δσ R :The initial value of the difference between the actual data and the target value of the height sensor on the right side of the first bridge of the vehicle is Fig.12 The corresponding axle h is shown mapped to; |Δσ L |,|Δσ R | means taking the absolute value; flag L : Flag indicating whether the actual data of the height sensor on the left side of the first bridge of the vehicle reaches the target value; flag R : Whether the actual data of the height sensor on the right side of the first bridge of the vehicle reaches the target value flag; T Axle : First stage front axle adjustment timer; T Axle_max : Maximum time of the first-stage front axle adjustment; CalibrateFlag: High-precision adjustment process flag, CalibrateFlag = 0, 1, 2, 3, 4, 5, representing the start of the first-stage rear axle adjustment, the first-stage rear axle adjustment success, the first-stage front axle adjustment success, the second-stage adjustment success, the first-stage adjustment timeout, the second-stage adjustment timeout respectively; ε1: The first-stage front axle adjustment accuracy value.

[0101] like Fig.14 As shown, the first stage front axle adjustment method includes:

[0102] Step 41, before the first stage front axle adjustment, it is necessary to first determine the value of CalibrateFlag. If CalibrateFlag == 1, the first stage front axle adjustment is started and step 42 is executed; if CalibrateFlag == 4, the first stage front axle adjustment is canceled, indicating that the first stage adjustment has timed out.

[0103] Step 42: If CalibrateFlag==1 is satisfied, enter the first stage front axle adjustment process, T Axle Start timing and determine whether the absolute value of the difference between the actual data of the left height sensor of the first bridge of the vehicle and the target value |Δσ L |≤The first-stage rear axle adjustment accuracy value ε1, the absolute value of the difference between the actual data of the right height sensor of the first axle of the vehicle and the target value|Δσ R |≤First-stage rear axle adjustment accuracy value ε1: If |Δσ L |≤ε1, then flag L Set to 1, otherwise flag L Set to 0, then execute step 43; if |Δσ is satisfied R |≤ε1, then flag R Set to 1, otherwise flag R Set to 0, and then execute step 43.

[0104] Step 43: Determine whether the flag is satisfied L With flag R Both are 1: If yes, go to step 44; otherwise, go to step 45.

[0105] Step 44: When flag L With flag R When both are 1, the first stage of front axle adjustment is successful and CalibrateFlag is set to 2.

[0106] Step 45, if flag L 1, flag R When it is 0, the difference between the actual data of the right height sensor of the first bridge of the vehicle and the target value Δσ is determined R >0: If satisfied, the RL exhaust valve is opened and RL is deflated. According to the mutual disturbance principle, when RL is deflated and decreased, FR will be affected to increase and FL will be affected to decrease. The RR inflation valve is opened and RR is inflated, which affects FR to increase and FL to decrease, and then step 46 is executed.

[0107] If flag L 0, flag R When it is 1, judge Δσ L>0 Whether it is satisfied: If it is satisfied, the RL inflation valve is opened and RL is inflated. According to the mutual disturbance principle, when RL is inflated and increased, it will affect FR to decrease and FL to increase; the RR exhaust valve is opened and RR is deflated, which affects FR to decrease and FL to increase, and then step 46 is executed.

[0108] If flag L 0, flag R When Δσ is 0, L >0&&Δσ R >0, if yes, the front axle inflation valve is opened, the front axle is inflated, and the front axle is raised; judge Δσ L <0&&Δσ R <0, if yes, the front axle is deflated and lowered, and then step 46 is executed.

[0109] Step 46: If T is not satisfied Axle >T Axle_max The first stage of front axle calibration continues; otherwise, the first stage of front axle adjustment times out, CalibrateFlag is set to 4, and the first stage of front axle adjustment ends. The first stage is a rough adjustment.

[0110] The scheme of the present invention is based on the relationship that changes in the active shaft will affect corresponding changes in each passive shaft, and reasonably and accurately uses the law of mutual disturbance (positive correlation for the same-side shafts and negative correlation for the diagonal shafts), that is, reasonably and accurately uses the law that adjusting the rear axle will affect the height of the two axles of the front axle, to quickly and efficiently realize the calibration function of the electronically controlled air suspension system, which not only improves the calibration accuracy and efficiency, but also avoids errors caused by multiple manual measurements.

[0111] Step S230, based on the difference between the actual data of the height sensors of each of the front left axle, front right axle, rear left axle and rear right axle of the vehicle and the target value, combined with the control of the inflation valve and the exhaust valve of the front axle, the inflation valve and the exhaust valve of the rear left axle, and the inflation valve and the exhaust valve of the rear right axle, the front axle and the rear axle are calibrated in the second stage to complete the calibration of the electronically controlled air suspension system.

[0112] In the scheme of the present invention, the vehicle front axle has only two two-position two-way valves (such as the front axle exhaust valve 21 and the front axle inflation valve 22), which can only realize the same rise and fall action. The reasonable and accurate use of the rule that the height of the two axles of the front axle will be affected when adjusting the rear axle, under this condition, high-precision calibration of the vehicle can still be achieved, which not only reduces the overall cost of the electronically controlled air suspension system, but also improves the vehicle calibration efficiency and accuracy.

[0113] In some embodiments, in step S230, according to the difference between actual data of height sensors of each of the front left axle, front right axle, rear left axle and rear right axle of the vehicle and the target value, combined with the control of the inflation valve and exhaust valve of the front axle, the inflation valve and exhaust valve of the left rear axle, and the inflation valve and exhaust valve of the right rear axle, the front axle and the rear axle are calibrated in the second stage to complete the specific process of calibration of the electronically controlled air suspension system, see the following exemplary description.

[0114] Combine the following Figure 5 The flowchart of an embodiment of the method of the present invention for implementing the calibration of the front axle and the rear axle in the second stage further illustrates the specific process of implementing the calibration of the front axle and the rear axle in the second stage in step S230, including: steps S510 to S590.

[0115] Step S510, start the second stage adjustment timer to obtain the second stage adjustment time.

[0116] Step S520, determine whether the absolute value of the difference between the actual data of the height sensor of the left shaft of the rear axle of the vehicle and the target value is less than or equal to the preset first-stage rear axle adjustment accuracy value: if it is satisfied, set the flag bit of the left shaft of the rear axle of the vehicle = 1, otherwise set the flag bit of the left shaft of the rear axle of the vehicle = 0.

[0117] Step S530, determine whether the absolute value of the difference between the actual data of the height sensor of the right shaft of the rear axle of the vehicle and the target value is less than or equal to the preset first-stage rear axle adjustment accuracy value: if satisfied, set the flag bit of the right shaft of the rear axle of the vehicle = 1, otherwise set the flag bit of the right shaft of the rear axle of the vehicle = 0.

[0118] Step S540, determines whether the absolute value of the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is less than or equal to the preset first-stage front axle adjustment accuracy value: if so, set the flag bit of the left shaft of the front axle of the vehicle = 1, otherwise set the flag bit of the left shaft of the front axle of the vehicle = 0.

[0119] Step S550, determines whether the absolute value of the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is less than or equal to the preset first-stage front axle adjustment accuracy value: if so, set the flag bit of the right shaft of the front axle of the vehicle = 1, otherwise set the flag bit of the right shaft of the front axle of the vehicle = 0.

[0120] Step S560, if it is determined that the flag bit of the left shaft of the rear axle of the vehicle = 1, the flag bit of the right shaft of the rear axle of the vehicle = 1, the flag bit of the left shaft of the front axle of the vehicle = 1, and the flag bit of the right shaft of the front axle of the vehicle = 1, then set the adjustment process flag bit = 3, determine that the second stage adjustment of the front axle and the rear axle is successful, end the current adjustment, so as to realize the calibration of the front axle and the rear axle in the second stage, and complete the calibration of the electronically controlled air suspension system.

[0121] Step S570, if it is determined that the flag bit of the left shaft of the rear axle of the vehicle is not satisfied = 1, and the flag bit of the right shaft of the rear axle of the vehicle is 1, then: if it is determined that the difference between the actual data of the height sensor of the right shaft of the rear axle of the vehicle and the target value is greater than 0, the inflation valve of the right shaft of the rear axle is controlled to perform an inflation action; if it is determined that the difference between the actual data of the height sensor of the right shaft of the rear axle of the vehicle and the target value is less than 0, the exhaust valve of the right shaft of the rear axle is controlled to perform an exhaust action; if it is determined that the difference between the actual data of the height sensor of the left shaft of the rear axle of the vehicle and the target value is greater than 0, the inflation valve of the left shaft of the rear axle is controlled to perform an inflation action; if it is determined that the difference between the actual data of the height sensor of the left shaft of the rear axle of the vehicle and the target value is less than 0, the exhaust valve of the left shaft of the rear axle is controlled to perform an exhaust action.

[0122] Step S580, if it is determined that the flag bit of the left shaft of the front axle of the vehicle = 1, and the flag bit of the right shaft of the front axle of the vehicle = 1 is not satisfied, then: if it is determined that the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is greater than 0, and the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is greater than 0, then the inflation valve of the front axle is controlled to perform an inflation action to raise the front axle of the vehicle; if it is determined that the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is less than 0, and the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is less than 0, then the exhaust valve of the front axle is controlled to perform an exhaust action to lower the front axle of the vehicle; if it is determined that the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value are less than 0, then the exhaust valve of the front axle is controlled to perform an exhaust action to lower the front axle of the vehicle; If the difference is greater than 0, and the difference between the actual data of the height sensor of the right axle of the front axle of the vehicle and the target value is less than 0, the inflation valve of the left axle of the rear axle is controlled to perform an inflation action to lower the right axle of the front axle of the vehicle and raise the left axle of the front axle, and the exhaust valve of the right axle of the rear axle is controlled to perform an exhaust action to lower the right axle of the front axle of the vehicle and raise the left axle of the front axle; if it is determined that the difference between the actual data of the height sensor of the left axle of the front axle of the vehicle and the target value is less than 0, and the difference between the actual data of the height sensor of the right axle of the front axle of the vehicle and the target value is greater than 0, the exhaust valve of the left axle of the rear axle is controlled to perform an exhaust action to raise the right axle of the front axle of the vehicle and lower the left axle of the front axle, and the inflation valve of the right axle of the rear axle is controlled to perform an inflation action to raise the right axle of the front axle of the vehicle and lower the left axle of the front axle.

[0123] Step S590, when the second stage adjustment time is less than or equal to the preset second stage adjustment maximum time, return to continuous adjustment, until when the second stage adjustment time is greater than the preset second stage adjustment maximum time, set the adjustment process flag bit = 5, determine that the second stage adjustment of the rear axle has timed out, end the current adjustment, and implement calibration of the front axle and the rear axle in the second stage to complete the calibration of the electronically controlled air suspension system. Wherein, in the process of implementing calibration of the front axle and the rear axle in the second stage, when the second stage adjustment time is less than or equal to the preset second stage adjustment maximum time, return to continuous adjustment, specifically return to step S510 to continue adjustment; in the process of implementing calibration of the front axle and the rear axle in the second stage, as long as the second stage adjustment time is greater than the preset second stage adjustment maximum time, set the adjustment process flag bit = 5, end the current adjustment, and then return to the first stage adjustment.

[0124] like Fig.16 As shown, in the high-precision calibration method of the electronically controlled air suspension based on the simultaneous rise and fall of the front axle proposed in the solution of the present invention, the process of the one-key calibration function also includes: step 5, second-stage calibration.

[0125] Fig.15 Schematic diagram of the process of the second stage adjustment method. Fig.15 Explanation of relevant symbols in: Δσ i : The difference between the actual data and the target value of the height sensor i (i=RL,RR,FL,FR) in the second stage adjustment process; |Δσ i | means taking the absolute value; flag i :Second stage adjustment process i (i=RL,RR,FL,FR) height sensor actual data whether reaches the target value flag; T CAR : Second stage adjustment timer; T CAR_max : Maximum time for the second stage adjustment; CalibrateFlag: High-precision adjustment process flag, CalibrateFlag = 0, 1, 2, 3, 4, 5, representing the start of the first stage rear axle adjustment, the first stage rear axle adjustment success, the first stage front axle adjustment success, the second stage adjustment success, the first stage adjustment timeout, the second stage adjustment timeout respectively; ε2: The second stage front axle adjustment accuracy value.

[0126] like Fig.15 As shown, the second stage calibration is a combination of the first stage rear axle adjustment and the front axle adjustment. The process of the second stage adjustment method is as follows:

[0127] Step 51: Second stage adjustment timer T CARStart timing and determine whether the absolute value of the difference between the actual height sensor data and the target value |Δσ1|≤the second-stage front axle adjustment accuracy value ε2 when the second-stage adjustment process i=RL and the absolute value of the difference between the actual height sensor data and the target value |Δσ2|≤the second-stage front axle adjustment accuracy value ε2 when the second-stage adjustment process i=RR are satisfied:

[0128] If |Δσ1|≤ε2 and |Δσ2|≤ε2 are satisfied at the same time, both flag1 and flag2 are set to 1, and then step 52 is executed.

[0129] If |Δσ1|≤ε2 is satisfied, and |Δσ2|≤ε2 is not satisfied, flag1 is set to 1, flag2 is set to 0, and if Δσ2>0 is determined, the right RR of the rear axle is inflated, otherwise the RR is deflated, and then step 53 is executed.

[0130] If |Δσ1|≤ε2 is not satisfied, but |Δσ2|≤ε2 is satisfied, flag1 is set to 0 and flag2 is set to 1. If Δσ1>0 is determined, the right RL of the rear axle is inflated, otherwise the RL is deflated, and then step 53 is executed.

[0131] If |Δσ1|≤ε2, |Δσ2|≤ε2 are not satisfied, flag1 is set to 0, flag2 is set to 0, and if Δσ1>0 is determined, the right RL of the rear axle is inflated, otherwise the RL is deflated, and then step 53 is executed.

[0132] At the same time, determine whether the absolute value of the difference between the actual data of the height sensor and the target value when i=FL in the second stage adjustment process |Δσ1|≤the second stage front axle adjustment accuracy value ε2, and the absolute value of the difference between the actual data of the height sensor and the target value when i=FR in the second stage adjustment process |Δσ2|≤the second stage front axle adjustment accuracy value ε2: if |Δσ3|≤ε2 is satisfied, flag3 is set to 1, otherwise flag3 is set to 0, and then step 52 or step 53 is executed; if |Δσ4|≤ε2 is satisfied, flag4 is set to 1, otherwise flag4 is set to 0, and then step 52 or step 53 is executed.

[0133] Step 52: When flag1, flag2, flag3 and flag4 are all 1, the second stage front axle adjustment is successful, and CalibrateFlag is set to 3.

[0134] Step 53, if flag3 is 1 and flag4 is 0, determine whether Δσ4>0 is satisfied. If satisfied, the RL exhaust valve is opened and the RL is deflated. According to the mutual disturbance principle, when the RL is deflated and decreased, it will affect the FR to increase and the FL to decrease; the RR inflation valve is opened and the RR is inflated, which affects the FR to increase and the FL to decrease, and then step 54 is executed. Δσ4>0 is achieved through the RL exhaust valve and the RR inflation valve; Δσ4<0 is achieved through the RL inflation valve and the RR exhaust valve; Δσ4=0 does not require adjustment. When Δσ4>0 is satisfied, the RL exhaust valve and the RR inflation valve are opened at the same time.

[0135] If flag3 is 0 and flag4 is 1, determine whether Δσ3>0 is satisfied. If so, open the RL inflation valve and inflate the RL. According to the mutual disturbance principle, when the RL is inflated and increased, it will affect the FR to decrease and the FL to increase. Open the RR exhaust valve and deflate the RR, which will affect the FR to decrease and the FL to increase. Then execute step 54.

[0136] If flag3 is 0 and flag4 is 0, determine whether Δσ3>0&&Δσ4>0 is satisfied. If satisfied, the front axle inflation valve is opened, the front axle is inflated, and the front axle is raised, and then step 54 is executed. Here, the difference of the front axle is determined. If the front left and front right are both greater than 0, that is, the front axle needs to be raised toward the target value, the front axle can be inflated to raise it.

[0137] Determine whether Δσ3<0&&Δσ4<0 is satisfied: if so, deflate the front axle and lower the front axle. Here, determine the difference of the front axle. If the front left and front right are both less than 0, that is, it needs to be lowered toward the target value, deflate the front axle to lower it, and then execute step 54.

[0138] Step 54: If T is not satisfied CAR >T CAR_max The second stage front axle calibration continues; otherwise, the second stage front axle adjustment times out, CalibrateFlag is set to 5, and the CalibrateFlag parameter can be used to know which process is being executed in the relevant scheme of the entire calibration process and whether which process is successful or not, and the second stage adjustment ends. This time T CAR To adjust the time for the second stage, a time limit is required, namely T CAR_max If the set time limit is exceeded, the adjustment will stop, otherwise the adjustment action will continue.

[0139] The scheme of the present invention is aimed at the front axle rising and lowering at the same time, and the rear axle being adjustable for rising and falling separately. The front axle adjustment can affect the front axle by adjusting the rear axle, and the rear axle is adjusted separately. High-precision calibration of the vehicle can be achieved. Among them, in the mutual disturbance calibration, the front axle only has the action of rising and lowering at the same time, and the mutual disturbance principle of suspension adjustment is accurately used to achieve high-precision calibration of the vehicle. Fewer electromagnetics are used, and the system is relatively simple and economical.

[0140] By adopting the technical solution of the present embodiment, by installing an inflation valve and an exhaust valve on the front axle of the vehicle, and installing an inflation valve and an exhaust valve on each axle of the rear axle of the vehicle, when the ECAS system needs to be calibrated, according to the difference between the actual data of the height sensors on the left and right sides of each axle of the vehicle and the target value, and the high-level time of the PWM that controls the solenoid valve, based on the specific relationship that the change of the active shaft will affect the corresponding changes of each passive shaft, the rear axle and the front axle are calibrated in the first stage, and the rear axle and the front axle are calibrated in combination in the second stage, so as to realize the calibration function of the electronically controlled air suspension system; thus, by calibrating the rear axle and the front axle in stages based on the specific relationship that the change of the active shaft will affect the corresponding changes of each passive shaft, the calibration accuracy and efficiency can be improved.

[0141] According to an embodiment of the present invention, a control device for an electronically controlled air suspension system of a vehicle corresponding to the control method for the electronically controlled air suspension system of the vehicle is also provided. Figure 6 The schematic diagram of the structure of an embodiment of the device of the present invention is shown in FIG. A valve assembly is respectively arranged on the front axle and the rear axle of the vehicle; in the scheme of the present invention, as Figure 6 As shown, the control device of the electronically controlled air suspension system of the vehicle includes: an acquisition unit 102 and a control unit 104 .

[0142] The acquisition unit 102 is configured to acquire the difference between the actual data of the height sensor of each of the front axle left axle, the front axle right axle, the rear axle left axle and the rear axle right axle of the vehicle and the target value when the electronically controlled air suspension system needs to be calibrated, such as the difference Δσ between the actual data of the height sensor of the left side of the first axle of the vehicle and the target value. L , the difference between the actual data of the height sensor on the right side of the first bridge of the vehicle and the target value Δσ R The specific functions and processing of the acquisition unit 102 refer to step S110.

[0143] In some embodiments, the acquisition unit 102 acquires the difference between the actual data of the height sensor of each of the front axle left axle, the front axle right axle, the rear axle left axle and the rear axle right axle of the vehicle and the target value, including: the acquisition unit 102 is further configured to acquire the height of the body mark line of each of the front axle left axle, the front axle right axle, the rear axle left axle and the rear axle right axle of the vehicle, and compare the body mark line target height of the vehicle with the front axle left axle, the front axle right axle, the rear axle left axle and the rear axle right axle of the vehicle. The difference in the height of the body mark line of each axle is determined as the difference between the target height and the actual height of the body height mark line of each axle among the front left axle, front right axle, rear left axle and rear right axle of the vehicle, so as to: map the difference between the actual data and the target value of the height sensor of each axle among the front left axle, front right axle, rear left axle and rear right axle of the vehicle according to the difference between the target height and the actual height of the body height mark line of each axle among the front left axle, front right axle, rear left axle and rear right axle of the vehicle.

[0144] After the OEM completes vehicle production, the ECAS system needs to be calibrated. Fig.16 The figure is a flowchart of the one-key calibration function. Fig.16 As shown, in the high-precision calibration method of the electronically controlled air suspension based on the simultaneous rise and fall of the front axle proposed by the solution of the present invention, the process of the one-key calibration function includes: Step 1, the schematic diagram of the ECAS system structure is as shown Figure 7 , Figure 8 , the ECAS system electronic control system part is as follows Fig. 9 As shown, after the vehicle is produced, place the vehicle in the trench position, and ensure that the sway bar 13 is basically level before calibration. Step 2: Power on the vehicle, and use the ECAS APP to establish a connection with the ECU via Bluetooth.

[0145] Fig.10 Figure 1 is a schematic diagram of the chassis suspension structure. Fig.10 As shown, FL, FR, RL, and RR are schematic diagrams of the dynamic models of the front axle left airbag, the front axle right airbag, the rear axle left airbag, and the rear axle right airbag of the suspension, respectively. Fig.11 The schematic diagram of the vehicle structure is shown in Figure 1. Fig.12 It is a schematic diagram of the structure of the front left wheel of the vehicle. Fig.11 and Fig.12 As shown in the figure, the body mark line is the horizontal line selected by the calibration personnel on the body, which varies with different models; H is the height from the current ground to the body mark line; H goal The height of the vehicle body line from the ground after adjusting the balance is also called the target height; H goal -H=h, where h is the distance from the vehicle body marking line to the target height, which is also the data value that the mobile phone or computer interacts with the ECU during the high-precision calibration process.

[0146] You need to use the measuring equipment first. Fig.12 The height H of the body marking line of the four axles of the vehicle is measured as shown i (i=FL / FR / RL / RR), the target height of the vehicle body marking line depends on the vehicle model H goal , by H goal -H i =h i (i=FL / FR / RL / RR) can calculate the difference between the target height and the actual height of each axle body mark line hi, and input this height difference hi to the ECU through the ECAS APP. The ECU can map this height difference hi to Fig.13 , Fig.14 , Fig.15 The height sensor actual data and the target value difference Δσ are shown. At the same time, the high level time Tpwm (ms) of the PWM that controls the solenoid valve 8 needs to be input. After the input is completed, the ECU can automatically calibrate through the difference between the four axes and the PWM. Among them, the automatic calibration is divided into three parts: the first stage is coarse adjustment, and the second stage is fine adjustment.

[0147] The solution of the present invention can obtain the input value required by the ECU by manually measuring the height of the vehicle body mark line and subtracting it from the target height. The height of the vehicle body mark line can be automatically measured by installing wireless distance measuring devices on the four axes of the vehicle. In some alternative embodiments, the height of the vehicle body mark line is automatically measured by the wireless distance measuring devices installed on the four axes.

[0148] The control unit 104 is configured to calibrate the rear axle and the front axle in stages based on the relationship that the change of the active axle among the front axle left axle, the front axle right axle, the rear axle left axle and the rear axle right axle causes the corresponding change of the passive axle, combined with the difference between the actual data of the height sensor of each axle among the front axle left axle, the front axle right axle, the rear axle left axle and the rear axle right axle of the vehicle and the target value, and combined with the control of the valve components respectively provided on the front axle and the rear axle of the vehicle, so as to complete the calibration of the electronically controlled air suspension system. Among them, the active axle is each axle of the rear axle, and the passive axle is each axle of the front axle. For the specific functions and processing of the control unit 104, see step S120.

[0149] The scheme of the present invention proposes a high-precision calibration scheme for an electronically controlled air suspension based on the simultaneous rise and fall of the front axle. By respectively arranging valve assemblies (such as inflation valves and exhaust valves) on the front and rear axles of the vehicle, relying on the relationship that changes in the active shaft will affect corresponding changes in each passive shaft, the mutual disturbance law (positive correlation for the same-side shafts and negative correlation for the diagonal shafts) is reasonably and accurately used to quickly and efficiently implement the calibration function of the electronically controlled air suspension system, which not only improves the calibration accuracy and efficiency, but also avoids errors caused by multiple manual measurements, thereby solving the problem of multiple measurements and calibrations required due to mutual disturbances of the four axes of the suspension, and solving the problem of low calibration accuracy and complicated calibration process caused by only having an inflation valve and an exhaust valve on the front axle of the suspension.

[0150] Preferably, an inflation valve and an exhaust valve are arranged on the front axle of the vehicle, specifically, an inflation valve and an exhaust valve are arranged between the left front axle and the right front axle of the vehicle (such as a front axle exhaust valve 21 and a front axle inflation valve 22), and an inflation valve and an exhaust valve are respectively arranged on the left rear axle and the right rear axle of the vehicle (such as an RL exhaust valve 23, an RL inflation valve 24, an RR exhaust valve 25 and an RR inflation valve 26); wherein, an inflation valve and an exhaust valve are arranged on the front axle of the vehicle, specifically, an inflation valve and an exhaust valve are arranged between the left front axle and the right front axle of the vehicle, that is, an inflation valve and an exhaust valve are arranged at a position between the left and right axles of the front axle (such as a front axle exhaust valve 21 and a front axle inflation valve 22), and an inflation valve and an exhaust valve are respectively arranged on the left rear axle and the right rear axle of the vehicle (such as an RL exhaust valve 23, an RL inflation valve 24, an RR exhaust valve 25 and an RR inflation valve 26).

[0151] Accordingly, the control unit 104 calibrates the rear axle and the front axle in stages based on the relationship that the passive axle changes correspondingly due to the change of the active axle among the front left axle, the front right axle, the rear left axle and the rear right axle of the vehicle, in combination with the difference between the actual data of the height sensor of each axle among the front left axle, the front right axle, the rear left axle and the rear right axle of the vehicle and the target value, and in combination with the control of the valve components respectively provided on the front axle and the rear axle of the vehicle, so as to complete the calibration of the electronically controlled air suspension system, specifically comprising: the control unit 104 has The body is also configured to calibrate the rear axle and the front axle in stages to complete the calibration of the electronically controlled air suspension system, based on the relationship that the active axle among the front left axle, the front right axle, the rear left axle and the rear right axle causes the passive axle to change accordingly, combined with the difference between actual data of height sensors of each axle among the front left axle, the front right axle, the rear left axle and the rear right axle of the vehicle and the target value, and combined with the control of the inflation valve and the exhaust valve of the front axle, the inflation valve and the exhaust valve of the rear left axle, and the inflation valve and the exhaust valve of the rear right axle.

[0152] The scheme of the present invention installs an inflation valve and an exhaust valve (such as the front axle exhaust valve 21 and the front axle inflation valve 22) on the front axle of the vehicle, and installs an inflation valve and an exhaust valve (such as the RL exhaust valve 23, the RL inflation valve 24, the RR exhaust valve 25 and the RR inflation valve 26) on each axle of the rear axle, relying on the relationship that the change of the active shaft will affect the corresponding change of each passive shaft, and reasonably and accurately using the mutual disturbance law (positive correlation of the same-side shaft and negative correlation of the diagonal shaft) to quickly and efficiently realize the calibration function of the electronically controlled air suspension system, which not only improves the calibration accuracy and efficiency, but also avoids the errors caused by multiple manual measurements, thereby solving the problem of multiple measurements and calibrations required due to mutual disturbance of the four axes of the suspension, and solving the problem of low calibration accuracy and complicated calibration process caused by only having an inflation valve and an exhaust valve on the front axle of the suspension.

[0153] In some embodiments, the control unit 104 calibrates the rear axle and the front axle in stages based on the relationship that the passive axle changes correspondingly due to the change of the active axle among the front left axle, the front right axle, the rear left axle and the rear right axle of the vehicle, in combination with the difference between actual data of the height sensor of each axle among the front left axle, the front right axle, the rear left axle and the rear right axle of the vehicle and the target value, and in combination with the control of the inflation valve and the exhaust valve of the front axle, the inflation valve and the exhaust valve of the rear left axle, and the inflation valve and the exhaust valve of the rear right axle, so as to complete the calibration of the electronically controlled air suspension system, including:

[0154] The control unit 104 is further configured to calibrate the rear axle in the first stage according to the difference between the actual data of the height sensor of each of the left and right rear axles of the vehicle and the target value, combined with the control of the charging valve and the exhaust valve of the left rear axle, and the charging valve and the exhaust valve of the right rear axle. The specific functions and processing of the control unit 104 refer to step S210.

[0155] In some embodiments, the control unit 104 implements calibration of the rear axle in the first stage according to the difference between the actual data of the height sensor of each of the left and right rear axles of the vehicle and the target value, combined with the control of the charging valve and the exhaust valve of the left rear axle, and the charging valve and the exhaust valve of the right rear axle, including:

[0156] The control unit 104 is further configured to start the first stage rear axle adjustment timer to obtain the first stage rear axle adjustment time and mark the adjustment process flag bit = 0. The specific functions and processing of the control unit 104 refer to step S310.

[0157] The control unit 104 is further configured to determine whether the absolute value of the difference between the actual data of the height sensor of the left rear axle of the vehicle and the target value is less than or equal to the preset first-stage rear axle adjustment accuracy value: if it is satisfied, the flag bit of the left rear axle of the vehicle is set to 1, otherwise the flag bit of the left rear axle of the vehicle is set to 0. The specific functions and processing of the control unit 104 refer to step S320.

[0158] The control unit 104 is further configured to determine whether the absolute value of the difference between the actual data of the height sensor of the right rear axle of the vehicle and the target value is less than or equal to the preset first-stage rear axle adjustment accuracy value: if satisfied, the flag bit of the right rear axle of the vehicle is set to 1, otherwise the flag bit of the right rear axle of the vehicle is set to 0. The specific functions and processing of the control unit 104 refer to step S330.

[0159] The control unit 104 is further configured to, if it is determined that the flag bit of the left shaft of the rear axle of the vehicle is 1 and the flag bit of the right shaft of the rear axle of the vehicle is 1, set the adjustment process flag bit to 1, determine that the adjustment of the rear axle in the first stage is successful, end the current adjustment, and realize the calibration of the rear axle in the first stage. The specific functions and processing of the control unit 104 refer to step S340.

[0160] The control unit 104 is further configured to, if it is determined that the flag bit of the left rear axle of the vehicle is 1 and the flag bit of the right rear axle of the vehicle is 0, then: if it is determined that the difference between the actual data of the height sensor of the right rear axle of the vehicle and the target value is greater than 0, control the inflation valve of the right rear axle to perform an inflation action; if it is determined that the difference between the actual data of the height sensor of the right rear axle of the vehicle and the target value is less than 0, control the exhaust valve of the right rear axle to perform an exhaust action. The specific functions and processing of the control unit 104 refer to step S350.

[0161] The control unit 104 is further configured to, if it is determined that the flag bit of the left rear axle of the vehicle is 0 and the flag bit of the right rear axle of the vehicle is 1 or 0, then: if it is determined that the difference between the actual data of the height sensor of the left rear axle of the vehicle and the target value is greater than 0, then control the inflation valve of the left rear axle to perform an inflation action; if it is determined that the difference between the actual data of the height sensor of the left rear axle of the vehicle and the target value is less than 0, then control the exhaust valve of the left rear axle to perform an exhaust action. The specific functions and processing of the control unit 104 refer to step S360.

[0162] The control unit 104 is further configured to return to continuous adjustment when the first-stage rear axle adjustment time is less than or equal to the preset first-stage rear axle adjustment maximum time, until the first-stage rear axle adjustment time is greater than the preset first-stage rear axle adjustment maximum time, set the adjustment process flag bit = 4, determine that the adjustment of the rear axle in the first stage has timed out, end the current adjustment, and achieve calibration of the rear axle in the first stage. The specific functions and processing of the control unit 104 refer to step S370.

[0163] like Fig.16 As shown, in the high-precision calibration method of the electronically controlled air suspension based on the simultaneous rise and fall of the front axle proposed in the solution of the present invention, the process of the one-key calibration function also includes: Step 3, the first-stage rear axle calibration.

[0164] Fig.13 Schematic diagram of the process flow of the first-stage rear axle adjustment method. Fig.13 Explanation of relevant symbols in: Δσ L : The difference between the actual data of the left side height sensor of the first bridge of the vehicle and the target value. The initial value is Fig.12 The corresponding axle h is mapped to; Δσ R : The difference between the actual data of the height sensor on the right side of the first bridge of the vehicle and the target value. The initial value is Fig.12 The corresponding axle h is shown mapped to; |Δσ L |,|Δσ R | means taking the absolute value; flag L : Flag indicating whether the actual data of the height sensor on the left side of the first bridge of the vehicle reaches the target value; flag R : Whether the actual data of the height sensor on the right side of the first bridge of the vehicle reaches the target value flag; T Axle : First stage rear axle adjustment timer; T Axle_max : Maximum time of the first-stage rear axle adjustment; CalibrateFlag: High-precision adjustment process flag, CalibrateFlag = 0, 1, 2, 3, 4, 5, representing the start of the first-stage rear axle adjustment, the success of the first-stage rear axle adjustment, the success of the first-stage front axle adjustment, the success of the second-stage adjustment, the timeout of the first-stage adjustment, and the timeout of the second-stage adjustment, respectively; ε1: The accuracy value of the first-stage rear axle adjustment.

[0165] like Fig.13 As shown, the first stage rear axle adjustment method includes:

[0166] Step 31: During the first stage rear axle adjustment, the first stage rear axle adjustment timer T Axle Start timing, the first stage rear axle adjustment starts CalibrateFlag = 0, determine whether the absolute value of the difference between the actual data of the left height sensor of the first axle of the vehicle and the target value |ΔσL |≤The first-stage rear axle adjustment accuracy value ε1, the absolute value of the difference between the actual data of the right height sensor of the first axle of the vehicle and the target value|Δσ R |≤First stage rear axle adjustment accuracy value ε1:

[0167] If both |Δσ L |≤ε1, |Δσ R |≤ε1, whether the actual data of the left height sensor of the first bridge of the vehicle reaches the target value flag L Flag indicating whether the actual data of the height sensor on the right side of the first bridge of the vehicle reaches the target value R Both are set to 1, the first stage rear axle adjustment is successful, and CalibrateFlag is set to 1.

[0168] If |Δσ L |≤ε1, does not satisfy |Δσ R |≤ε1, flag L Set to 1, flag R Set to 0, judge Δσ R >0, the right RR of the rear axle is inflated, otherwise the RR is deflated, and then step 32 is executed.

[0169] If |Δσ is not satisfied L |≤ε1, satisfying |Δσ R |≤ε1, flag L Set to 0, flag R Set to 1, judge Δσ L >0, the right RL of the rear axle is inflated, otherwise the RL is deflated, and then step 32 is executed.

[0170] If |Δσ is not satisfied L |≤ε1, |Δσ R |≤ε1, flag L Set to 0, flag R Set to 0, judge Δσ L >0, the right RL of the rear axle is inflated, otherwise the RL is deflated, and then step 32 is executed.

[0171] Step 32: If T Axle >The maximum time T for the first stage rear axle adjustment Axle_max If it is not satisfied, the iteration process will continue until T Axle >T Axle_max If it is satisfied, the first stage rear axle adjustment times out, CalibrateFlag is set to 4, and the first stage rear axle adjustment ends.

[0172] Among them, the front axle can also be calibrated in the first stage, but from the experiment, the time efficiency of adjusting the rear axle is faster. The rear axle can be adjusted separately, while the front axle can only be raised and lowered at the same time.

[0173] In the solution of the present invention, the valves of the entire air suspension system are only two two-position two-way valves on the front axle (such as the front axle exhaust valve 21 and the front axle inflation valve 22), and the rear axle is a separate liftable valve, the overall cost is lower, and by reasonably adjusting the rear axle to affect the front axle, high-precision vehicle calibration can be achieved, and at the same time, the calibration efficiency and accuracy are higher than those of related solutions.

[0174] The control unit 104 is further configured to calibrate the front axle in the first stage according to the difference between the actual data of the height sensor of each of the left and right front axles of the vehicle and the target value, combined with the control of the charging valve and exhaust valve of the front axle, the charging valve and exhaust valve of the left rear axle, and the charging valve and exhaust valve of the right rear axle. The specific functions and processing of the control unit 104 refer to step S220.

[0175] In some embodiments, the control unit 104 implements calibration of the front axle in the first stage according to the difference between the actual data of the height sensor of each of the left and right front axles of the vehicle and the target value, combined with the control of the charging valve and the exhaust valve of the front axle, the charging valve and the exhaust valve of the left rear axle, and the charging valve and the exhaust valve of the right rear axle, including:

[0176] The control unit 104 is further configured to determine whether the adjustment process flag bit = 1 or the adjustment process flag bit = 4 is satisfied. The specific functions and processing of the control unit 104 refer to step S410.

[0177] The control unit 104 is further configured to cancel the first stage adjustment of the front axle if it is determined that the adjustment process flag bit = 4; if it is determined that the adjustment process flag bit = 1, perform the first stage adjustment of the front axle, start the first stage front axle adjustment timer, and obtain the first stage front axle adjustment time. The specific functions and processing of the control unit 104 refer to step S420.

[0178] The control unit 104 is further configured to determine whether the absolute value of the difference between the actual data of the height sensor of the left front axle of the vehicle and the target value is less than or equal to the preset first-stage front axle adjustment accuracy value: if it is satisfied, the flag bit of the left front axle of the vehicle is set to 1, otherwise the flag bit of the left front axle of the vehicle is set to 0. The specific functions and processing of the control unit 104 refer to step S430.

[0179] The control unit 104 is further configured to determine whether the absolute value of the difference between the actual data of the height sensor of the right front axle of the vehicle and the target value is less than or equal to the preset first-stage front axle adjustment accuracy value: if satisfied, the flag bit of the right front axle of the vehicle is set to 1, otherwise the flag bit of the right front axle of the vehicle is set to 0. The specific functions and processing of the control unit 104 refer to step S440.

[0180] The control unit 104 is further configured to, if it is determined that the flag bit of the left shaft of the front axle of the vehicle is 1 and the flag bit of the right shaft of the front axle of the vehicle is 1, set the adjustment process flag bit to 2, determine that the adjustment of the front axle in the first stage is successful, end the current adjustment, and realize the calibration of the front axle in the first stage. The specific functions and processing of the control unit 104 refer to step S450.

[0181] The control unit 104 is further configured to, if it is determined that the flag bit of the left shaft of the front axle of the vehicle is 1 and the flag bit of the right shaft of the front axle of the vehicle is 0, then: if it is determined that the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is less than 0, and the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is greater than 0, control the exhaust valve of the left shaft of the rear axle to perform an exhaust action to raise the right shaft of the front axle of the vehicle and lower the left shaft of the front axle, and control the inflation valve of the right shaft of the rear axle to perform an inflation action to raise the right shaft of the front axle of the vehicle and lower the left shaft of the front axle. The specific functions and processing of the control unit 104 refer to step S460.

[0182] The control unit 104 is further configured to, if it is determined that the flag bit of the left shaft of the front axle of the vehicle is 0 and the flag bit of the right shaft of the front axle of the vehicle is 1, then: if it is determined that the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is greater than 0, and the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is less than 0, control the inflation valve of the left shaft of the rear axle to perform an inflation action to lower the right shaft of the front axle of the vehicle and raise the left shaft of the front axle, and control the exhaust valve of the right shaft of the rear axle to perform an exhaust action to lower the right shaft of the front axle of the vehicle and raise the left shaft of the front axle. The specific functions and processing of the control unit 104 refer to step S470.

[0183] The control unit 104 is further configured to, if it is determined that the flag bit of the left shaft of the front axle of the vehicle is 0 and the flag bit of the right shaft of the front axle of the vehicle is 0, then: if it is determined that the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is greater than 0, and the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is greater than 0, then control the inflation valve of the front axle to perform an inflation action to raise the front axle of the vehicle; if it is determined that the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is less than 0, and the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is less than 0, then control the exhaust valve of the front axle to perform an exhaust action to lower the front axle of the vehicle. The specific functions and processing of the control unit 104 refer to step S480.

[0184] The control unit 104 is further configured to return to continuous adjustment when the first-stage front axle adjustment time is less than or equal to the preset first-stage front axle adjustment maximum time, until the first-stage front axle adjustment time is greater than the preset first-stage front axle adjustment maximum time, set the adjustment process flag bit = 4, determine that the first-stage adjustment of the front axle has timed out, end the current adjustment, and achieve calibration of the front axle in the first stage. The specific functions and processing of the control unit 104 refer to step S490.

[0185] like Fig.16 As shown, in the high-precision calibration method of the electronically controlled air suspension based on the simultaneous rise and fall of the front axle proposed in the solution of the present invention, the process of the one-key calibration function also includes: Step 4, the first-stage front axle calibration.

[0186] Fig.14 Schematic diagram of the process flow of the front axle adjustment method in the first stage. Fig.14 Explanation of relevant symbols in: Δσ L :The initial value of the difference between the actual data and the target value of the height sensor on the left side of the first bridge of the vehicle is Fig.12 The corresponding axle h is mapped to; Δσ R :The initial value of the difference between the actual data and the target value of the height sensor on the right side of the first bridge of the vehicle is Fig.12 The corresponding axle h is shown mapped to; |Δσ L |,|Δσ R | means taking the absolute value; flag L : Flag indicating whether the actual data of the height sensor on the left side of the first bridge of the vehicle reaches the target value; flag R : Whether the actual data of the height sensor on the right side of the first bridge of the vehicle reaches the target value flag; T Axle : First stage front axle adjustment timer; T Axle_max: Maximum time of the first stage front axle adjustment; CalibrateFlag: High-precision adjustment process flag, CalibrateFlag = 0, 1, 2, 3, 4, 5, representing the start of the first stage rear axle adjustment, the first stage rear axle adjustment success, the first stage front axle adjustment success, the second stage adjustment success, the first stage adjustment timeout, the second stage adjustment timeout respectively; ε1:

[0187] The adjustment accuracy value of the front axle in the first stage.

[0188] like Fig.14 As shown, the first stage front axle adjustment method includes:

[0189] Step 41, before the first stage front axle adjustment, it is necessary to first determine the value of CalibrateFlag. If CalibrateFlag == 1, the first stage front axle adjustment is started and step 42 is executed; if CalibrateFlag == 4, the first stage front axle adjustment is canceled, indicating that the first stage adjustment has timed out.

[0190] Step 42: If CalibrateFlag==1 is satisfied, enter the first stage front axle adjustment process, T Axle Start timing and determine whether the absolute value of the difference between the actual data of the left height sensor of the first bridge of the vehicle and the target value |Δσ L |≤The first-stage rear axle adjustment accuracy value ε1, the absolute value of the difference between the actual data of the right height sensor of the first axle of the vehicle and the target value|Δσ R |≤First-stage rear axle adjustment accuracy value ε1: If |Δσ L |≤ε1, then flag L Set to 1, otherwise flag L Set to 0, then execute step 43; if |Δσ is satisfied R |≤ε1, then flag R Set to 1, otherwise flag R Set to 0, and then execute step 43.

[0191] Step 43: Determine whether the flag is satisfied L With flag R Both are 1: If yes, go to step 44; otherwise, go to step 45.

[0192] Step 44: When flag L With flag R When both are 1, the first stage of front axle adjustment is successful and CalibrateFlag is set to 2.

[0193] Step 45, if flag L 1, flag RWhen it is 0, the difference between the actual data of the right height sensor of the first bridge of the vehicle and the target value Δσ is determined R >0: If satisfied, the RL exhaust valve is opened and RL is deflated. According to the mutual disturbance principle, when RL is deflated and decreased, FR will be affected to increase and FL will be affected to decrease. The RR inflation valve is opened and RR is inflated, which affects FR to increase and FL to decrease, and then step 46 is executed.

[0194] If flag L 0, flag R When it is 1, judge Δσ L >0 Whether it is satisfied: If it is satisfied, the RL inflation valve is opened and RL is inflated. According to the mutual disturbance principle, when RL is inflated and increased, it will affect FR to decrease and FL to increase; the RR exhaust valve is opened and RR is deflated, which affects FR to decrease and FL to increase, and then step 46 is executed.

[0195] If flag L 0, flag R When Δσ is 0, L >0&&Δσ R >0, if yes, the front axle inflation valve is opened, the front axle is inflated, and the front axle is raised; judge Δσ L <0&&Δσ R <0, if yes, the front axle is deflated and lowered, and then step 46 is executed.

[0196] Step 46: If T is not satisfied Axle >T Axle_max The first stage of front axle calibration continues; otherwise, the first stage of front axle adjustment times out, CalibrateFlag is set to 4, and the first stage of front axle adjustment ends. The first stage is a rough adjustment.

[0197] The scheme of the present invention is based on the relationship that changes in the active shaft will affect corresponding changes in each passive shaft, and reasonably and accurately uses the law of mutual disturbance (positive correlation for the same-side shafts and negative correlation for the diagonal shafts), that is, reasonably and accurately uses the law that adjusting the rear axle will affect the height of the two axles of the front axle, to quickly and efficiently realize the calibration function of the electronically controlled air suspension system, which not only improves the calibration accuracy and efficiency, but also avoids errors caused by multiple manual measurements.

[0198] The control unit 104 is further configured to calibrate the front axle and the rear axle in the second stage according to the difference between the actual data of the height sensor of each of the front axle left axle, the front axle right axle, the rear axle left axle and the rear axle right axle and the target value, combined with the control of the charging valve and exhaust valve of the front axle, the charging valve and exhaust valve of the rear axle left axle, and the charging valve and exhaust valve of the rear axle right axle, so as to complete the calibration of the electronically controlled air suspension system. The specific functions and processing of the control unit 104 refer to step S230.

[0199] In the scheme of the present invention, the vehicle front axle has only two two-position two-way valves (such as the front axle exhaust valve 21 and the front axle inflation valve 22), which can only realize the same rise and fall action. The reasonable and accurate use of the rule that the height of the two axles of the front axle will be affected when adjusting the rear axle, under this condition, high-precision calibration of the vehicle can still be achieved, which not only reduces the overall cost of the electronically controlled air suspension system, but also improves the vehicle calibration efficiency and accuracy.

[0200] In some embodiments, the control unit 104 implements calibration of the front axle and the rear axle in the second stage according to the difference between the actual data of the height sensor of each of the front left axle, the front right axle, the rear left axle and the rear right axle of the vehicle and the target value, combined with the control of the charging valve and the exhaust valve of the front axle, the charging valve and the exhaust valve of the rear left axle, and the charging valve and the exhaust valve of the rear right axle, so as to complete the calibration of the electronically controlled air suspension system, including:

[0201] The control unit 104 is further configured to start the second stage adjustment timer to obtain the second stage adjustment time. The specific functions and processing of the control unit 104 refer to step S510.

[0202] The control unit 104 is further configured to determine whether the absolute value of the difference between the actual data of the height sensor of the left rear axle of the vehicle and the target value is less than or equal to the preset first-stage rear axle adjustment accuracy value: if satisfied, the flag bit of the left rear axle of the vehicle is set to 1, otherwise, the flag bit of the left rear axle of the vehicle is set to 0. The specific functions and processing of the control unit 104 refer to step S520.

[0203] The control unit 104 is further configured to determine whether the absolute value of the difference between the actual data of the height sensor of the right rear axle of the vehicle and the target value is less than or equal to the preset first-stage rear axle adjustment accuracy value: if satisfied, the flag bit of the right rear axle of the vehicle is set to 1, otherwise the flag bit of the right rear axle of the vehicle is set to 0. The specific functions and processing of the control unit 104 refer to step S530.

[0204] The control unit 104 is further configured to determine whether the absolute value of the difference between the actual data of the height sensor of the left front axle of the vehicle and the target value is less than or equal to the preset first-stage front axle adjustment accuracy value: if satisfied, the flag bit of the left front axle of the vehicle is set to 1, otherwise the flag bit of the left front axle of the vehicle is set to 0. The specific functions and processing of the control unit 104 refer to step S540.

[0205] The control unit 104 is further configured to determine whether the absolute value of the difference between the actual data of the height sensor of the right front axle of the vehicle and the target value is less than or equal to the preset first-stage front axle adjustment accuracy value: if satisfied, the flag bit of the right front axle of the vehicle is set to 1, otherwise the flag bit of the right front axle of the vehicle is set to 0. The specific functions and processing of the control unit 104 refer to step S550.

[0206] The control unit 104 is further configured to, if it is determined that the flag bit of the left shaft of the rear axle of the vehicle is 1, the flag bit of the right shaft of the rear axle of the vehicle is 1, the flag bit of the left shaft of the front axle of the vehicle is 1, and the flag bit of the right shaft of the front axle of the vehicle is 1, then set the adjustment process flag bit to 3, determine that the adjustment of the front axle and the rear axle in the second stage is successful, end the current adjustment, and realize the calibration of the front axle and the rear axle in the second stage, and complete the calibration of the electronically controlled air suspension system. The specific functions and processing of the control unit 104 refer to step S560.

[0207] The control unit 104 is further configured to, if it is determined that the flag bit of the left shaft of the rear axle of the vehicle is not satisfied = 1, and the flag bit of the right shaft of the rear axle of the vehicle is 1, then: if it is determined that the difference between the actual data of the height sensor of the right shaft of the rear axle of the vehicle and the target value is greater than 0, then control the inflation valve of the right shaft of the rear axle to perform an inflation action; if it is determined that the difference between the actual data of the height sensor of the right shaft of the rear axle of the vehicle and the target value is less than 0, then control the exhaust valve of the right shaft of the rear axle to perform an exhaust action; if it is determined that the difference between the actual data of the height sensor of the left shaft of the rear axle of the vehicle and the target value is greater than 0, then control the inflation valve of the left shaft of the rear axle to perform an inflation action; if it is determined that the difference between the actual data of the height sensor of the left shaft of the rear axle of the vehicle and the target value is less than 0, then control the exhaust valve of the left shaft of the rear axle to perform an exhaust action. The specific functions and processing of the control unit 104 refer to step S570.

[0208] The control unit 104 is further specifically configured to, if it is determined that the flag bit of the left shaft of the front axle of the vehicle = 1 is not satisfied, and the flag bit of the right shaft of the front axle of the vehicle = 1, then: if it is determined that the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is greater than 0, and the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is greater than 0, then control the inflation valve of the front axle to perform an inflation action to raise the front axle of the vehicle; if it is determined that the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is less than 0, and the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is less than 0, then control the exhaust valve of the front axle to perform an exhaust action to lower the front axle of the vehicle; if it is determined that the actual data of the height sensor of the left shaft of the front axle of the vehicle If the difference between the actual data of the height sensor of the front axle right shaft of the vehicle and the target value is greater than 0, and the difference between the actual data of the height sensor of the front axle right shaft of the vehicle and the target value is less than 0, the inflation valve of the rear axle left shaft is controlled to perform an inflation action to lower the front axle right shaft of the vehicle and raise the front axle left shaft, and the exhaust valve of the rear axle right shaft is controlled to perform an exhaust action to lower the front axle right shaft of the vehicle and raise the front axle left shaft; if it is determined that the difference between the actual data of the height sensor of the front axle left shaft of the vehicle and the target value is less than 0, and the difference between the actual data of the height sensor of the front axle right shaft of the vehicle and the target value is greater than 0, the exhaust valve of the rear axle left shaft is controlled to perform an exhaust action to raise the front axle right shaft of the vehicle and lower the front axle left shaft, and the inflation valve of the rear axle right shaft is controlled to perform an inflation action to raise the front axle right shaft of the vehicle and lower the front axle left shaft. The specific functions and processing of the control unit 104 refer to step S580.

[0209] The control unit 104 is further configured to return to continuous adjustment when the second stage adjustment time is less than or equal to the preset second stage adjustment maximum time, until the second stage adjustment time is greater than the preset second stage adjustment maximum time, set the adjustment process flag bit = 5, determine that the second stage adjustment of the rear axle has timed out, end the current adjustment, and implement calibration of the front axle and the rear axle in the second stage to complete the calibration of the electronically controlled air suspension system. The specific functions and processing of the control unit 104 refer to step S590.

[0210] like Fig.16 As shown, in the high-precision calibration method of the electronically controlled air suspension based on the simultaneous rise and fall of the front axle proposed in the solution of the present invention, the process of the one-key calibration function also includes: step 5, second-stage calibration.

[0211] Fig.15 Schematic diagram of the process of the second stage adjustment method. Fig.15 Explanation of relevant symbols in: Δσ i: The difference between the actual data and the target value of the height sensor i (i=RL,RR,FL,FR) in the second stage adjustment process; |Δσ i | means taking the absolute value; flag i :Second stage adjustment process i (i=RL,RR,FL,FR) height sensor actual data whether reaches the target value flag; T CAR : Second stage adjustment timer; T CAR_max : Maximum time for the second stage adjustment; CalibrateFlag: High-precision adjustment process flag, CalibrateFlag = 0, 1, 2, 3, 4, 5, representing the start of the first stage rear axle adjustment, the first stage rear axle adjustment success, the first stage front axle adjustment success, the second stage adjustment success, the first stage adjustment timeout, the second stage adjustment timeout respectively; ε2: The second stage front axle adjustment accuracy value.

[0212] like Fig.15 As shown, the second stage calibration is a combination of the first stage rear axle adjustment and the front axle adjustment. The process of the second stage adjustment method is as follows:

[0213] Step 51: Second stage adjustment timer T CAR Start timing and determine whether the absolute value of the difference between the actual height sensor data and the target value |Δσ1|≤the second-stage front axle adjustment accuracy value ε2 when the second-stage adjustment process i=RL and the absolute value of the difference between the actual height sensor data and the target value |Δσ2|≤the second-stage front axle adjustment accuracy value ε2 when the second-stage adjustment process i=RR are satisfied:

[0214] If |Δσ1|≤ε2 and |Δσ2|≤ε2 are satisfied at the same time, both flag1 and flag2 are set to 1, and then step 52 is executed.

[0215] If |Δσ1|≤ε2 is satisfied, and |Δσ2|≤ε2 is not satisfied, flag1 is set to 1, flag2 is set to 0, and if Δσ2>0 is determined, the right RR of the rear axle is inflated, otherwise the RR is deflated, and then step 53 is executed.

[0216] If |Δσ1|≤ε2 is not satisfied, but |Δσ2|≤ε2 is satisfied, flag1 is set to 0 and flag2 is set to 1. If Δσ1>0 is determined, the right RL of the rear axle is inflated, otherwise the RL is deflated, and then step 53 is executed.

[0217] If |Δσ1|≤ε2, |Δσ2|≤ε2 are not satisfied, flag1 is set to 0, flag2 is set to 0, and if Δσ1>0 is determined, the right RL of the rear axle is inflated, otherwise the RL is deflated, and then step 53 is executed.

[0218] At the same time, determine whether the absolute value of the difference between the actual data of the height sensor and the target value when i=FL in the second stage adjustment process |Δσ1|≤the second stage front axle adjustment accuracy value ε2, and the absolute value of the difference between the actual data of the height sensor and the target value when i=FR in the second stage adjustment process |Δσ2|≤the second stage front axle adjustment accuracy value ε2: if |Δσ3|≤ε2 is satisfied, flag3 is set to 1, otherwise flag3 is set to 0, and then step 52 or step 53 is executed; if |Δσ4|≤ε2 is satisfied, flag4 is set to 1, otherwise flag4 is set to 0, and then step 52 or step 53 is executed.

[0219] Step 52: When flag1, flag2, flag3 and flag4 are all 1, the second stage front axle adjustment is successful, and CalibrateFlag is set to 3.

[0220] Step 53, if flag3 is 1 and flag4 is 0, determine whether Δσ4>0 is satisfied. If satisfied, open the RL exhaust valve and deflate the RL. According to the mutual disturbance principle, when the RL is deflated and decreased, it will affect the FR to increase and the FL to decrease; open the RR inflation valve and inflate the RR, which will affect the FR to increase and the FL to decrease, and then execute step 54.

[0221] If flag3 is 0 and flag4 is 1, determine whether Δσ3>0 is satisfied. If so, open the RL inflation valve and inflate the RL. According to the mutual disturbance principle, when the RL is inflated and increased, it will affect the FR to decrease and the FL to increase. Open the RR exhaust valve and deflate the RR, which will affect the FR to decrease and the FL to increase. Then execute step 54.

[0222] If flag3 is 0 and flag4 is 0, determine whether Δσ3>0&&Δσ4>0 is satisfied. If satisfied, the front axle inflation valve is opened, the front axle is inflated, and the front axle is raised, and then step 54 is executed. Here, the difference of the front axle is determined. If the front left and front right are both greater than 0, that is, the front axle needs to be raised toward the target value, the front axle can be inflated to raise it.

[0223] Determine whether Δσ3<0&&Δσ4<0 is satisfied: if so, deflate the front axle and lower the front axle. Here, determine the difference of the front axle. If the front left and front right are both less than 0, that is, it needs to be lowered toward the target value, deflate the front axle to lower it, and then execute step 54.

[0224] Step 54: If T is not satisfied CAR >T CAR_maxThe second stage front axle calibration continues; otherwise, the second stage front axle adjustment times out, CalibrateFlag is set to 5, and the CalibrateFlag parameter can be used to know which process is being executed in the relevant scheme of the entire calibration process and whether which process is successful or not, and the second stage adjustment ends. This time T CAR To adjust the time for the second stage, a time limit is required, namely T CAR_max If the set time limit is exceeded, the adjustment will stop, otherwise the adjustment action will continue.

[0225] The scheme of the present invention is aimed at the front axle rising and lowering at the same time, and the rear axle being adjustable for rising and falling separately. The front axle adjustment can affect the front axle by adjusting the rear axle, and the rear axle is adjusted separately. High-precision calibration of the vehicle can be achieved. Among them, in the mutual disturbance calibration, the front axle only has the action of rising and lowering at the same time, and the mutual disturbance principle of suspension adjustment is accurately used to achieve high-precision calibration of the vehicle. Fewer electromagnetics are used, and the system is relatively simple and economical.

[0226] Since the processing and functions implemented by the device of this embodiment basically correspond to the embodiments, principles and examples of the aforementioned method, for the details not fully described in this embodiment, please refer to the relevant descriptions in the aforementioned embodiments, and no further elaboration will be made here.

[0227] According to an embodiment of the present invention, a vehicle corresponding to a control device of an electronically controlled air suspension system of a vehicle is also provided. The vehicle may include: the control device of the electronically controlled air suspension system of a vehicle described above.

[0228] Since the processing and functions implemented by the vehicle of this embodiment basically correspond to the embodiments, principles and examples of the aforementioned devices, for the details not fully described in this embodiment, please refer to the relevant descriptions in the aforementioned embodiments, and no further elaboration will be made here.

[0229] According to an embodiment of the present invention, a computer program product corresponding to a vehicle is also provided, comprising a computer program, which implements the steps of the control method of the electronically controlled air suspension system of the vehicle described above when executed by a processor.

[0230] Since the processing and functions implemented by the product of this embodiment basically correspond to the embodiments, principles and examples of the aforementioned vehicle, for the details not fully described in this embodiment, please refer to the relevant descriptions in the aforementioned embodiments, and no further elaboration will be made here.

[0231] According to an embodiment of the present invention, a storage medium corresponding to a control method for an electronically controlled air suspension system of a vehicle is also provided, wherein the storage medium includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute the steps of the control method for the electronically controlled air suspension system of the vehicle described above.

[0232] Since the processing and functions implemented by the storage medium of this embodiment basically correspond to the embodiments, principles and examples of the aforementioned method, for the details not fully described in this embodiment, please refer to the relevant descriptions in the aforementioned embodiments, and no further elaboration will be made here.

[0233] In summary, it is easy for those skilled in the art to understand that, under the premise of no conflict, the above-mentioned advantageous methods can be freely combined and superimposed.

[0234] The above description is only an embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention shall be included in the scope of the claims of the present invention.

Claims

1. A control method for an electronically controlled air suspension system of a vehicle, characterized in that: A valve assembly is provided on the front axle and the rear axle of the vehicle respectively; and a control method of the electronically controlled air suspension system of the vehicle comprises: When the electronically controlled air suspension system needs to be calibrated, the difference between actual data of the height sensor of each of the front axle left axle, the front axle right axle, the rear axle left axle and the rear axle right axle of the vehicle and the target value is obtained; Based on the relationship that changes in the active shafts among the front left axle, front right axle, rear left axle and rear right axle of the vehicle cause corresponding changes in the passive shafts, combined with the difference between actual data and target values ​​of height sensors of each of the front left axle, front right axle, rear left axle and rear right axle of the vehicle, and combined with the control of valve assemblies respectively arranged on the front axle and rear axle of the vehicle, the rear axle and the front axle are calibrated in stages to complete the calibration of the electronically controlled air suspension system.

2. The control method of the electronically controlled air suspension system of a vehicle according to claim 1, characterized in that: The front axle and the rear axle of the vehicle are provided with valve assemblies respectively, including: an inflation valve and an exhaust valve are provided on the front axle of the vehicle, and an inflation valve and an exhaust valve are provided on the left axle and the right axle of the rear axle of the vehicle respectively; Based on the relationship that the passive shaft changes correspondingly due to the change of the active shaft among the front left shaft, the front right shaft, the rear left shaft and the rear right shaft of the vehicle, combined with the difference between the actual data of the height sensor of each shaft among the front left shaft, the front right shaft, the rear left shaft and the rear right shaft of the vehicle and the target value, and combined with the control of the valve components respectively arranged on the front axle and the rear axle of the vehicle, the rear axle and the front axle are calibrated in stages to complete the calibration of the electronically controlled air suspension system, including: Based on the relationship that changes in the active shafts among the front left axle, front right axle, rear left axle and rear right axle of the vehicle cause corresponding changes in the passive shafts, combined with the difference between actual data of height sensors of each of the front left axle, front right axle, rear left axle and rear right axle of the vehicle and the target value, and combined with the control of the inflation valve and exhaust valve of the front axle, the inflation valve and exhaust valve of the rear left axle, and the inflation valve and exhaust valve of the rear right axle, the rear axle and the front axle are calibrated in stages to complete the calibration of the electronically controlled air suspension system.

3. The control method of the electronically controlled air suspension system of a vehicle according to claim 1, characterized in that: Obtaining the difference between the actual data of the height sensor of each of the front axle left axle, the front axle right axle, the rear axle left axle and the rear axle right axle of the vehicle and the target value, including: Obtain the height of the body mark line of each of the front left axle, front right axle, rear left axle and rear right axle of the vehicle, and determine the difference between the body mark line target height of the vehicle and the body mark line height of each of the front left axle, front right axle, rear left axle and rear right axle of the vehicle as the difference between the body height mark line target height and the actual height of each of the front left axle, front right axle, rear left axle and rear right axle of the vehicle, so as to: map the difference between the actual data of the height sensor of each of the front left axle, front right axle, rear left axle and rear right axle of the vehicle and the target value according to the difference between the body height mark line target height and the actual height of each of the front left axle, front right axle, rear left axle and rear right axle of the vehicle.

4. The control method of the electronically controlled air suspension system of a vehicle according to claim 2, characterized in that: Based on the relationship that the passive shaft changes correspondingly due to the change of the active shaft among the front left shaft, the front right shaft, the rear left shaft and the rear right shaft of the vehicle, combined with the difference between the actual data of the height sensor of each shaft among the front left shaft, the front right shaft, the rear left shaft and the rear right shaft of the vehicle and the target value, and combined with the control of the inflation valve and the exhaust valve of the front axle, the inflation valve and the exhaust valve of the rear left shaft, and the inflation valve and the exhaust valve of the rear right shaft, the rear axle and the front axle are calibrated in stages to complete the calibration of the electronically controlled air suspension system, including: According to the difference between the actual data of the height sensor of each of the left and right shafts of the rear axle of the vehicle and the target value, combined with the control of the charging valve and the exhaust valve of the left shaft of the rear axle, and the charging valve and the exhaust valve of the right shaft of the rear axle, the rear axle is calibrated in the first stage; According to the difference between the actual data of the height sensor of each of the left and right shafts of the front axle of the vehicle and the target value, the front axle is calibrated in the first stage in combination with the control of the charging valve and the exhaust valve of the front axle, the charging valve and the exhaust valve of the left shaft of the rear axle, and the charging valve and the exhaust valve of the right shaft of the rear axle; According to the difference between the actual data of the height sensors of each of the front left axle, front right axle, rear left axle and rear right axle of the vehicle and the target value, combined with the control of the inflation valve and the exhaust valve of the front axle, the inflation valve and the exhaust valve of the left rear axle, and the inflation valve and the exhaust valve of the right rear axle, the front axle and the rear axle are calibrated in the second stage to complete the calibration of the electronically controlled air suspension system.

5. The control method of the electronically controlled air suspension system of a vehicle according to claim 4, characterized in that: According to the difference between the actual data of the height sensor of each of the left and right shafts of the rear axle of the vehicle and the target value, combined with the control of the charging valve and the exhaust valve of the left shaft of the rear axle, and the charging valve and the exhaust valve of the right shaft of the rear axle, the rear axle is calibrated in the first stage, including: The first-stage rear axle adjustment timer starts timing to obtain the first-stage rear axle adjustment time; and the adjustment process flag is marked as 0; Determine whether the absolute value of the difference between the actual data of the height sensor of the left rear axle of the vehicle and the target value is less than or equal to the preset first-stage rear axle adjustment accuracy value: if so, set the flag bit of the left rear axle of the vehicle to 1; otherwise, set the flag bit of the left rear axle of the vehicle to 0; Determine whether the absolute value of the difference between the actual data of the height sensor of the right shaft of the rear axle of the vehicle and the target value is less than or equal to the preset first-stage rear axle adjustment accuracy value: if so, set the flag bit of the right shaft of the rear axle of the vehicle to 1; otherwise, set the flag bit of the right shaft of the rear axle of the vehicle to 0; If it is determined that the flag bit of the left shaft of the rear axle of the vehicle is 1 and the flag bit of the right shaft of the rear axle of the vehicle is 1, then the adjustment process flag bit is set to 1, it is determined that the adjustment of the rear axle in the first stage is successful, and the current adjustment is ended to achieve calibration of the rear axle in the first stage; If it is determined that the flag bit of the left shaft of the rear axle of the vehicle is 1, and the flag bit of the right shaft of the rear axle of the vehicle is 0, then: if it is determined that the difference between the actual data of the height sensor of the right shaft of the rear axle of the vehicle and the target value is greater than 0, the inflation valve of the right shaft of the rear axle is controlled to perform an inflation action; if it is determined that the difference between the actual data of the height sensor of the right shaft of the rear axle of the vehicle and the target value is less than 0, the exhaust valve of the right shaft of the rear axle is controlled to perform an exhaust action; If it is determined that the flag bit of the left shaft of the rear axle of the vehicle is 0, and the flag bit of the right shaft of the rear axle of the vehicle is 1 or 0, then: if it is determined that the difference between the actual data of the height sensor of the left shaft of the rear axle of the vehicle and the target value is greater than 0, the inflation valve of the left shaft of the rear axle is controlled to perform an inflation action; if it is determined that the difference between the actual data of the height sensor of the left shaft of the rear axle of the vehicle and the target value is less than 0, the exhaust valve of the left shaft of the rear axle is controlled to perform an exhaust action; When the first-stage rear axle adjustment time is less than or equal to the preset first-stage rear axle adjustment maximum time, the control returns to continuous adjustment until the first-stage rear axle adjustment time is greater than the preset first-stage rear axle adjustment maximum time, setting the adjustment process flag bit = 4, determining that the first-stage adjustment of the rear axle has timed out, and terminating the current adjustment to achieve calibration of the rear axle in the first stage.

6. The control method of the electronically controlled air suspension system of a vehicle according to claim 5, characterized in that: According to the difference between the actual data of the height sensor of each of the left and right shafts of the front axle of the vehicle and the target value, combined with the control of the charging valve and the exhaust valve of the front axle, the charging valve and the exhaust valve of the left shaft of the rear axle, and the charging valve and the exhaust valve of the right shaft of the rear axle, the calibration of the front axle is realized in the first stage, including: Determine whether the adjustment process flag bit = 1 or the adjustment process flag bit = 4 is satisfied; If it is determined that the adjustment process flag bit = 4, the adjustment of the front axle in the first stage is canceled; if it is determined that the adjustment process flag bit = 1, the adjustment of the front axle in the first stage is performed, so that the first stage front axle adjustment timer starts timing, and the first stage front axle adjustment time is obtained; Determine whether the absolute value of the difference between the actual data of the height sensor of the left front axle of the vehicle and the target value is less than or equal to the preset first-stage front axle adjustment accuracy value: if so, set the flag bit of the left front axle of the vehicle = 1, otherwise, set the flag bit of the left front axle of the vehicle = 0; Determine whether the absolute value of the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is less than or equal to the preset first-stage front axle adjustment accuracy value: if so, set the flag bit of the right shaft of the front axle of the vehicle = 1, otherwise, set the flag bit of the right shaft of the front axle of the vehicle = 0; If it is determined that the flag bit of the left shaft of the front axle of the vehicle is 1 and the flag bit of the right shaft of the front axle of the vehicle is 1, then the adjustment process flag bit is set to 2, and it is determined that the adjustment of the front axle in the first stage is successful, and the current adjustment is ended to achieve calibration of the front axle in the first stage; If it is determined that the flag bit of the left shaft of the front axle of the vehicle is 1, and the flag bit of the right shaft of the front axle of the vehicle is 0, then: if it is determined that the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is less than 0, and the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is greater than 0, then the exhaust valve of the left shaft of the rear axle is controlled to perform an exhaust action so that the right shaft of the front axle of the vehicle is raised and the left shaft of the front axle is lowered, and the inflation valve of the right shaft of the rear axle is controlled to perform an inflation action so that the right shaft of the front axle of the vehicle is raised and the left shaft of the front axle is lowered; If it is determined that the flag bit of the left shaft of the front axle of the vehicle = 0, and the flag bit of the right shaft of the front axle of the vehicle = 1, then: if it is determined that the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is greater than 0, and the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is less than 0, then the inflation valve of the left shaft of the rear axle is controlled to perform an inflation action so that the right shaft of the front axle of the vehicle is lowered and the left shaft of the front axle is raised, and the exhaust valve of the right shaft of the rear axle is controlled to perform an exhaust action so that the right shaft of the front axle of the vehicle is lowered and the left shaft of the front axle is raised; If it is determined that the flag position of the left shaft of the front axle of the vehicle = 0, and the flag position of the right shaft of the front axle of the vehicle = 0, then: if it is determined that the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is greater than 0, and the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is greater than 0, then the inflation valve of the front axle is controlled to perform an inflation action to raise the front axle of the vehicle; if it is determined that the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is less than 0, and the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is less than 0, then the exhaust valve of the front axle is controlled to perform an exhaust action to lower the front axle of the vehicle; When the adjustment time of the first-stage front axle is less than or equal to the preset maximum adjustment time of the first-stage front axle, the control returns to continuous adjustment until the adjustment time of the first-stage front axle is greater than the preset maximum adjustment time of the first-stage front axle, the adjustment process flag is set to 4, and it is determined that the adjustment of the front axle in the first stage has timed out, and the current adjustment is ended to realize calibration of the front axle in the first stage.

7. The control method of the electronically controlled air suspension system of a vehicle according to any one of claims 4 to 6, characterized in that: According to the difference between the actual data of the height sensor of each of the front left axle, the front right axle, the rear left axle and the rear right axle of the vehicle and the target value, combined with the control of the inflation valve and the exhaust valve of the front axle, the inflation valve and the exhaust valve of the rear left axle, and the inflation valve and the exhaust valve of the rear right axle, the front axle and the rear axle are calibrated in the second stage to complete the calibration of the electronically controlled air suspension system, including: The second stage adjustment timer starts timing to obtain the second stage adjustment time; Determine whether the absolute value of the difference between the actual data of the height sensor of the left rear axle of the vehicle and the target value is less than or equal to the preset first-stage rear axle adjustment accuracy value: if so, set the flag bit of the left rear axle of the vehicle to 1; otherwise, set the flag bit of the left rear axle of the vehicle to 0; Determine whether the absolute value of the difference between the actual data of the height sensor of the right shaft of the rear axle of the vehicle and the target value is less than or equal to the preset first-stage rear axle adjustment accuracy value: if so, set the flag bit of the right shaft of the rear axle of the vehicle to 1; otherwise, set the flag bit of the right shaft of the rear axle of the vehicle to 0; Determine whether the absolute value of the difference between the actual data of the height sensor of the left front axle of the vehicle and the target value is less than or equal to the preset first-stage front axle adjustment accuracy value: if so, set the flag bit of the left front axle of the vehicle = 1, otherwise, set the flag bit of the left front axle of the vehicle = 0; Determine whether the absolute value of the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is less than or equal to the preset first-stage front axle adjustment accuracy value: if so, set the flag bit of the right shaft of the front axle of the vehicle = 1, otherwise, set the flag bit of the right shaft of the front axle of the vehicle = 0; If it is determined that the flag bit of the left shaft of the rear axle of the vehicle is 1, the flag bit of the right shaft of the rear axle of the vehicle is 1, the flag bit of the left shaft of the front axle of the vehicle is 1, and the flag bit of the right shaft of the front axle of the vehicle is 1, then the adjustment process flag bit is set to 3, and it is determined that the adjustment of the front axle and the rear axle in the second stage is successful, and the current adjustment is ended to achieve calibration of the front axle and the rear axle in the second stage, and complete the calibration of the electronically controlled air suspension system; If it is determined that the flag bit of the left shaft of the rear axle of the vehicle is not satisfied = 1, and the flag bit of the right shaft of the rear axle of the vehicle is 1, then: if it is determined that the difference between the actual data of the height sensor of the right shaft of the rear axle of the vehicle and the target value is greater than 0, the inflation valve of the right shaft of the rear axle is controlled to perform an inflation action; if it is determined that the difference between the actual data of the height sensor of the right shaft of the rear axle of the vehicle and the target value is less than 0, the exhaust valve of the right shaft of the rear axle is controlled to perform an exhaust action; if it is determined that the difference between the actual data of the height sensor of the left shaft of the rear axle of the vehicle and the target value is greater than 0, the inflation valve of the left shaft of the rear axle is controlled to perform an inflation action; if it is determined that the difference between the actual data of the height sensor of the left shaft of the rear axle of the vehicle and the target value is less than 0, the exhaust valve of the left shaft of the rear axle is controlled to perform an exhaust action; If it is determined that the flag bit of the left shaft of the front axle of the vehicle is not satisfied = 1, and the flag bit of the right shaft of the front axle of the vehicle is 1, then: if it is determined that the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is greater than 0, and the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is greater than 0, then the inflation valve of the front axle is controlled to perform an inflation action to raise the front axle of the vehicle; if it is determined that the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is less than 0, and the difference between the actual data of the height sensor of the right shaft of the front axle of the vehicle and the target value is less than 0, then the exhaust valve of the front axle is controlled to perform an exhaust action to lower the front axle of the vehicle; if it is determined that the difference between the actual data of the height sensor of the left shaft of the front axle of the vehicle and the target value is greater than 0, then the exhaust valve of the front axle is controlled to perform an exhaust action to lower the front axle of the vehicle; If the difference between the actual data of the height sensor of the right axle of the front axle of the vehicle and the target value is less than 0, and the difference between the actual data of the height sensor of the right axle of the front axle of the vehicle and the target value is less than 0, then the inflation valve of the left axle of the rear axle is controlled to perform an inflation action to lower the right axle of the front axle of the vehicle and raise the left axle of the front axle, and the exhaust valve of the right axle of the rear axle is controlled to perform an exhaust action to lower the right axle of the front axle of the vehicle and raise the left axle of the front axle; if it is determined that the difference between the actual data of the height sensor of the left axle of the front axle of the vehicle and the target value is less than 0, and the difference between the actual data of the height sensor of the right axle of the front axle of the vehicle and the target value is greater than 0, then the exhaust valve of the left axle of the rear axle is controlled to perform an exhaust action to raise the right axle of the front axle of the vehicle and lower the left axle of the front axle, and the inflation valve of the right axle of the rear axle is controlled to perform an inflation action to raise the right axle of the front axle of the vehicle and lower the left axle of the front axle; When the second-stage adjustment time is less than or equal to the preset second-stage adjustment maximum time, the process returns to continuous adjustment until the second-stage adjustment time is greater than the preset second-stage adjustment maximum time, and the adjustment process flag is set to 5, and it is determined that the second-stage adjustment of the rear axle has timed out, and the current adjustment is terminated to achieve calibration of the front axle and the rear axle in the second stage, so as to complete the calibration of the electronically controlled air suspension system.

8. A control device for an electronically controlled air suspension system of a vehicle, characterized in that: A valve assembly is provided on the front axle and the rear axle of the vehicle respectively; and a control device of the electronically controlled air suspension system of the vehicle comprises: an acquisition unit configured to acquire a difference between actual data of a height sensor of each of the front left axle, the front right axle, the rear left axle and the rear right axle of the vehicle and a target value when the electronically controlled air suspension system needs to be calibrated; The control unit is configured to calibrate the rear axle and the front axle in stages based on the relationship that the passive axle changes correspondingly due to the change of the active axle among the front left axle, the front right axle, the rear left axle and the rear right axle of the vehicle, combined with the difference between actual data of the height sensor of each axle among the front left axle, the front right axle, the rear left axle and the rear right axle of the vehicle and the target value, and combined with the control of the valve assemblies respectively arranged on the front axle and the rear axle of the vehicle, so as to complete the calibration of the electronically controlled air suspension system.

9. A vehicle, characterized in that: include: The control device of the electronically controlled air suspension system of a vehicle as claimed in claim 8.

10. A storage medium, characterized in that: The storage medium includes a stored program, wherein when the program is executed, the device where the storage medium is located is controlled to execute the control method of the electronically controlled air suspension system of a vehicle according to any one of claims 1 to 7.

11. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the control method of the electronically controlled air suspension system of a vehicle according to any one of claims 1 to 7 are implemented.

Images