Height sensor fault detection method and device, vehicle and storage medium

Abstract

The embodiment of the invention provides a height sensor fault detection method and device, a vehicle and a storage medium, and relates to the field of vehicle fault detection.The method comprises the steps that a vehicle body height signal and a vehicle body attitude angle are obtained, and vehicle body estimated height information is determined based on the vehicle body height signal and the vehicle body attitude angle under the condition that the vehicle is in a steady state; based on the vehicle body height signal and the vehicle body estimated height information, it is determined whether the height sensor has failed. Through the above height sensor fault detection mode, the rationality of the vehicle body height signal acquired by the height sensor can be detected, the verification process is simple and effective, and the wrong adjustment of the vehicle body height is effectively prevented.

Description

Technical Field

[0001] The present invention relates to the field of vehicle fault detection, and in particular to a height sensor fault detection method, device, vehicle and storage medium. Background Art

[0002] With the continuous development of automobile technology, vehicles in the existing technology are equipped with a variety of sensors to monitor and control various performance parameters of the vehicle to improve driving safety and comfort. Height sensor is one of them, which can monitor the height of the vehicle relative to the ground and adjust the height of the vehicle suspension system accordingly to adapt to different road conditions and driving conditions. Based on the increasing demand for driving safety and comfort, vehicle manufacturers continue to introduce new technologies to improve the overall performance of vehicles.

[0003] In the prior art, vehicles usually use height sensors to monitor the height of the vehicle body and automatically adjust the vehicle's suspension system based on the monitoring results. Specifically, the height sensor sends the collected data to the vehicle's control system, and the control system decides whether to adjust the height of the vehicle's suspension based on the data. This process is crucial to ensure that the vehicle maintains the optimal height under different driving conditions, thereby ensuring the stability and handling of the vehicle.

[0004] However, in the prior art, the vehicle cannot identify whether the height sensor is faulty. Once the height sensor fails, the control system may not be able to accurately obtain the height information of the vehicle, which may cause the suspension system to incorrectly adjust the height, affecting the normal operation of the vehicle. This situation may not only lead to a degraded driving experience, but also pose a safety hazard. Summary of the invention

[0005] The object of the present invention is to provide a height sensor fault detection method, device, vehicle and storage medium, which can identify the fault condition of the height sensor and improve driving safety.

[0006] In order to achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows: In a first aspect, an embodiment of the present application provides a height sensor fault detection method, which is applied to a vehicle controller, wherein the vehicle controller is communicatively connected to a height sensor, and the height sensor is used to obtain a vehicle height signal, and the method includes: Obtain vehicle height signal and vehicle posture angle; When the vehicle is in a steady state, determining vehicle body estimated height information based on the vehicle body height signal and the vehicle body attitude angle; Based on the vehicle height signal and the vehicle estimated height information, it is determined whether a height sensor is malfunctioning.

[0007] In an optional implementation, the step of determining the estimated vehicle height information based on the vehicle height signal and the vehicle attitude angle when the vehicle is in a steady state includes: Determining a first distance from the center of mass of the vehicle to the front axle and a second distance from the center of mass of the vehicle to the rear axle and a wheelbase of the vehicle; Based on the vehicle height signal, the vehicle attitude angle, the first distance, the second distance and the wheelbase, the vehicle estimated height information is calculated.

[0008] In an optional implementation, the vehicle body signal height includes a first wheel height signal, a second wheel height signal, a third wheel height signal, and a fourth wheel height signal, the vehicle body attitude angle includes a pitch angle and a roll angle, and the step of calculating the vehicle body estimated height information based on the vehicle body height signal, the vehicle attitude angle, the first distance, the second distance, and the wheelbase includes: Calculating fourth wheel estimated height information in the vehicle body estimated height information based on the first wheel height signal, the second wheel height signal, the third wheel height signal, the pitch angle, the roll angle, and the wheelbase; Calculating third wheel estimated height information in the vehicle body estimated height information based on the first wheel height signal, the second wheel height signal, the fourth wheel height signal, the pitch angle, the roll angle, and the wheelbase; Calculating first wheel estimated height information in vehicle body estimated height information based on the second wheel height signal, the third wheel height signal, the fourth wheel height signal, the pitch angle, the roll angle, and the wheelbase; Second wheel estimated height information among the vehicle body estimated height information is calculated based on the first wheel height signal, the third wheel height signal, the fourth wheel height signal, the pitch angle, the roll angle, and the wheelbase.

[0009] In an optional implementation, the step of calculating fourth wheel estimated height information in the vehicle body estimated height information based on the first wheel height signal, the second wheel height signal, the third wheel height signal, the pitch angle, the roll angle, and the wheelbase includes: Calculating a first sum of the first distance and the second distance; Calculating a first product of the first sum and the sine of the pitch angle; calculating a first difference between the first wheel height signal and the first product; calculating a second difference between the second wheel height signal and the first product; Calculating a second product of the wheelbase and a preset value; calculating a third product of the second product and the roll angle; calculating a second sum of the third product and the second difference; calculating a fourth product of the second product and the sine value of the roll angle; calculating a third sum of the third wheel height signal and the fourth product; An average of the first difference, the second sum and the third sum is calculated as fourth wheel estimated height information of the vehicle body estimated height information.

[0010] In an optional implementation, the step of calculating the third wheel estimated height information in the vehicle body estimated height information based on the first wheel height signal, the second wheel height signal, the fourth wheel height signal, the pitch angle, the roll angle and the wheelbase includes: calculating a third difference between the second wheel height signal and the first product; calculating a fourth difference value of the first difference value and the third product; calculating a fifth difference between the fourth wheel height signal and the fourth product; An average of the third difference, the fourth difference and the fifth difference is calculated as third wheel estimated height information of the vehicle body estimated height information.

[0011] In an optional implementation, the step of determining whether the height sensor is faulty based on the vehicle height signal and the vehicle estimated height information includes: calculating a deviation value between the third wheel height signal and the third wheel estimated height information corresponding to the third wheel height signal; comparing the deviation value with a preset deviation value; When the deviation value is greater than or equal to the preset deviation value, determining that the height sensor is faulty; When the deviation value is less than the preset deviation value, it is determined that the height sensor is normal.

[0012] In an optional implementation, the method further includes: When it is determined that the height sensor fails, a vehicle body adjustment is performed based on the vehicle body estimated height information.

[0013] In a second aspect, an embodiment of the present application provides a height sensor fault detection device, which is applied to a vehicle controller, wherein the vehicle controller is communicatively connected to a height sensor, and the height sensor is used to obtain a vehicle height signal, and the device includes: An acquisition module, used to acquire a vehicle height signal and a vehicle posture angle; A determination module, used for determining the estimated height information of the vehicle body based on the vehicle body height signal and the vehicle body attitude angle when the vehicle is in a steady state; The fault detection module is used to determine whether the height sensor is faulty based on the vehicle height signal and the vehicle estimated height information.

[0014] In a third aspect, an embodiment of the present application provides a vehicle controller, comprising a memory and a vehicle controller, wherein the memory stores a computer program, and the vehicle controller implements the steps of the height sensor fault detection method when executing the computer program.

[0015] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the height sensor fault detection method when executed by a vehicle controller.

[0016] This application has the following beneficial effects: The present application obtains the vehicle height signal and the vehicle attitude angle, and when the vehicle is in a steady state, determines the estimated vehicle height information based on the vehicle height signal and the vehicle attitude angle, and determines whether the height sensor is faulty based on the vehicle height signal and the estimated vehicle height information. Through the above-mentioned height sensor fault detection method, the rationality of the vehicle height signal obtained by the height sensor can be checked, and the verification process is simple and effective, which effectively prevents the wrong adjustment of the vehicle height. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 A block diagram of a vehicle controller provided by an embodiment of the present invention; Figure 2 One of the flow charts of a height sensor fault detection method provided by an embodiment of the present invention; Figure 3 A second flow chart of a height sensor fault detection method provided by an embodiment of the present invention; Figure 4 A schematic diagram of a vehicle height signal and a vehicle attitude angle provided by an embodiment of the present invention; Figure 5 A third flow chart of a height sensor fault detection method provided by an embodiment of the present invention; Figure 6 A fourth flow chart of a height sensor fault detection method provided by an embodiment of the present invention; Figure 7A fifth flow chart of a height sensor fault detection method provided by an embodiment of the present invention; Figure 8 A structural block diagram of a height sensor fault detection device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0020] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0022] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear to indicate an orientation or position relationship, they are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the invention is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0023] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0024] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0025] After extensive research, it was found that the vehicle cannot identify whether the height sensor is faulty. Once the height sensor fails, the control system may not be able to accurately obtain the height information of the vehicle, which will cause the suspension system to incorrectly adjust the height, affecting the normal operation of the vehicle. This situation may not only lead to a degraded driving experience, but also pose a safety hazard.

[0026] In view of the discovery of the above problems, this embodiment provides a height sensor fault detection method, device, vehicle and storage medium, which can obtain the vehicle height signal and the vehicle attitude angle, and determine the estimated height information of the vehicle body based on the vehicle height signal and the vehicle attitude angle when the vehicle is in a steady state, and determine whether the height sensor is faulty based on the vehicle height signal and the vehicle estimated height information. Through the above height sensor fault detection method, the rationality of the vehicle height signal obtained by the height sensor can be checked, the verification process is simple and effective, and the incorrect adjustment of the vehicle height can be effectively prevented. The solution provided by this embodiment is described in detail below.

[0027] This embodiment provides a vehicle controller that can detect faults of a height sensor. In a possible implementation, the vehicle controller can be a user terminal, for example, the vehicle controller can be, but is not limited to, a server, a smart phone, a personal computer (PC), a tablet computer, a personal digital assistant (PDA), a mobile Internet device (MID), etc.

[0028] Please refer to Figure 1 , Figure 1 1 is a schematic diagram of the structure of the vehicle controller 100 provided in the embodiment of the present application. The vehicle controller 100 may also include Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown. Figure 1 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0029] The vehicle controller 100 includes a height sensor failure detection device 110 and a memory 120 .

[0030] The components of the memory 120 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines. The height sensor fault detection device 110 includes at least one software function module that can be stored in the memory 120 in the form of software or firmware or solidified in the operating system (OS) of the vehicle controller 100. The executable modules stored in the height sensor fault detection device 110, such as the software function modules and computer programs included in the height sensor fault detection device 110.

[0031] The memory 120 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable read-only memory (EEPROM), etc. The memory 120 is used to store a program, and the vehicle controller executes the program after receiving an execution instruction.

[0032] Please refer to Figure 2 , Figure 2 For application Figure 1 A flow chart of a height sensor fault detection method of a vehicle controller 100 is shown, and the method including various steps is described in detail below.

[0033] S201: Acquire a vehicle height signal and a vehicle posture angle.

[0034] S202: When the vehicle is in a steady state, determine vehicle body estimated height information based on a vehicle body height signal and a vehicle body attitude angle.

[0035] S203: Determine whether the height sensor is faulty based on the vehicle height signal and the vehicle height estimated information.

[0036] The height sensor is fixedly connected between the vehicle body and the axle through a bracket. If the mechanical connection is damaged, such as bracket breakage or bracket deformation, the detected vehicle height signal will deviate greatly from the actual height signal. In this case, the height sensor itself cannot diagnose and verify whether the vehicle height is reasonable. Therefore, the vehicle controller needs to determine whether the vehicle height signal read by the height sensor is reasonable based on the vehicle height and vehicle attitude angle.

[0037] The vehicle height signal is obtained through the height sensor, and the vehicle height signal includes the height signal of each wheel of the vehicle.

[0038] The pitch angle and roll angle of the vehicle are obtained through the inertial measurement unit, and the pitch angle and roll angle constitute the vehicle attitude angle.

[0039] Pitch is the angle at which the longitudinal axis of the vehicle (from front to back) tilts relative to the horizontal plane. Pitch occurs when the front of the vehicle moves up and down. Roll is the angle at which the lateral axis of the vehicle (from left to right wheels) tilts relative to the horizontal plane. Roll occurs when the left and right sides of the vehicle are at different heights or when the vehicle tilts when turning.

[0040] Determine whether there is an electrical fault in the height sensor. An electrical fault in the height sensor may cause the vehicle to be unable to accurately measure its posture, thereby affecting the stability and handling of the vehicle. Electrical faults in the height sensor usually include no response from the height sensor or abnormal output signals, unstable or no output signals from the height sensor, high or inaccurate output signals from the height sensor, complete failure of the height sensor or output of an erroneous signal, fluctuations in the output signals from the height sensor or abnormal values, etc.

[0041] The method of detecting that the vehicle is in a steady state can be: the vehicle gear is in the parking gear, the steering wheel angle of the vehicle is within a preset angle range, the pitch angular velocity and roll angular velocity of the vehicle body are less than the preset speed and there is no height control command.

[0042] It should be noted that the preset angle range can be set to (-5°-5°), and the preset speed can be set to 0.1 rad / s.

[0043] When the vehicle meets the above conditions at the same time, it is determined that the vehicle is in a steady state. When the vehicle gear is not in the parking gear, the steering wheel angle of the vehicle does not fall within the preset angle range, the pitch angular velocity and roll angular velocity of the vehicle body are greater than the preset speed or there is a height control command, it is determined that the vehicle is in an unsteady state.

[0044] When the vehicle is in a steady state, the estimated height information of the vehicle body is determined based on the vehicle height signal and the vehicle body posture angle. Based on the vehicle height signal and the estimated height information, it is judged whether the height sensor is faulty. When the height sensor is not faulty, the vehicle height can be adjusted based on the vehicle height read by the height sensor. When the height sensor fails, the vehicle height can be adjusted based on the estimated height information of the vehicle body determined by the vehicle height signal and the vehicle posture angle.

[0045] When the vehicle is in a steady state, there are many implementations for determining the estimated vehicle height information based on the vehicle height signal and the vehicle attitude angle. In one implementation, Figure 3 As shown, the following steps are included: S301: Determine a first distance from the center of mass of the vehicle to the front axle, a second distance from the center of mass of the vehicle to the rear axle, and a wheelbase of the vehicle.

[0046] S302: Calculate vehicle body estimated height information based on the vehicle body height signal, the vehicle attitude angle, the first distance, the second distance and the wheelbase.

[0047] Based on the vehicle height signal, the vehicle attitude angle, the first distance, the second distance and the wheelbase, the vehicle estimated height information may be calculated in the following manner: like Figure 4 As shown, it is a schematic diagram of the vehicle height signal and the vehicle attitude angle. In the figure, RL is the first wheel, RR is the second wheel, FR is the third wheel, FL is the fourth wheel, the height signal of RL is the height signal of the first wheel, the height signal of RR is the height signal of the second wheel, the height signal of FR is the height signal of the third wheel, and the height signal of FL is the height signal of the fourth wheel. θ is the pitch angle of the vehicle attitude angle, and ψ is the roll angle of the vehicle attitude angle.

[0048] Fourth wheel estimated height information among the vehicle body estimated height information is calculated based on the first wheel height signal, the second wheel height signal, the third wheel height signal, the pitch angle, the roll angle, and the wheelbase.

[0049] The third wheel estimated height information among the vehicle body estimated height information is calculated based on the first wheel height signal, the second wheel height signal, the fourth wheel height signal, the pitch angle, the roll angle, and the wheelbase.

[0050] Based on the second wheel height signal, the third wheel height signal, the fourth wheel height signal, the pitch angle, the roll angle, and the wheelbase, first wheel estimated height information among the vehicle body estimated height information is calculated.

[0051] Second wheel estimated height information among the vehicle body estimated height information is calculated based on the first wheel height signal, the third wheel height signal, the fourth wheel height signal, the pitch angle, the roll angle, and the wheelbase.

[0052] There are multiple implementations for calculating the fourth wheel estimated height information in the vehicle body estimated height information based on the first wheel height signal, the second wheel height signal, the third wheel height signal, the pitch angle, the roll angle, and the wheelbase. In one implementation, Figure 5 As shown, the following steps are included: S401: Calculate a first sum of a first distance and a second distance.

[0053] S402: Calculate a first product of the first sum and the sine value of the pitch angle.

[0054] S403: Calculate a first difference between the first wheel height signal and the first product.

[0055] S404: Calculate a second difference between the second wheel height signal and the first product.

[0056] S405: Calculate a second product of the wheelbase and a preset value.

[0057] S406: Calculate a third product of the second product and the roll angle.

[0058] S407: Calculate a second sum of the third product and the second difference.

[0059] S408: Calculate a fourth product of the second product and the sine value of the roll angle.

[0060] S409: Calculate a third sum of the third wheel height signal and the fourth product.

[0061] S410: Calculate the average of the first difference, the second sum and the third sum as fourth wheel estimated height information of the vehicle body estimated height information.

[0062] The first estimated height information of the fourth wheel can be calculated based on the first wheel height signal, the first distance, the second distance and the pitch angle; the second estimated height information of the fourth wheel can be calculated based on the second wheel height signal, the first distance, the second distance, the pitch angle, the wheelbase and the roll angle; the third estimated height information of the fourth wheel can be calculated based on the third wheel height signal, the roll angle and the wheelbase; the estimated height information of the fourth wheel can be obtained based on the first estimated height information of the fourth wheel, the second estimated height information of the fourth wheel and the third estimated height information of the fourth wheel.

[0063] The implementation method of calculating the first estimated height information of the fourth wheel is: calculating the first sum of the first distance and the second distance, calculating the first product of the first sum and the sine value of the pitch angle, calculating the first difference between the first wheel height signal and the first product, and using the first difference as the first estimated height information of the fourth wheel.

[0064] The first estimated height information of the fourth wheel satisfies the following formula: L41`=L1-(a+b)* , where L41` is the first estimated height information of the fourth wheel, L1 is the first wheel height signal, a is the first distance from the center of mass of the vehicle to the front axle, b is the second distance from the center of mass of the vehicle to the rear axle, is the pitch angle.

[0065] The implementation method for calculating the second estimated height information of the fourth wheel is as follows: calculate the second difference between the second wheel height signal and the first product, calculate the second product of the wheelbase and the preset value, calculate the third product of the second product and the roll angle, calculate the second sum of the third product and the second difference, and use the second sum as the second estimated height information of the fourth wheel.

[0066] The second estimated height information of the fourth wheel satisfies the following formula: L42`=L2-(a+b)* +2l*ψ, where L2 is the second wheel height signal, L42` is the second estimated height information of the fourth wheel, l is the wheelbase, and ψ is the roll angle.

[0067] The implementation method for calculating the third estimated height information of the fourth wheel is: calculate the fourth product of the second product and the sine value of the roll angle, calculate the third sum of the third wheel height signal and the fourth product, and use the third sum as the third estimated height information of the fourth wheel.

[0068] The third estimated height information of the fourth wheel satisfies the following formula: L43`=L3+2l* , where L43` is the third estimated height information of the fourth wheel, L3 is the third wheel height signal, l is the wheelbase, and ψ is the roll angle.

[0069] The first difference, i.e., the first estimated height information of the fourth wheel, the second estimated height information of the second and fourth wheels, and the third estimated height information of the third and fourth wheels are calculated as the fourth wheel estimated height information of the vehicle body estimated height information.

[0070] The fourth wheel estimated height information of the vehicle body estimated height information satisfies the following formula: L4`= ; Among them, L4` is the estimated height information of the fourth wheel of the vehicle body estimated height information, L41` is the first estimated height information of the fourth wheel, L42` is the second estimated height information of the fourth wheel, and L43` is the third estimated height information of the fourth wheel.

[0071] There are multiple implementations for calculating the third wheel estimated height information in the vehicle body estimated height information based on the first wheel height signal, the second wheel height signal, the fourth wheel height signal, the pitch angle, the roll angle, and the wheelbase. In one implementation, Figure 6 As shown, the following steps are included: S501: Calculate a third difference between the second wheel height signal and the first product.

[0072] S502: Calculate a fourth difference between the first difference and the third product.

[0073] S503: Calculate a fifth difference between the fourth wheel height signal and the fourth product.

[0074] S504: Calculate the average of the third difference, the fourth difference and the fifth difference as the third wheel estimated height information of the vehicle body estimated height information.

[0075] The first estimated height information of the third wheel can be calculated based on the second wheel height signal, the first distance, the second distance and the pitch angle; the second estimated height information of the third wheel can be calculated based on the first wheel height signal, the first distance, the second distance, the wheelbase and the roll angle; and the third estimated height information of the third wheel can be calculated based on the fourth wheel height signal, the wheelbase and the roll angle.

[0076] The first estimated height information of the third wheel is calculated by calculating a third difference between the second wheel height signal and the first product.

[0077] The first estimated height information of the third wheel satisfies the following formula: L31`=L2-(a+b) * , where L31` is the first estimated height information of the third wheel, L2 is the height signal of the second wheel, a is the first distance, and b is the second distance, is the pitch angle, the first product is (a+b) * .

[0078] The second estimated height information of the third wheel is calculated by calculating a fourth difference between the first difference and the third product.

[0079] The second estimated height information of the third wheel satisfies the following formula: L32`=L1-(a+b) * +2l*ψ, where L32` is the second estimated height information of the third wheel, L1 is the height signal of the first wheel, a is the first distance, and b is the second distance. is the pitch angle, l is the wheelbase, ψ is the roll angle, and the first difference is L2-(a+b)* , the third product is 2l*ψ.

[0080] The third estimated height information of the third wheel is calculated by calculating a fifth difference between the fourth wheel height signal and the third product.

[0081] The third estimated height information of the third wheel satisfies the following formula: L33`=L4-2l* , L33` is the third estimated height information of the third wheel, L4 is the height signal of the fourth wheel, 2l* is the fourth product, L4 is the fourth wheel height signal, L33` is the third estimated height information of the third wheel, l is the wheelbase, and ψ is the roll angle.

[0082] The third wheel estimated height information of the vehicle body estimated height information satisfies the following formula: L3`= ; Among them, L3` is the estimated height information of the third wheel of the vehicle body estimated height information, L31` is the first estimated height information of the third wheel, L32` is the second estimated height information of the third wheel, and L33` is the third estimated height information of the third wheel.

[0083] Based on the second wheel height signal, the third wheel height signal, the fourth wheel height signal, the pitch angle, the roll angle and the wheelbase, the method of calculating the first wheel estimated height information in the vehicle body estimated height information may be: Based on the fourth wheel height signal, the first distance, the second distance and the pitch angle, the first estimated height information of the first wheel is calculated; based on the third wheel height signal, the first distance, the second distance, the pitch angle, the wheelbase and the roll angle, the second estimated height information of the first wheel is calculated; based on the second wheel height signal, the wheelbase and the roll angle, the third estimated height information of the first wheel is calculated; the average of the first estimated height information of the first wheel, the second estimated height information of the first wheel and the third estimated height information of the first wheel is calculated as the first wheel estimated height information in the vehicle body estimated height information.

[0084] Based on the first wheel height signal, the third wheel height signal, the fourth wheel height signal, the pitch angle, the roll angle and the wheelbase, the second wheel estimated height information in the vehicle body estimated height information may be calculated in the following manner: Based on the third wheel height signal, the first distance, the second distance and the pitch angle, the first estimated height information of the second wheel is calculated; based on the fourth wheel height signal, the first distance, the second distance, the pitch angle, the wheelbase and the roll angle, the second estimated height information of the second wheel is calculated; based on the first wheel height signal, the wheelbase and the roll angle, the third estimated height information of the second wheel is calculated; the average of the first estimated height information of the second wheel, the second estimated height information of the second wheel and the third estimated height information of the second wheel is calculated as the second wheel estimated height information in the vehicle body estimated height information.

[0085] There are many ways to determine whether the height sensor is faulty based on the vehicle height signal and the vehicle height estimation information. In one implementation, Figure 7 Said, comprising the following steps: S601: Calculate a deviation value between a third wheel height signal and third wheel estimated height information corresponding to the third wheel height signal.

[0086] S602: Compare the deviation value with a preset deviation value.

[0087] S603: When the deviation value is greater than or equal to the preset deviation value, determine that the height sensor is faulty.

[0088] S604: When the deviation value is less than the preset deviation value, it is determined that the height sensor is normal.

[0089] It should be noted that the preset deviation value can be set based on actual conditions, and the embodiments of the present application do not impose specific limitations on this.

[0090] In one example, the deviation value between the third wheel height signal and the third wheel estimated height information corresponding to the third wheel height signal is calculated. If the deviation value is greater than or equal to a preset deviation value, it is determined that the height sensor of the third wheel is faulty. The deviation value between the second wheel height signal and the second wheel estimated height information corresponding to the second wheel height signal is calculated. If the deviation value is greater than or equal to a preset deviation value, it is determined that the height sensor of the second wheel is faulty. The deviation value between the first wheel height signal and the first wheel estimated height information corresponding to the first wheel height signal is calculated. If the deviation value is greater than or equal to a preset deviation value, it is determined that the height sensor of the first wheel is faulty. The deviation value between the fourth wheel height signal and the fourth wheel estimated height information corresponding to the fourth wheel height signal is calculated. If the deviation value is greater than or equal to a preset deviation value, it is determined that the height sensor of the fourth wheel is faulty.

[0091] In another example, if the height sensor of the fourth wheel is mechanically damaged, the estimated height information of the third wheel, the estimated height information of the first wheel and the estimated height information of the second wheel can be estimated based on the height signal of the fourth wheel, and a large deviation will be generated from the height signal of the third wheel, the height signal of the first wheel and the height signal of the second wheel. When the sum of the deviation values ​​exceeds the sum of the preset deviations, it is considered that a fault has occurred. That is, the first deviation between the height signal of the third wheel and the estimated height information of the third wheel is calculated, the second deviation between the height signal of the second wheel and the estimated height information of the second wheel is calculated, the third deviation between the height signal of the first wheel and the estimated height information of the first wheel is calculated, the sum of the first deviation, the second deviation and the third deviation is calculated, and the sum of the first deviation, the second deviation and the third deviation is compared with the sum of the preset deviation values. When the sum of the first deviation, the second deviation and the third deviation is greater than or equal to the sum of the preset deviation values, it is determined that the height sensor of the fourth wheel is mechanically damaged.

[0092] If the height sensor of the third wheel is mechanically damaged, the estimated height information of the first wheel, the estimated height information of the second wheel and the estimated height information of the fourth wheel can be estimated based on the height signal of the third wheel, and there will be a large deviation from the height signal of the first wheel, the height signal of the second wheel and the height signal of the fourth wheel. When the sum of the deviation values ​​exceeds the sum of the preset deviations, it is considered that a fault has occurred. That is, the first deviation of the height signal of the first wheel and the estimated height information of the first wheel is calculated, the second deviation of the height signal of the second wheel and the estimated height information of the second wheel is calculated, and the third deviation of the height signal of the fourth wheel and the estimated height information of the fourth wheel is calculated. The sum of the first deviation, the second deviation and the third deviation is calculated, and the sum of the first deviation, the second deviation and the third deviation is compared with the sum of the preset deviation value. When the sum of the first deviation, the second deviation and the third deviation is greater than or equal to the sum of the preset deviation value, it is determined that the height sensor of the third wheel is mechanically damaged.

[0093] Since the allowable deviation range of height adjustment for each pillar is usually set to ±5mm, and due to measurement noise of the inertial measurement unit and installation deviation, the preset deviation value of a single pillar is set to ±10mm. However, the deviation between the estimated and measured values ​​of the pillar for the other three pillars cannot exceed ±30mm. If it exceeds this, the height sensor of the pillar is considered to be faulty.

[0094] Please refer to Figure 8 The present application embodiment also provides an application Figure 1 The height sensor fault detection device 110 of the vehicle controller 100 includes: An acquisition module 111 is used to acquire a vehicle height signal and a vehicle posture angle; A determination module 112, configured to determine vehicle body estimated height information based on the vehicle body height signal and the vehicle body attitude angle when the vehicle is in a steady state; The fault detection module 113 is used to determine whether the height sensor is faulty based on the vehicle height signal and the vehicle estimated height information.

[0095] The present application also provides a vehicle controller 100, which includes a memory 120. The memory 120 stores computer executable instructions, and when the computer executable instructions are executed by the vehicle controller, the height sensor fault detection method is implemented.

[0096] The embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed, the height sensor fault detection method is implemented.

[0097] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to the multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of boxes in the block diagram and / or the flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0098] In addition, each functional module in each embodiment of the present application can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part. If the function is implemented in the form of a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a disk or an optical disk.

[0099] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0100] The above are only various implementations of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for detecting a height sensor fault, characterized in that: Applied to a vehicle controller, the vehicle controller is in communication with a height sensor, the height sensor is used to obtain a vehicle height signal, the method comprises: Obtain vehicle height signal and vehicle posture angle; When the vehicle is in a steady state, determining vehicle body estimated height information based on the vehicle body height signal and the vehicle body attitude angle; Based on the vehicle height signal and the vehicle estimated height information, it is determined whether a height sensor is malfunctioning.

2. The method according to claim 1, characterized in that The step of determining the estimated vehicle height information based on the vehicle height signal and the vehicle attitude angle when the vehicle is in a steady state comprises: Determining a first distance from the center of mass of the vehicle to the front axle and a second distance from the center of mass of the vehicle to the rear axle and a wheelbase of the vehicle; Based on the vehicle height signal, the vehicle attitude angle, the first distance, the second distance and the wheelbase, the vehicle estimated height information is calculated.

3. The method according to claim 2, characterized in that The vehicle body height signal includes a first wheel height signal, a second wheel height signal, a third wheel height signal and a fourth wheel height signal, the vehicle body attitude angle includes a pitch angle and a roll angle, and the step of calculating the vehicle body estimated height information based on the vehicle body height signal, the vehicle attitude angle, the first distance, the second distance and the wheelbase includes: Calculating fourth wheel estimated height information in the vehicle body estimated height information based on the first wheel height signal, the second wheel height signal, the third wheel height signal, the first distance, the second distance, the pitch angle, the roll angle, and the wheelbase; Calculating third wheel estimated height information in the vehicle body estimated height information based on the first wheel height signal, the second wheel height signal, the fourth wheel height signal, the first distance, the second distance, the pitch angle, the roll angle, and the wheelbase; Calculating first wheel estimated height information in vehicle body estimated height information based on the second wheel height signal, the third wheel height signal, the fourth wheel height signal, the first distance, the second distance, the pitch angle, the roll angle, and the wheelbase; Second wheel estimated height information in the vehicle body estimated height information is calculated based on the first wheel height signal, the third wheel height signal, the fourth wheel height signal, the first distance, the second distance, the pitch angle, the roll angle, and the wheelbase.

4. The method according to claim 3, characterized in that The step of calculating fourth wheel estimated height information in vehicle body estimated height information based on the first wheel height signal, the second wheel height signal, the third wheel height signal, the pitch angle, the roll angle and the wheelbase comprises: Calculating a first sum of the first distance and the second distance; Calculating a first product of the first sum and the sine of the pitch angle; calculating a first difference between the first wheel height signal and the first product; calculating a second difference between the second wheel height signal and the first product; Calculating a second product of the wheelbase and a preset value; calculating a third product of the second product and the roll angle; calculating a second sum of the third product and the second difference; calculating a fourth product of the second product and the sine value of the roll angle; calculating a third sum of the third wheel height signal and the fourth product; An average of the first difference, the second sum and the third sum is calculated as fourth wheel estimated height information of the vehicle body estimated height information.

5. The method according to claim 4, characterized in that The step of calculating the third wheel estimated height information in the vehicle body estimated height information based on the first wheel height signal, the second wheel height signal, the fourth wheel height signal, the pitch angle, the roll angle and the wheelbase comprises: calculating a third difference between the second wheel height signal and the first product; calculating a fourth difference value of the first difference value and the third product; calculating a fifth difference between the fourth wheel height signal and the fourth product; An average of the third difference, the fourth difference and the fifth difference is calculated as third wheel estimated height information of the vehicle body estimated height information.

6. The method according to claim 3, characterized in that The step of determining whether the height sensor is faulty based on the vehicle height signal and the vehicle estimated height information comprises: calculating a deviation value between the third wheel height signal and the third wheel estimated height information corresponding to the third wheel height signal; comparing the deviation value with a preset deviation value; When the deviation value is greater than or equal to the preset deviation value, determining that the height sensor is faulty; When the deviation value is less than the preset deviation value, it is determined that the height sensor is normal.

7. The method according to claim 1, characterized in that The method further comprises: When it is determined that the height sensor fails, a vehicle body adjustment is performed based on the vehicle body estimated height information.

8. A height sensor fault detection device, characterized in that: Applied to a vehicle controller, the vehicle controller is communicatively connected to a height sensor, the height sensor is used to obtain a vehicle height signal, and the device comprises: An acquisition module, used to acquire a vehicle height signal and a vehicle posture angle; A determination module, used for determining the estimated height information of the vehicle body based on the vehicle body height signal and the vehicle body attitude angle when the vehicle is in a steady state; The fault detection module is used to determine whether the height sensor is faulty based on the vehicle height signal and the vehicle estimated height information.

9. A vehicle, characterized in that: The invention comprises a vehicle controller and a memory, wherein the memory stores a computer program executable by the vehicle controller, and the vehicle controller can execute the computer program to implement the steps of the method according to any one of claims 1 to 7.

10. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a vehicle controller, the steps of the method according to any one of claims 1 to 7 are implemented.

Images