Height Sensor Fault Detection Method, Device, Vehicle and Storage Medium

Abstract

The embodiments of the present invention provide a height sensor fault detection method, device, vehicle and storage medium, which relate to the field of vehicle fault detection. The method includes: obtaining a vehicle height signal and a vehicle attitude angle, determining vehicle estimated height information based on the vehicle height signal and the vehicle attitude angle when the vehicle is in a steady state, and determining whether the height sensor is faulty based on the vehicle height signal and the vehicle estimated 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, the verification process is simple and effective, and the incorrect adjustment of the vehicle height can be effectively prevented.

Description

Technical Field

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

[0002] With the continuous development of automotive technology, vehicles in the prior art are equipped with a variety of sensors to monitor and control various performance parameters of the vehicle, so as to improve driving safety and comfort. The 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 are constantly introducing new technologies to improve the overall performance of vehicles.

[0003] In the prior art, a vehicle usually monitors the body height through a height sensor and automatically adjusts the vehicle suspension system according to the monitoring results. Specifically, the height sensor sends the collected data to the vehicle control system, and the control system decides whether to adjust the height of the vehicle suspension based on this data. This process is crucial for ensuring that the vehicle maintains the optimal height under different driving conditions, thereby ensuring the stability and controllability of the vehicle.

[0004] However, in the prior art, a 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 lead to incorrect adjustment of the height of the suspension system and affect the normal operation of the vehicle. This situation may not only lead to a decline in the driving experience but also pose a safety hazard. Summary of the Invention

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

[0006] To achieve the above object, the technical solutions adopted in the embodiments of the present application are as follows:

[0007] In a first aspect, the embodiments of the present application provide a method for detecting faults in a height sensor, which is applied to a vehicle controller. The vehicle controller is communicatively connected to the height sensor, and the height sensor is used to obtain a body height signal. The method includes:

[0008] Obtain a body height signal and a body attitude angle;

[0009] Based on the body height signal and the body attitude angle, determine the estimated body height information when the vehicle is in a steady state;

[0010] Determine whether the height sensor is faulty based on the vehicle body height signal and the estimated vehicle body height information.

[0011] In an alternative implementation, the step of determining the estimated vehicle body height information based on the vehicle body height signal and the vehicle body attitude angle when the vehicle is in a steady state includes:

[0012] 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 the wheelbase of the vehicle;

[0013] Calculate the estimated vehicle body height information based on the vehicle body height signal, the vehicle attitude angle, the first distance, the second distance, and the wheelbase.

[0014] In an alternative 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, and the vehicle body attitude angle includes a pitch angle and a roll angle. The step of calculating the estimated vehicle body height information based on the vehicle body height signal, the vehicle attitude angle, the first distance, the second distance, and the wheelbase includes:

[0015] Calculate the estimated fourth wheel height information in the estimated vehicle body 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;

[0016] Calculate the estimated third wheel height information in the estimated vehicle body 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;

[0017] Calculate the estimated first wheel height information in the estimated vehicle body 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;

[0018] Calculate the estimated second wheel height information in the estimated vehicle body height information 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.

[0019] In an alternative implementation, the step of calculating the estimated fourth wheel height information in the estimated vehicle body 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:

[0020] Calculate a first sum of the first distance and the second distance;

[0021] Calculate a first product of the first sum and the sine value of the pitch angle;

[0022] Calculate a first difference between the first wheel height signal and the first product;

[0023] Calculate a second difference between the second wheel height signal and the first product;

[0024] Calculate a second product of the wheelbase and a preset value;

[0025] Calculate a third product of the second product and the roll angle;

[0026] Calculate a second sum of the third product and the second difference;

[0027] Calculate a fourth product of the second product and the sine value of the roll angle;

[0028] Calculate a third sum of the third wheel height signal and the fourth product;

[0029] Calculate an average value of the first difference, the second sum, and the third sum as the fourth wheel estimated height information of the vehicle body estimated height information.

[0030] In an alternative 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:

[0031] Calculate a third difference between the second wheel height signal and the first product;

[0032] Calculate a fourth difference between the first difference and the third product;

[0033] Calculate a fifth difference between the fourth wheel height signal and the fourth product;

[0034] Calculate an average value 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.

[0035] In an alternative implementation, the step of determining whether a height sensor is faulty based on the vehicle body height signal and the vehicle body estimated height information includes:

[0036] Calculate a deviation value between the third wheel height signal and the third wheel estimated height information corresponding to the third wheel height signal;

[0037] Compare the deviation value with a preset deviation value;

[0038] When the deviation value is greater than or equal to the preset deviation value, determine that the height sensor is faulty;

[0039] When the deviation value is less than the preset deviation value, it is determined that the height sensor is normal.

[0040] In an alternative implementation, the method further includes:

[0041] When it is determined that the height sensor fails, the vehicle body is adjusted based on the estimated vehicle body height information.

[0042] In a second aspect, an embodiment of the present application provides a height sensor fault detection device, which is applied to a vehicle controller. The vehicle controller is communicatively connected to a height sensor, and the height sensor is used to obtain a vehicle body height signal. The device includes:

[0043] An acquisition module, configured to acquire a vehicle body height signal and a vehicle body attitude angle;

[0044] A determination module, configured to determine the estimated vehicle body height information based on the vehicle body height signal and the vehicle body attitude angle when the vehicle is in a steady state;

[0045] A fault detection module, configured to determine whether the height sensor fails based on the vehicle body height signal and the estimated vehicle body height information.

[0046] In a third aspect, an embodiment of the present application provides a vehicle controller, including a memory and a vehicle controller. The memory stores a computer program, and when the vehicle controller executes the computer program, the steps of the height sensor fault detection method are implemented.

[0047] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a vehicle controller, the steps of the height sensor fault detection method are implemented.

[0048] The present application has the following beneficial effects:

[0049] The present application obtains a vehicle body height signal and a vehicle body attitude angle, determines the estimated vehicle body height information based on the vehicle body height signal and the vehicle body attitude angle when the vehicle is in a steady state, and determines whether the height sensor fails based on the vehicle body height signal and the estimated vehicle body height information. Through the above height sensor fault detection method, the rationality of the vehicle body height signal obtained by the height sensor can be verified. The verification process is simple and effective, and the wrong adjustment of the vehicle body height can be effectively prevented. Description of the Drawings

[0050] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0051] Figure 1 It is a schematic block diagram of a vehicle controller provided by an embodiment of the present invention;

[0052] Figure 2 It is one of the schematic flowcharts of a method for detecting height sensor faults provided by an embodiment of the present invention;

[0053] Figure 3 It is another schematic flowchart of a method for detecting height sensor faults provided by an embodiment of the present invention;

[0054] Figure 4 It is a schematic diagram of the body height signal and vehicle attitude angle provided by an embodiment of the present invention;

[0055] Figure 5 It is a third schematic flowchart of a method for detecting height sensor faults provided by an embodiment of the present invention;

[0056] Figure 6 It is a fourth schematic flowchart of a method for detecting height sensor faults provided by an embodiment of the present invention;

[0057] Figure 7 It is a fifth schematic flowchart of a method for detecting height sensor faults provided by an embodiment of the present invention;

[0058] Figure 8 It is a structural block diagram of a device for detecting height sensor faults provided by an embodiment of the present invention. Detailed implementation manners

[0059] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Usually, 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.

[0060] Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed present invention, but merely represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0061] It should be noted that like reference numerals and letters indicate like items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0062] In the description of the present invention, it should be noted that if terms such as "upper", "lower", "inner", "outer", etc. are used to indicate the orientation or positional relationship, it is based on the orientation or positional relationship shown in the figures, or the orientation or positional relationship in which the product of the present invention is usually placed during use. This is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of the present invention.

[0063] In addition, terms such as "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0064] In the description of the present application, it should also be noted that unless otherwise clearly specified and limited, the terms "set", "installed", "connected", "coupled" 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0065] Through a large number of studies, it is found that the vehicle cannot identify whether the height sensor fails. Once the height sensor fails, the control system may not be able to accurately obtain the height information of the vehicle, which may lead to incorrect adjustment of the height of the suspension system and affect the normal operation of the vehicle. This situation may not only lead to a decline in the driving experience but also pose a safety hazard.

[0066] In view of the discovery of the above problems, the present embodiment provides a method, device, vehicle, and storage medium for detecting height sensor failures. By obtaining the body height signal and the body attitude angle, when the vehicle is in a steady state, the estimated body height information can be determined based on the body height signal and the body attitude angle. Based on the body height signal and the estimated body height information, it is determined whether the height sensor fails. Through the above height sensor failure detection method, the rationality of the body height signal obtained by the height sensor can be verified. The verification process is simple and effective, which can effectively prevent incorrect adjustment of the body height. The solution provided by the present embodiment will be elaborated in detail below.

[0067] This embodiment provides a vehicle controller that can perform fault detection on a height sensor. In a possible implementation, the vehicle controller may be a user terminal. For example, the vehicle controller may 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.

[0068] Please refer to Figure 1 , Figure 1 which is a schematic structural diagram of the vehicle controller 100 provided by an embodiment of the present application. The vehicle controller 100 may further include more or fewer components than those shown in Figure 1 or have a different configuration from that shown in Figure 1 . Figure 1 Each component shown in

[0069] can be implemented by hardware, software, or a combination thereof.

[0070] The vehicle controller 100 includes a height sensor fault detection device 110 and a memory 120.

[0071] Among them, 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 Electric Erasable Programmable Read-Only Memory (EEPROM), etc. Among them, the memory 120 is used to store a program, and the vehicle controller executes the program after receiving an execution instruction.

[0072] Please refer to Figure 2 , Figure 2 for a flowchart of a method for detecting a height sensor fault of a vehicle controller 100 applied to Figure 1 . The following will elaborate on each step included in the method in detail.

[0073] S201: Obtain the vehicle body height signal and the vehicle body attitude angle.

[0074] S202: Based on the vehicle body height signal and the vehicle body attitude angle, determine the estimated vehicle body height information when the vehicle is in a steady state.

[0075] S203: Based on the vehicle body height signal and the estimated vehicle body height information, determine whether the height sensor is faulty.

[0076] The height sensor is fixedly connected between the vehicle body and the axle through a bracket. If the connected mechanical mechanism is damaged, such as problems like bracket fracture or bracket deformation, it will cause a large deviation between the detected vehicle body height signal and the true height signal. In response to such situations, the height sensor itself cannot diagnose and verify whether the vehicle body height is reasonable. Therefore, it is necessary for the vehicle controller to determine whether the vehicle body height signal read by the height sensor is reasonable based on the vehicle body height and the vehicle body attitude angle.

[0077] Obtain the vehicle body height signal through the height sensor. The vehicle body height signal includes the height signals of each wheel of the vehicle.

[0078] Obtain the pitch angle and roll angle of the vehicle through the inertial measurement unit. The pitch angle and roll angle constitute the vehicle attitude angle.

[0079] The pitch angle refers to the inclination angle of the vehicle's longitudinal axis (from the front of the vehicle to the rear) relative to the horizontal plane. When the front of the vehicle moves up and down, the pitch angle is generated. The roll angle refers to the inclination angle of the vehicle's transverse axis (from the left wheel to the right wheel) relative to the horizontal plane. When the heights on the left and right sides of the vehicle are different or the vehicle tilts during turning, the roll angle is generated.

[0080] Judge 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 attitude, thereby affecting the stability and controllability of the vehicle. An electrical fault in the height sensor usually means that the height sensor has no response or the output signal is abnormal, the output signal of the height sensor is unstable or there is no output, the output signal of the height sensor has large noise or is inaccurate, the height sensor fails completely or outputs an incorrect signal, the output signal of the height sensor fluctuates or has abnormal values, etc.

[0081] The method for 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 belongs to a preset angle range, the body pitch angular velocity and roll angular velocity are less than the preset speed and there is no height control command.

[0082] 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.

[0083] When the vehicle meets the above conditions simultaneously, 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 belong to the preset angle range, the body pitch angular velocity and roll angular velocity are greater than the preset speed or there is a height control command, then it is determined that the vehicle is in a non-steady state.

[0084] When the vehicle is in a steady state, based on the body height signal and the body attitude angle, the estimated body height information is determined. Based on the body height signal and the estimated body height information, it is judged whether the height sensor fails. When the height sensor does not fail, the body height can be adjusted based on the body height read by the height sensor. When the height sensor fails, the body height can be adjusted based on the estimated body height information determined by the body height signal and the body attitude angle.

[0085] In the case where the vehicle is in a steady state, there are various ways to determine the estimated body height information based on the body height signal and the body attitude angle. In one implementation, as Figure 3 shown, it includes the following steps:

[0086] S301: Determine the first distance from the vehicle's center of mass to the front axle, the second distance from the vehicle's center of mass to the rear axle, and the wheelbase of the vehicle.

[0087] S302: Calculate the estimated body height information based on the body height signal, vehicle attitude angle, first distance, second distance, and wheelbase.

[0088] The implementation method of calculating the estimated body height information based on the body height signal, vehicle attitude angle, first distance, second distance, and wheelbase can be:

[0089] As Figure 4 shown, it is a schematic diagram of the body height signal and 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 first wheel height signal, the height signal of RR is the second wheel height signal, the height signal of FR is the third wheel height signal, and the height signal of FL is the fourth wheel height signal. θ is the pitch angle of the vehicle attitude angle, and ψ is the roll angle of the vehicle attitude angle.

[0090] Calculate the estimated fourth wheel height information in the estimated body height information based on the first wheel height signal, second wheel height signal, third wheel height signal, pitch angle, roll angle, and wheelbase.

[0091] Calculate the estimated third wheel height information in the estimated body height information based on the first wheel height signal, second wheel height signal, fourth wheel height signal, pitch angle, roll angle, and wheelbase.

[0092] Calculate the estimated first wheel height information in the estimated body height information based on the second wheel height signal, third wheel height signal, fourth wheel height signal, pitch angle, roll angle, and wheelbase.

[0093] Calculate the estimated second wheel height information in the estimated body height information based on the first wheel height signal, third wheel height signal, fourth wheel height signal, pitch angle, roll angle, and wheelbase.

[0094] There are multiple implementation methods for calculating the estimated fourth wheel height information in the estimated body height information based on the first wheel height signal, second wheel height signal, third wheel height signal, pitch angle, roll angle, and wheelbase. In one implementation method, as Figure 5 shown, it includes the following steps:

[0095] S401: Calculate the first sum of the first distance and the second distance.

[0096] S402: Calculate the first product of the first sum and the sine value of the pitch angle.

[0097] S403: Calculate the first difference between the first wheel height signal and the first product.

[0098] S404: Calculate the second difference between the second wheel height signal and the first product.

[0099] S405: Calculate the second product of the wheelbase and a preset value.

[0100] S406: Calculate the third product of the second product and the roll angle.

[0101] S407: Calculate the second sum of the third product and the second difference.

[0102] S408: Calculate the fourth product of the second product and the sine value of the roll angle.

[0103] S409: Calculate the third sum of the third wheel height signal and the fourth product.

[0104] S410: Calculate the mean value of the first difference, the second sum, and the third sum as the estimated height information of the fourth wheel for the vehicle body estimated height information.

[0105] 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 is 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.

[0106] The implementation method for calculating the first estimated height information of the fourth wheel is as follows: Calculate the first sum of the first distance and the second distance, calculate the first product of the first sum and the sine value of the pitch angle, calculate the first difference between the first wheel height signal and the first product, and use the first difference as the first estimated height information of the fourth wheel.

[0107] The first estimated height information of the fourth wheel satisfies the following formula:

[0108] L4 1 ` = L1 - (a + b) * , where L4 1 ` 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.

[0109] 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 a 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.

[0110] The second estimated height information of the fourth wheel satisfies the following formula:

[0111] L4 2 `=L2-(a + b)* +2l*ψ, where L2 is the second wheel height signal, and L4 2 ` is the second estimated height information of the fourth wheel, l is the wheelbase, and ψ is the roll angle.

[0112] 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.

[0113] The third estimated height information of the fourth wheel satisfies the following formula:

[0114] L4 3 `=L3+2l* , where L4 3 ` 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.

[0115] Calculate the mean value of the first difference, i.e., the first estimated height information of the fourth wheel, the second sum, i.e., the second estimated height information of the fourth wheel, and the third sum, i.e., the third estimated height information of the fourth wheel, as the fourth wheel estimated height information of the vehicle body estimated height information.

[0116] The fourth wheel estimated height information of the vehicle body estimated height information satisfies the following formula:

[0117] L4`= ;

[0118] where L4` is the fourth wheel estimated height information of the vehicle body estimated height information, L4 1 ` is the first estimated height information of the fourth wheel, L4 2 ` is the second estimated height information of the fourth wheel, L4 3 ` is the third estimated height information of the fourth wheel.

[0119] 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, there are multiple implementation methods for calculating the third wheel estimated height information in the vehicle body estimated height information. In one implementation method, as Figure 6 shown, it includes the following steps:

[0120] S501: Calculate the third difference between the second wheel height signal and the first product.

[0121] S502: Calculate the fourth difference between the first difference and the third product.

[0122] S503: Calculate the fifth difference between the fourth wheel height signal and the fourth product.

[0123] S504: Calculate the mean 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.

[0124] 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. 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.

[0125] The implementation method for calculating the first estimated height information of the third wheel is: calculate the third difference between the second wheel height signal and the first product.

[0126] The first estimated height information of the third wheel satisfies the following formula:

[0127] L3 1 ` = L2 - (a + b) * , where L3 1 ` is the first estimated height information of the third wheel, L2 is the second wheel height signal, a is the first distance, b is the second distance, is the pitch angle, and the first product is (a + b) * .

[0128] The implementation method for calculating the second estimated height information of the third wheel is: calculate the fourth difference between the first difference and the third product.

[0129] The second estimated height information of the third wheel satisfies the following formula:

[0130] L3 2 ` = L1 - (a + b) * + 2l * ψ, where L3 2 ` is the second estimated height information of the third wheel, L1 is the first wheel height signal, a is the first distance, b is the second distance, is the pitch angle, l is the wheelbase, ψ is the roll angle, the first difference is L2 - (a + b) * , and the third product is 2l * ψ.

[0131] The implementation method for calculating the third estimated height information of the third wheel is: calculate the fifth difference between the fourth wheel height signal and the third product.

[0132] The third estimated height information of the third wheel satisfies the following formula:

[0133] L3 3 `=L4 - 2l* where L3 3 ` is the third estimated height information of the third wheel, L4 is the fourth wheel height signal, and 2l* is the fourth product, L4 is the fourth wheel height signal, and L3 3 ` is the third estimated height information of the third wheel, l is the wheelbase, and ψ is the roll angle.

[0134] The third wheel estimated height information of the vehicle body estimated height information satisfies the following formula:

[0135] L3` = ;

[0136] where L3` is the third wheel estimated height information of the vehicle body estimated height information, L3 1 ` is the first estimated height information of the third wheel, L3 2 ` is the second estimated height information of the third wheel, L3 3 ` is the third estimated height information of the third wheel.

[0137] 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 for calculating the first wheel estimated height information in the vehicle body estimated height information can be:

[0138] Calculate the first estimated height information of the first wheel based on the fourth wheel height signal, the first distance, the second distance, and the pitch angle, calculate the second estimated height information of the first wheel based on the third wheel height signal, the first distance, the second distance, the pitch angle, the wheelbase, and the roll angle, calculate the third estimated height information of the first wheel based on the second wheel height signal, the wheelbase, and the roll angle, and calculate the average value 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 as the first wheel estimated height information in the vehicle body estimated height information.

[0139] 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 method for calculating the second wheel estimated height information in the vehicle body estimated height information can be:

[0140] Calculate the first estimated height information of the second wheel based on the third wheel height signal, the first distance, the second distance, and the pitch angle. Calculate the second estimated height information of the second wheel based on the fourth wheel height signal, the first distance, the second distance, the pitch angle, the wheelbase, and the roll angle. Calculate the third estimated height information of the second wheel based on the first wheel height signal, the wheelbase, and the roll angle. Calculate the average value 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, and use it as the estimated height information of the second wheel in the vehicle body estimated height information.

[0141] There are various implementation manners for determining whether the height sensor is faulty based on the vehicle body height signal and the vehicle body estimated height information. In one implementation manner, as Figure 7 described, it includes the following steps:

[0142] S601: Calculate the deviation value between the third wheel height signal and the third wheel estimated height information corresponding to the third wheel height signal.

[0143] S602: Compare the deviation value with a preset deviation value.

[0144] S603: When the deviation value is greater than or equal to the preset deviation value, determine that the height sensor is faulty.

[0145] S604: When the deviation value is less than the preset deviation value, determine that the height sensor is normal.

[0146] It should be noted that the preset deviation value can be set based on the actual situation, and the embodiments of the present application do not make specific limitations on this.

[0147] In an example, calculate the deviation value between the third wheel height signal and the third wheel estimated height information corresponding to the third wheel height signal. If the deviation value is greater than or equal to the preset deviation value, determine that the height sensor of the third wheel is faulty. Calculate the deviation value between the second wheel height signal and the second wheel estimated height information corresponding to the second wheel height signal. If the deviation value is greater than or equal to the preset deviation value, determine that the height sensor of the second wheel is faulty. Calculate the deviation value between the first wheel height signal and the first wheel estimated height information corresponding to the first wheel height signal. If the deviation value is greater than or equal to the preset deviation value, determine that the height sensor of the first wheel is faulty. Calculate the deviation value between the fourth wheel height signal and the fourth wheel estimated height information corresponding to the fourth wheel height signal. If the deviation value is greater than or equal to the preset deviation value, determine that the height sensor of the fourth wheel is faulty.

[0148] In another example, if the height sensor of the fourth wheel is mechanically damaged, at this time, 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 according to the fourth wheel height signal, and there will be a large deviation from the third wheel height signal, the first wheel height signal, and the second wheel height signal. When the sum of the deviation values exceeds the sum of the preset deviation preset values, it is considered that a failure has occurred. That is, calculate the first deviation between the third wheel height signal and the estimated height information of the third wheel, calculate the second deviation between the second wheel height signal and the estimated height information of the second wheel, calculate the third deviation between the first wheel height signal and the estimated height information of the first wheel, calculate the sum of the first deviation, the second deviation, and the third deviation, compare the sum of the first deviation, the second deviation, and the third deviation with the sum of the preset deviation values. If 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.

[0149] If the height sensor of the third wheel is mechanically damaged, at this time, 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 according to the third wheel height signal, and there will be a large deviation from the first wheel height signal, the second wheel height signal, and the fourth wheel height signal. When the sum of the deviation values exceeds the sum of the preset deviation preset values, it is considered that a failure has occurred. That is, calculate the first deviation between the first wheel height signal and the estimated height information of the first wheel, calculate the second deviation between the second wheel height signal and the estimated height information of the second wheel, calculate the third deviation between the fourth wheel height signal and the estimated height information of the fourth wheel, calculate the sum of the first deviation, the second deviation, and the third deviation, compare the sum of the first deviation, the second deviation, and the third deviation with the sum of the preset deviation values. If 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 third wheel is mechanically damaged.

[0150] Since the allowable deviation range for each strut height adjustment is usually set to ±5 mm, due to reasons such as the measurement noise of the inertial measurement unit and the installation deviation, the preset deviation value for a single strut is set to ±10 mm, but the deviation between the estimated value and the measured value of the strut for the other three struts cannot exceed ±30 mm. If it exceeds, it is considered that the height sensor of the strut is faulty.

[0151] Please refer to Figure 8 , the embodiment of the present application further provides a height sensor fault detection device 110 applied to Figure 1 the vehicle controller 100, and the height sensor fault detection device 110 includes:

[0152] An acquisition module 111, configured to acquire a vehicle body height signal and a vehicle body attitude angle;

[0153] A determination module 112, configured to determine body estimated height information based on the body height signal and the body attitude angle when the vehicle is in a steady state;

[0154] A fault detection module 113, configured to determine whether the height sensor is faulty based on the body height signal and the body estimated height information.

[0155] The present application further provides a vehicle controller 100, and the vehicle controller 100 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.

[0156] The embodiment of the present application further provides a computer-readable storage medium, and the storage medium stores a computer program, and when the computer program is executed, the height sensor fault detection method is implemented.

[0157] 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 illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions, and operations of devices, methods, and computer program products according to multiple embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the module, program segment, or part of code includes one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0158] In addition, each functional module in various embodiments of the present application may be integrated together to form an independent part, or each module may exist alone, or two or more modules may 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 may be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of this technical solution, may be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present application. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0159] It should be noted that, in this article, relational terms such as first and second 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 term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the said element.

[0160] The above is only various implementation manners of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to 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, determining whether the height sensor is faulty; the step of determining the vehicle estimated 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 body estimated height information is calculated; 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 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; Calculate the first wheel estimated height information in the 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.

2. The method according to claim 1, 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.

3. The method according to claim 2, 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.

4. The method according to claim 1, 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.

5. 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.

6. 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; a fault detection module, used for determining whether a height sensor is faulty based on the vehicle height signal and the vehicle estimated height information; The determination module is specifically used for: 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; 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, and the vehicle body posture angle includes a pitch angle and a roll angle; 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; Calculate the first wheel estimated height information in the 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.

7. 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 5.

8. 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 described in any one of claims 1 to 5 are implemented.

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