Control method and device of air suspension system, electronic equipment and medium

Abstract

The invention relates to the technical field of automobiles, and provides a control method and device of an air suspension system, electronic equipment and a medium. The method comprises the following steps: acquiring height acquisition data and vehicle body attitude data acquired by each height sensor; sequentially taking each height sensor as a target height sensor, and calculating height estimation data of other height sensors by using the vehicle body attitude data and the height acquisition data of the target height sensor; performing anomaly detection on each height sensor according to the height acquisition data and the plurality of height estimation data; if a certain height sensor is in an abnormal state, target height data of the abnormal height sensor are determined, and the air suspension is controlled through the target height data. According to the method, the accuracy of positioning the abnormal height sensor can be improved, and a software temporary solution is provided for the abnormal height sensor, so that the driving safety and comfort of the vehicle air suspension when a single height sensor is abnormal are improved.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and in particular to a control method, device, electronic equipment and medium for an air suspension system. Background Art

[0002] With the continuous progress of the automobile manufacturing industry, air suspension technology has gradually become popular in general family cars. With the widespread use of air suspension vehicles, consumers have put forward higher requirements for the stability and comfort of the suspension system. When the air suspension fails, the current solution is usually to stop its operation when a serious problem occurs, or rely on manual intervention for repair and replacement. However, for some smaller minor faults, especially the failure of a single height sensor in the air suspension system, since the height adjustment of the air suspension is usually adjusted in millimeters, even if a height sensor that collects suspension height information is abnormal, it may not be possible to promptly and effectively determine the specific abnormal height sensor, resulting in the inability to effectively control the air suspension normally, which in turn leads to reduced driving comfort and safety, as well as reduced user experience. Summary of the invention

[0003] In view of this, the embodiments of the present application provide a control method, device, electronic device and medium for an air suspension system to solve the problem in the prior art that abnormal height sensors cannot be processed in a timely manner, resulting in reduced driving comfort and safety, and reduced user experience.

[0004] In a first aspect of an embodiment of the present application, a control method for an air suspension system is provided, the method comprising:

[0005] Acquire height acquisition data acquired by each height sensor on the air suspension system of the vehicle and the vehicle's body posture data; use each height sensor as a target height sensor in turn, and calculate height estimation data corresponding to the remaining height sensors based on the vehicle's body posture data and the height acquisition data corresponding to the target height sensor, wherein the remaining height sensors are height sensors other than the target height sensor; detect whether each height sensor is abnormal based on the height acquisition data and multiple height estimation data corresponding to each height sensor; if the detection result of the height sensor indicates that the height sensor is an abnormal sensor, determine the target height data based on the height estimation data corresponding to the abnormal sensor, and use the target height data to control the air suspension.

[0006] According to a second aspect of an embodiment of the present application, there is provided a control device for an air suspension system, the device comprising:

[0007] The acquisition module is configured to acquire the height acquisition data acquired by each height sensor on the air suspension system of the vehicle and the vehicle body posture data; the calculation module is configured to take each height sensor as a target height sensor in turn, and calculate the height estimation data corresponding to the remaining height sensors according to the vehicle body posture data and the height acquisition data corresponding to the target height sensor, wherein the remaining height sensors are height sensors other than the target height sensor; the detection module is configured to detect whether each height sensor is abnormal according to the height acquisition data and multiple height estimation data corresponding to each height sensor; the control module is configured to determine the target height data according to the height estimation data corresponding to the abnormal sensor if the detection result of the height sensor indicates that the height sensor is an abnormal sensor, and use the target height data to control the air suspension.

[0008] According to a third aspect of an embodiment of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0009] According to a fourth aspect of an embodiment of the present application, a medium is provided, which stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0010] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0011] According to the technical solution provided in the embodiment of the present application, the height collection data collected by each height sensor on the air suspension system of the vehicle and the body posture data of the vehicle are obtained; each height sensor is used as a target height sensor in turn, and the height estimation data corresponding to the remaining height sensors are calculated according to the body posture data of the vehicle and the height collection data corresponding to the target height sensor, wherein the remaining height sensors are the height sensors other than the target height sensor; based on the height collection data and multiple height estimation data corresponding to each height sensor, whether each height sensor is abnormal is detected; if the detection result of the height sensor indicates that the height sensor is an abnormal sensor, the target height data is determined according to the height estimation data corresponding to the abnormal sensor, and the air suspension is controlled using the target height data. By taking each height sensor as a target height sensor in turn, and using the height acquisition data of the target height sensor and the vehicle's body posture data to calculate the height estimation data corresponding to the remaining height sensors, multiple height estimation data corresponding to each height sensor are obtained, thereby providing a more comprehensive and accurate data basis for fault judgment of each height sensor, so as to locate the abnormal sensor from the subtle differences in the height acquisition data. At the same time, by using the multiple height estimation data of the abnormal sensor to provide the abnormal sensor with reasonable target height data for control, a temporary software solution can be provided for the abnormal height sensor, thereby improving the driving safety and comfort of the vehicle air suspension when a single height sensor is abnormal, and at the same time improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0013] Figure 1 is a flow chart of a control method of an air suspension system provided in an embodiment of the present application;

[0014] Figure 2 It is a schematic diagram of the equivalent four-point combined motion of a vehicle body provided in an embodiment of the present application;

[0015] Figure 3 is a structural schematic diagram of a control device for an air suspension system provided in an embodiment of the present application;

[0016] Figure 4 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0017] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0018] A control method, device, electronic device and medium of an air suspension system according to an embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0019] Figure 1 It is a flow chart of a control method of an air suspension system provided in an embodiment of the present application.

[0020] like Figure 1 As shown, the method includes:

[0021] S101, acquiring height data collected by each height sensor on the air suspension system of the vehicle and vehicle body posture data;

[0022] S102, taking each height sensor as a target height sensor in turn, and calculating height estimation data corresponding to the remaining height sensors according to the body posture data of the vehicle and the height acquisition data corresponding to the target height sensor, wherein the remaining height sensors are height sensors other than the target height sensor;

[0023] S103, detecting whether each height sensor is abnormal based on the height collection data and the plurality of height estimation data corresponding to each height sensor;

[0024] S104: If the detection result of the height sensor indicates that the height sensor is an abnormal sensor, target height data is determined according to height estimation data corresponding to the abnormal sensor, and the air suspension is controlled using the target height data.

[0025] It can be understood that the control method of the above-mentioned air suspension system provided in this example is applied to the vehicle controller of the vehicle, and the above-mentioned vehicles include vehicles with air suspension systems (including vehicles with passenger functions (such as cars, buses, large buses, minibuses, etc.), vehicles with cargo functions (such as ordinary trucks, vans, trailers, closed trucks, tank trucks, flatbed trucks, container trucks, dump trucks, trucks with special structures), special vehicles (such as logistics distribution vehicles, automatic guided transport vehicles AGV, patrol cars, cranes, cranes, excavators, bulldozers, forklifts, rollers, loaders, off-road engineering vehicles, armored engineering vehicles, sewage treatment vehicles, sanitation vehicles, vacuum trucks, floor washing vehicles, sprinkler trucks, sweeping robots, food delivery robots, shopping guide robots, lawn mowers, golf carts, etc.), vehicles with entertainment functions (such as entertainment vehicles, amusement park automatic driving devices, balance cars, etc.), rescue vehicles (such as fire trucks, ambulances, power repair vehicles, engineering rescue vehicles, etc.)), etc.

[0026] Specifically, the height collection data is collected by a height sensor in the air suspension, and the height collection data collected by the height sensor can reflect the height of the vehicle body in a specific area of ​​the vehicle body where the height sensor is located.

[0027] To better understand this example, Figure 2 To illustrate this example, Figure 2 As shown:

[0028] The vehicle body movement is equivalent to the four-point combined movement. At this time, the height data collected by the height sensors on the air suspension system are the height data of the four points A, B, C, and D in the figure. At the same time, the four points A, B, C, and D are correspondingly equipped with height sensors. The angle information ω, That is, the body posture data, angle information ω, Characterizes the degree of inclination of the vehicle in the transverse plane and the longitudinal plane.

[0029] It is understandable that since the numerical unit (such as mm) used for height adjustment of air suspension is usually small, even if the height sensors at points A, B, C, and D are abnormal, it may not be possible to effectively determine the specific abnormal height sensor. For example, the height data of the following four points are obtained through the height sensor: Point A: 190mm; Point B: 210mm; Point C: 205mm; Point D: 210mm. Although the height collection data at point A is slightly deviated from the height collection data at the other three points, this slight difference is generally not significant in actual applications. It is difficult to determine whether the height sensor at point A is really abnormal, which results in the inability to effectively and timely process the abnormal height sensor, thereby reducing driving safety and driving experience.

[0030] In some examples, in order to accurately determine whether there is an abnormality in the height sensor, after obtaining the height collection data collected by each height sensor on the air suspension system in the vehicle, each height sensor can be used as a target height sensor, and the vehicle's body posture data and the height collection data corresponding to the target height sensor can be used to calculate the height estimation data corresponding to the remaining height sensors. Continuing with the above example, the height collection data corresponding to point A is used to calculate the height estimation data of points B, C, and D, and the height collection data corresponding to point B is used to calculate the height estimation data of points A, C, and D, until all points are used to calculate the height data of the remaining points. In this way, multiple height estimation data corresponding to each height sensor can be obtained.

[0031] It can be understood that after obtaining multiple height estimation data corresponding to each height sensor, it is possible to detect whether the height sensor is abnormal based on the height acquisition data and multiple height estimation data corresponding to each height sensor. When judging whether the height acquisition data of a certain height sensor is abnormal, multiple height estimation data can provide more comprehensive and accurate data basis, so as to effectively, quickly and accurately determine the abnormal height sensor. Furthermore, for abnormal height sensors, multiple height estimation data corresponding to the abnormal sensors can be used to determine the target height data, and the target height data can be used to control the air suspension. This provides a temporary software solution for the air suspension when the sensor is abnormal, thereby improving the driving safety and comfort of the vehicle air suspension when the height sensor is abnormal.

[0032] In addition, if the height sensor corresponding to point A does not collect any height data, the above method can also be used for calculation. For example, if the height data corresponding to point A is 0, the height estimation data of point A is calculated in sequence using the height collection data corresponding to points B, C, and D, and then the target height data for point A is determined from the calculated height estimation data, thereby providing a control basis for the air suspension.

[0033] According to the technical solution provided in the embodiment of the present application, the height collection data collected by each height sensor on the air suspension system of the vehicle and the body posture data of the vehicle are obtained; each height sensor is used as a target height sensor in turn, and the height estimation data corresponding to the remaining height sensors are calculated according to the body posture data of the vehicle and the height collection data corresponding to the target height sensor, wherein the remaining height sensors are the height sensors other than the target height sensor; based on the height collection data and multiple height estimation data corresponding to each height sensor, whether each height sensor is abnormal is detected; if the detection result of the height sensor indicates that the height sensor is an abnormal sensor, the target height data is determined according to the height estimation data corresponding to the abnormal sensor, and the air suspension is controlled using the target height data. By taking each height sensor as a target height sensor in turn, and using the height acquisition data of the target height sensor and the vehicle's body posture data to calculate the height estimation data corresponding to the remaining height sensors, multiple height estimation data corresponding to each height sensor are obtained, thereby providing a more comprehensive and accurate data basis for fault judgment of each height sensor, so as to locate the abnormal sensor from the subtle differences in the height acquisition data. At the same time, by using the multiple height estimation data of the abnormal sensor to provide the abnormal sensor with reasonable target height data for control, a temporary software solution can be provided for the abnormal height sensor, thereby improving the driving safety and comfort of the vehicle air suspension when a single height sensor is abnormal, and at the same time improving the user experience.

[0034] In some embodiments, the vehicle body posture data includes a vehicle pitch angle and a vehicle roll angle; based on the vehicle body posture data and the height acquisition data corresponding to the target height sensor, the height estimation data corresponding to the remaining height sensors are calculated, including: obtaining the distance information between the height sensors; based on the height acquisition data corresponding to the target height sensor, the vehicle pitch angle, the vehicle roll angle and the distance information between the target height sensor and the remaining height sensors, the height estimation data corresponding to the remaining height sensors are calculated.

[0035] Specifically, the vehicle pitch angle refers to the degree of inclination of the vehicle in the longitudinal plane, while the vehicle roll angle refers to the degree of inclination of the vehicle in the transverse plane. The vehicle pitch angle and vehicle roll angle can be obtained through sensors on the vehicle, such as accelerometers and gyroscopes. The height estimation data corresponding to each height sensor can be calculated through the height acquisition data corresponding to the target height sensor, the vehicle pitch angle, the vehicle roll angle, and the distance information between the target height sensor and the remaining height sensors. If the height acquisition data collected by the target height sensor is normal, then the height estimation data corresponding to the remaining height sensors calculated at this time will be reasonable and normal data, thereby providing a correct and reasonable data basis for subsequent judgments.

[0036] Continuing with the above example, the distance information between the target height sensor and the remaining height sensors is the distance between the target height sensor and any other height sensor. This distance can be obtained by the distance sensor on the vehicle to accurately measure the actual distance between each target height sensor and the remaining height sensors (for example, point A to point B, point A to point C, point A to point D), thereby providing necessary calculation parameters for the height estimation data of the remaining height sensors.

[0037] In some examples, according to the height acquisition data corresponding to the target height sensor, the pitch angle of the vehicle, the roll angle of the vehicle, and the distance information between the target height sensor and the remaining height sensors, the height estimation data corresponding to the remaining height sensors are calculated, including: calculating the height difference data of the remaining height sensors according to the distance information between the target height sensor and the remaining height sensors, the pitch angle of the vehicle, and the roll angle of the vehicle; determining the height estimation data corresponding to the remaining height sensors according to the height acquisition data corresponding to the target height sensor and the height difference data of the remaining height sensors. Exemplarily, the height estimation data corresponding to the remaining height sensors can be calculated by the following formula:

[0038] X AB =H A -l AB ·tanω;

[0039]

[0040] Among them, H A Indicates the height data collected at point A; X AB , X AC , X AD They represent the estimated height data of the height sensors corresponding to points B, C, and D calculated by taking the height sensor corresponding to point A as the target height sensor, and l AB is the distance information between the height sensor at point A and the height sensor at point B; l AD is the distance information between the A height sensor point and the D height sensor point; ω is the vehicle body pitch angle; is the body roll angle, l AB tanω is the height difference data of the height sensor corresponding to point B, is the height difference data of the height sensor corresponding to point D, is the height difference data of the height sensor corresponding to point C.

[0041] It should be noted that the formula in the above example gives a specific calculation method for calculating the height estimation data of the remaining height sensors using the height sensor corresponding to point A as the target height sensor. The calculation method of the height sensors corresponding to the remaining points can refer to the above calculation formula, and this example will not be explained one by one here.

[0042] According to the technical solution provided in the embodiment of the present application, the distance information between each height sensor is obtained; based on the height acquisition data corresponding to the target height sensor, the vehicle pitch angle, the vehicle roll angle and the distance information between the target height sensor and the remaining height sensors, the height estimation data corresponding to the remaining height sensors is calculated, which can provide a more comprehensive and accurate data basis for fault judgment of each height sensor.

[0043] In some embodiments, based on the height acquisition data and multiple height estimation data corresponding to each height sensor, whether each height sensor is abnormal is detected, including: calculating the residual value between the height acquisition data corresponding to each height sensor and each height estimation data to obtain multiple residual results; if each residual result in the multiple residual results is greater than a preset residual threshold, the corresponding height sensor is determined to be an abnormal sensor.

[0044] Specifically, the residual value refers to the difference between the actual measurement value and the theoretical calculation value. In this example, by calculating the residual value of the height acquisition data corresponding to each height sensor and each height estimation data, it is possible to evaluate whether the height acquisition data of the height sensor is abnormal, thereby determining the abnormal height sensor.

[0045] Continuing with the above example, each point (such as point A) will have one height collection data (190mm) and three height estimation data 200mm, 205mm and 205mm. At this time, the residual value between the height collection data and each height collection data can be calculated to determine whether each height sensor is abnormal. For example, by calculating the residual value between the height collection data corresponding to point A and each height estimation data, three residual results of 10mm, 15mm and 15mm can be obtained. If the height sensor corresponding to point A is abnormal at this time, it will cause the height collection data (190mm) collected by it to be abnormal. Then the residual between each height estimation data and the height collection data will be relatively large, so that the height sensor corresponding to point A can be judged as an abnormal sensor.

[0046] In some examples, since the height collection data of point A is abnormal, the height estimation data of other points calculated by point A will also produce a large residual with the height collection value of the point. For example, the height collection data of point B is 210mm. At this time, the height estimation data of point B calculated by point A is 190mm, and the height estimation data of point B calculated by points C and D are 210mm and 212mm respectively. Obviously, the height estimation data (190mm) calculated by the fault point A will produce a large residual result with the height collection data of point B (210mm); therefore, when using the residual result to judge the abnormality of the height sensor, it is necessary to satisfy that each residual result is greater than the preset residual threshold (for example, 5mm) before the corresponding height sensor can be determined as an abnormal sensor, where the value of the preset residual threshold can be set according to the actual situation, and this embodiment does not specifically limit this.

[0047] According to the technical solution provided in the embodiment of the present application, the residual value between the height acquisition data corresponding to each height sensor and each height estimation data is calculated to obtain multiple residual results; if each residual result in the multiple residual results is greater than the preset residual threshold, the corresponding height sensor is determined to be an abnormal sensor, which can improve the accuracy of locating the abnormal height acquisition device of the air suspension.

[0048] In some embodiments, target height data is determined based on height estimation data corresponding to an abnormal sensor, including: calculating the absolute difference between any two height estimation data among a plurality of height estimation data; selecting a target absolute difference whose absolute difference is within a preset difference range from all absolute differences; using the height estimation data corresponding to the target absolute difference as reference height data, and determining the target height data based on the reference height data.

[0049] Specifically, in the process of determining the target height data, it is necessary to ensure that the selected height estimation data has a high degree of credibility. For the height sensor processing abnormal state, this example calculates the absolute difference between the corresponding multiple height estimation data, selects the target absolute difference whose absolute difference is within the preset difference range from all the absolute differences, and uses the height estimation data corresponding to the target absolute difference as the reference height data to ensure the rationality of data selection.

[0050] Continuing with the above example, the height estimation data corresponding to point A are 200mm, 205mm, and 205mm, respectively. The absolute differences between any two of the multiple height estimation data are 5mm, 5mm, and 0mm, respectively. At this time, a target absolute difference within a preset difference range (for example, 0-5mm) is selected from the absolute differences. At this time, 5mm, 5mm, and 0mm are all within the pre-set preset difference range (for example, 0-5mm). 5mm, 5mm, and 0mm are the target absolute differences. 200mm, 205mm, and 205mm corresponding to 5mm, 5mm, and 0mm can all be used as reference height data at this time. Then, the target height data is determined using the reference height data.

[0051] In some examples, determining the target height data based on the reference height data includes: determining the average value of the reference height data based on the reference height data to obtain the target height data; or performing weighted averaging on the reference height data to obtain the target height data. For example, if the height estimation data corresponding to point A are 200mm, 204mm, and 210mm, respectively, and the absolute difference between any two height estimation data in the multiple height estimation data is 4mm, 6mm, and 10mm, respectively, and 4mm is within the preset difference range (e.g., 0-5mm), that is, 4mm is the target absolute difference, and 200mm and 204mm corresponding to 4mm are selected as reference height data, and then the target height data is determined based on the reference height data.

[0052] According to the technical solution provided in the embodiment of the present application, the absolute difference between any two height estimation data among multiple height estimation data is calculated; the target absolute difference whose absolute difference is within the preset difference range is selected from all the absolute differences; the height estimation data corresponding to the target absolute difference is used as the reference height data, and the target height data is determined based on the reference height data. The most suitable height data can be effectively selected from multiple height estimation data as the target height data, ensuring that when selecting the height estimation data, only the data with a relatively reasonable reference height is selected, and the unreasonable height data among the multiple height estimation data is abandoned, thereby providing a more accurate reference basis for whether the height sensor is abnormal.

[0053] In some embodiments, before using the target height data to control the air suspension, it also includes: when the body hardware conditions of the vehicle meet the preset body hardware conditions, determining that the air suspension is in an enabled state.

[0054] Specifically, the purpose of detecting the vehicle hardware conditions is to ensure that the air suspension system is not interfered with by the vehicle hardware during operation. The vehicle hardware conditions include the status of the vehicle doors, the status of the front and rear trunks, the status of the charging port and the status of the fuel filler port. When the vehicle doors, the fuel filler cap, the charging port cap and the front and rear trunk door covers are all in the preset vehicle body hardware conditions (for example, the closed state), it can be determined that the air suspension is in the enabled state. At this time, the closedness and stability of the vehicle body can be guaranteed, ensuring that the air suspension system will not be affected by the external environment (such as obstacles) during operation.

[0055] In addition, the vehicle hardware conditions also include the status of components in the air suspension system or the vehicle body other than the height sensor, such as the air compression pump body, the air spring suspension system circuit and the solenoid valve. When the air compression pump body, the air spring suspension system circuit and the solenoid valve are all in the preset vehicle body hardware conditions (such as a normal working state), it can be determined that the air suspension is in an enabled state. At this time, it can be ensured that the air suspension system is within the normal working range, avoiding system abnormalities caused by hardware failures of the air suspension system.

[0056] It should be noted that the air suspension fault handling method of this example is applicable to the scenario where the vehicle speed is lower than a certain speed threshold, for example, lower than 30 km / h. Within this speed range, the air suspension system is easier to detect and handle faults, while also ensuring the safety of the vehicle when driving at low speeds. When the vehicle speed exceeds this threshold, this example is not applicable to avoid the risks that may be caused by fault handling during high-speed driving.

[0057] According to the technical solution provided in the embodiment of the present application, when the body hardware conditions of the vehicle meet the preset body hardware conditions, it is determined that the air suspension is in an enabled state. By detecting the body hardware conditions, it is ensured that the air suspension system is in an enabled state only when the body hardware conditions meet the preset body hardware conditions, thereby ensuring that the air suspension system is only adjusted under appropriate hardware conditions, ensuring that it is not affected by the external environment and system hardware when executing the method of this example, thereby providing safer, more stable and convenient fault handling conditions and usage experience.

[0058] In some embodiments, after determining the target height data based on the height estimation data corresponding to the abnormal sensor, it also includes: displaying the abnormal sensor and the target height data through a visual interface; receiving target indication information input by the user through the visual interface, and controlling the air suspension using the target height data based on the target indication information.

[0059] Specifically, this example provides a visualization interface display method after determining the target height data based on the height estimation data corresponding to the abnormal sensor. Exemplarily, the abnormal sensor and target height data are displayed through the vehicle's on-board system or the user's bound mobile terminal so that the user can know the status of the vehicle's air suspension system in a timely manner.

[0060] It can be understood that after the user knows the status of the vehicle's air suspension system, the target indication information can be input through the vehicle system or the user's bound mobile terminal. The target indication information includes but is not limited to voice, text or click confirmation. The target indication information can be used to control the air suspension in an abnormal state using the target height data. If the user does not input the target indication information, the air suspension in an abnormal state will not be controlled using the target height data. In addition, in one example, after the user knows the status of the vehicle's air suspension system, the user can input a similar or adjacent height data as a new target height data through a visual interface to control the air suspension in an abnormal state using the new target height data. In another example, if the height data input by the user differs too much from the target height data, for example, more than 5 mm, a warning message is sent to the user through the visual interface. The warning message is used to remind the user that the data input is unreasonable and the corresponding air suspension cannot be controlled.

[0061] According to the technical solution provided in the embodiment of the present application, the abnormal sensor and target height data are displayed through a visual interface; the target indication information input by the user through the visual interface is received, and based on the target indication information, the target height data is used to control the air suspension in the abnormal state. The user can know the state of the vehicle air suspension system in time, and input the control strategy for controlling the suspension through the visual interface, thereby improving the user experience.

[0062] In some embodiments, the method also includes: real-time monitoring of the airbag pressure in the air suspension to obtain the airbag pressure monitoring results; if the monitoring results indicate that there is air leakage in the airbag, determining the pressure leakage rate based on the change value of the airbag pressure, and controlling the solenoid valve of the air replenishment device to fully open to replenish air to the airbag; determining the solenoid valve air replenishment opening corresponding to the air pressure leakage rate based on the correspondence between the solenoid valve opening and the air pressure flow; when the airbag pressure increases to a preset airbag pressure threshold, controlling the solenoid valve opening to be the air replenishment opening to replenish air to the airbag to balance with the air pressure leakage rate of the airbag, and maintaining the airbag pressure at the preset airbag pressure threshold.

[0063] Specifically, this example also provides a fault control method for a slight leakage of an air suspension airbag, that is, by continuously detecting the pressure in the airbag, abnormal airbag pressure can be detected in time, so that corresponding air replenishment measures can be taken. Specifically, by real-time monitoring of the airbag pressure in the air suspension, the airbag pressure monitoring result is obtained; if the monitoring result indicates that there is air leakage in the airbag (for example, when the airbag pressure is lower than the preset airbag pressure threshold), the control system will automatically control the solenoid valve of the air replenishment device to open and replenish air to the airbag.

[0064] It is understandable that after the electromagnetic valve of the air replenishing device is controlled to open to replenish air to the airbag, the electromagnetic valve of the air replenishing device cannot be completely closed because the airbag is still leaking. If it is completely closed, the airbag pressure will still be lower than the preset airbag pressure threshold after a period of time due to the air leakage problem. This example provides a solution to this problem, that is, determining the pressure leakage rate based on the change value of the airbag pressure. Specifically, determining the pressure leakage rate based on the change value of the airbag pressure includes: calculating the air pressure leakage rate of the airbag by analyzing the change trend of the airbag pressure over time.

[0065] Furthermore, the control system will determine the solenoid valve air filling opening corresponding to the air pressure leakage rate based on the corresponding relationship between the solenoid valve opening and the air pressure flow rate, which can be obtained by looking up the table according to the air pressure flow curve or the information provided by the relevant manufacturer. The air filling opening is calculated based on the current air pressure leakage rate, so that the air filling amount input by the air filling device is equal to the air leakage amount of the airbag within a unit time (for example, 1 second), so as to maintain the airbag pressure at a preset airbag pressure threshold. Exemplarily, when the airbag pressure increases to the preset airbag pressure threshold, the system will control the opening of the solenoid valve to the air filling opening to keep the airbag pressure stable. That is, the air filling device of the air suspension system will not completely close the solenoid valve, but maintain an air filling opening equivalent to the air pressure leakage rate to balance the leakage of the airbag.

[0066] According to the technical solution provided in the embodiment of the present application, the airbag pressure in the air suspension is monitored in real time to obtain the pressure monitoring result of the airbag; if the monitoring result indicates that there is air leakage in the airbag, the pressure leakage rate is determined based on the change value of the airbag pressure, and the solenoid valve of the air replenishment device is controlled to open to replenish air to the airbag; according to the corresponding relationship between the solenoid valve opening and the air pressure flow, the solenoid valve opening corresponding to the air pressure leakage rate is determined; when the airbag pressure increases to a preset airbag pressure threshold, the air replenishment opening is controlled to replenish air to the airbag to balance with the air pressure leakage rate of the airbag, and maintain the airbag pressure at the preset airbag pressure threshold. By real-time monitoring of the airbag pressure, calculating the leakage rate, and dynamically adjusting the solenoid valve opening, the solenoid valve can maintain the air replenishment opening to replenish air to the airbag when a slight leak occurs in the airbag, thereby effectively maintaining the stability and reliability of the air suspension system and improving driving safety and user experience.

[0067] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the process of the embodiments of the present application.

[0068] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, which will not be described in detail here.

[0069] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0070] Figure 3 It is a structural schematic diagram of a control device of an air suspension system provided in an embodiment of the present application.

[0071] like Figure 3 As shown, the device comprises:

[0072] The acquisition module 301 is configured to acquire the height data collected by each height sensor on the air suspension system of the vehicle and the body posture data of the vehicle;

[0073] The calculation module 302 is configured to sequentially use each height sensor as a target height sensor, and calculate the height estimation data corresponding to the remaining height sensors according to the body posture data of the vehicle and the height acquisition data corresponding to the target height sensor, wherein the remaining height sensors are height sensors other than the target height sensor;

[0074] The detection module 303 is configured to detect whether each height sensor is abnormal according to the height collection data and the plurality of height estimation data corresponding to each height sensor;

[0075] The control module 304 is configured to determine target height data according to height estimation data corresponding to the abnormal sensor if the detection result of the height sensor indicates that the height sensor is an abnormal sensor, and use the target height data to control the air suspension.

[0076] In some embodiments, the calculation module 302 is also configured to obtain distance information between each height sensor; and calculate the height estimation data corresponding to the remaining height sensors based on the height acquisition data corresponding to the target height sensor, the vehicle pitch angle, the vehicle roll angle, and the distance information between the target height sensor and the remaining height sensors.

[0077] In some embodiments, the detection module 303 is also configured to calculate the residual value between the height acquisition data corresponding to each height sensor and each height estimation data to obtain multiple residual results; if each residual result in the multiple residual results is greater than a preset residual threshold, the corresponding height sensor is determined to be an abnormal sensor.

[0078] In some embodiments, the control module 304 is further configured to calculate the absolute difference between any two height estimation data among multiple height estimation data; select a target absolute difference whose absolute difference is within a preset difference range from all absolute differences; use the height estimation data corresponding to the target absolute difference as reference height data, and determine the target height data based on the reference height data.

[0079] In some embodiments, the control module 304 is further configured to determine that the air suspension is in an enabled state when the vehicle body hardware condition meets a preset vehicle body hardware condition.

[0080] In some embodiments, the control module 304 is further configured to display abnormal sensor and target height data through a visual interface; receive target indication information input by a user through the visual interface, and control the air suspension using the target height data based on the target indication information.

[0081] In some embodiments, the control module 304 is also configured to monitor the airbag pressure in the air suspension in real time to obtain the airbag pressure monitoring result; if the monitoring result indicates that there is air leakage in the airbag, the pressure leakage rate is determined based on the change value of the airbag pressure, and the solenoid valve of the air replenishment device is controlled to be fully opened to replenish air to the airbag; according to the corresponding relationship between the solenoid valve opening and the air pressure flow, the solenoid valve air replenishment opening corresponding to the air pressure leakage rate is determined; when the airbag pressure increases to a preset airbag pressure threshold, the solenoid valve opening is controlled to be the air replenishment opening to replenish air to the airbag, so as to balance with the air pressure leakage rate of the airbag, and maintain the airbag pressure at the preset airbag pressure threshold.

[0082] According to the device provided in the embodiment of the present application, the height collection data collected by each height sensor on the air suspension system of the vehicle and the body posture data of the vehicle are obtained; each height sensor is used as a target height sensor in turn, and the height estimation data corresponding to the remaining height sensors are calculated according to the body posture data of the vehicle and the height collection data corresponding to the target height sensor, wherein the remaining height sensors are the height sensors other than the target height sensor; according to the height collection data corresponding to each height sensor and the multiple height estimation data, whether each height sensor is abnormal is detected; if the detection result of the height sensor indicates that the height sensor is an abnormal sensor, the target height data is determined according to the height estimation data corresponding to the abnormal sensor, and the air suspension is controlled using the target height data. By taking each height sensor as a target height sensor in turn, and using the height acquisition data of the target height sensor and the vehicle's body posture data to calculate the height estimation data corresponding to the remaining height sensors, multiple height estimation data corresponding to each height sensor are obtained, thereby providing a more comprehensive and accurate data basis for fault judgment of each height sensor, so as to locate the abnormal sensor from the subtle differences in the height acquisition data. At the same time, by using the multiple height estimation data of the abnormal sensor to provide the abnormal sensor with reasonable target height data for control, a temporary software solution can be provided for the abnormal height sensor, thereby improving the driving safety and comfort of the vehicle air suspension when a single height sensor is abnormal, and at the same time improving the user experience.

[0083] Figure 4 Schematic diagram of an electronic device 4 provided in an embodiment of the present application. Figure 4 As shown, the electronic device 4 of this embodiment includes: a processor 401, a memory 402, and a computer program 403 stored in the memory 402 and executable on the processor 401. When the processor 401 executes the computer program 403, the steps in the above-mentioned method embodiments are implemented. Alternatively, when the processor 401 executes the computer program 403, the functions of the modules / units in the above-mentioned device embodiments are implemented.

[0084] The electronic device 4 may be a desktop computer, a notebook, a PDA, a cloud server, or other electronic device. The electronic device 4 may include, but is not limited to, a processor 401 and a memory 402. Those skilled in the art will appreciate that Figure 4 The electronic device 4 is merely an example and does not limit the electronic device 4 , and may include more or less components than those shown in the figure, or different components.

[0085] The processor 401 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0086] The memory 402 may be an internal storage unit of the electronic device 4, for example, a hard disk or memory of the electronic device 4. The memory 402 may also be an external storage device of the electronic device 4, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 4. The memory 402 may also include both an internal storage unit and an external storage device of the electronic device 4. The memory 402 is used to store computer programs and other programs and data required by the electronic device.

[0087] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units.

[0088] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. The computer program may include computer program code, which may be in source code form, object code form, executable file or some intermediate form. The storage medium may include: any entity or device that can carry computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0089] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A control method for an air suspension system, characterized in that: include: Acquire height data collected by each height sensor on the air suspension system of the vehicle and body posture data of the vehicle; Taking each of the height sensors as a target height sensor in turn, and calculating the height estimation data corresponding to the remaining height sensors according to the body posture data of the vehicle and the height acquisition data corresponding to the target height sensor, wherein the remaining height sensors are height sensors other than the target height sensor; Detecting whether each of the height sensors is abnormal based on the height collection data corresponding to each of the height sensors and the plurality of height estimation data; If the detection result of the height sensor indicates that the height sensor is an abnormal sensor, target height data is determined according to the height estimation data corresponding to the abnormal sensor, and the air suspension is controlled using the target height data.

2. The method according to claim 1, characterized in that The vehicle body posture data includes a vehicle pitch angle and a vehicle roll angle; the height estimation data corresponding to the remaining height sensors are calculated based on the vehicle body posture data and the height acquisition data corresponding to the target height sensor, including: Acquiring distance information between each of the height sensors; The height estimation data corresponding to the remaining height sensors are calculated based on the height acquisition data corresponding to the target height sensor, the vehicle pitch angle, the vehicle roll angle, and the distance information between the target height sensor and the remaining height sensors.

3. The method according to claim 1, characterized in that The detecting whether each of the height sensors is abnormal according to the height acquisition data corresponding to each of the height sensors and the plurality of height estimation data comprises: Calculating residual values ​​of the height acquisition data corresponding to each of the height sensors and each of the height estimation data to obtain a plurality of residual results; If each of the plurality of residual results is greater than a preset residual threshold, the corresponding height sensor is determined to be an abnormal sensor.

4. The method according to claim 1, characterized in that: The step of determining target height data according to the height estimation data corresponding to the abnormal sensor includes: Calculating an absolute difference between any two of the height estimation data among the plurality of height estimation data; Selecting a target absolute difference value whose absolute difference value is within a preset difference value range from all the absolute difference values; The height estimation data corresponding to the target absolute difference is used as reference height data, and the target height data is determined according to the reference height data.

5. The method according to claim 1, characterized in that Before controlling the air suspension using the target height data, the method further includes: When the vehicle body hardware condition meets the preset vehicle body hardware condition, it is determined that the air suspension is in an enabled state.

6. The method according to claim 1, characterized in that After determining the target height data according to the height estimation data corresponding to the abnormal sensor, the method further includes: Displaying the abnormal sensor and the target height data through a visual interface; Receive target indication information input by a user through the visual interface, and control the air suspension using the target height data based on the target indication information.

7. The method according to claim 1, characterized in that The method further comprises: monitoring the airbag pressure in the air suspension in real time to obtain the airbag pressure monitoring result; If the monitoring result indicates that the airbag is leaking, the pressure leakage rate is determined based on the change value of the airbag pressure, and the solenoid valve of the air replenishing device is controlled to be fully opened to replenish air to the airbag; According to the corresponding relationship between the solenoid valve opening and the air pressure flow, determining the solenoid valve air supply opening corresponding to the air pressure leakage rate; When the airbag pressure increases to a preset airbag pressure threshold, the opening of the solenoid valve is controlled to be the air replenishment opening to replenish air to the airbag to balance with the air pressure leakage rate of the airbag and maintain the airbag pressure at the preset airbag pressure threshold.

8. A control device for an air suspension system, characterized in that: include: An acquisition module is configured to acquire height data collected by each height sensor on the air suspension system of the vehicle and body posture data of the vehicle; a calculation module configured to sequentially use each of the height sensors as a target height sensor, and calculate height estimation data corresponding to the remaining height sensors according to the body posture data of the vehicle and the height acquisition data corresponding to the target height sensor, wherein the remaining height sensors are height sensors other than the target height sensor; a detection module configured to detect whether each of the height sensors is abnormal based on the height collection data corresponding to each of the height sensors and the plurality of height estimation data; The control module is configured to determine target height data according to the height estimation data corresponding to the abnormal sensor if the detection result of the height sensor indicates that the height sensor is an abnormal sensor, and use the target height data to control the air suspension.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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