Commercial vehicle electronic control air suspension self-calibration system and calibration method

Abstract

The invention relates to the technical field of automobile suspension systems, and particularly discloses a commercial vehicle electronic control air suspension self-calibration system and a calibration method.The commercial vehicle electronic control air suspension self-calibration system comprises an electronic control air suspension control system and an air suspension body and has two calibration modes of quick calibration and temporary calibration; during quick calibration, calibration personnel use the calibration limiting tool in combination with an instrument desk calibration process and result prompts, the suspension height does not need to be measured in the calibration process, and a single person can quickly calibrate the suspension height by operating a handheld remote controller of an electric control air suspension system; calibration personnel utilize the single-side and double-side inflation and deflation switching function of a handheld remote controller of the system, in combination with field measurement or a reference tool, the heights of the left suspension and the right suspension are adjusted according to an instrument calibration process and result prompts, so that rapid calibration of the heights of the suspensions is achieved, the maintenance time and cost of an air suspension vehicle type are effectively reduced, and the maintenance efficiency is improved. The air suspension height calibration difficulty is reduced, and the air suspension height calibration precision is improved.

Description

Technical Field

[0001] The invention relates to the technical field of automobile suspension systems, and in particular to a commercial vehicle electronically controlled air suspension self-calibration system and calibration method. Background Art

[0002] Air suspension is an important form of commercial vehicle suspension, and its usage rate on foreign heavy trucks has exceeded 85%. my country's air suspension started late, but with the rapid development of domestic economy and technology, and the growing demand for high-end logistics and transportation, the domestic demand for air suspension models is increasing day by day, and the number of air suspension models rolling off the production line per day is increasing.

[0003] Air suspension is different from leaf spring suspension. Due to the different design heights of different models and suspensions, air suspension models need to calibrate the height of the suspension electronic control system in advance after they roll off the assembly line. At present, the calibration of electronically controlled air suspension systems at home and abroad requires the use of calibration computers, special calibration software, adapters, connecting cables and other tools. The calibration process requires two people to complete. One of them needs to use the adapter and connecting cable to connect the special calibration equipment through the vehicle OBD port or controller interface, and control the electronically controlled air suspension control system through the calibration software to inflate and deflate the air suspension airbags. Another person calculates the measured distance from the lower wing surface of the frame to the ground according to the tire model and the suspension calibration height requirements (the commercial vehicle suspension height is generally the distance from the lower wing surface of the frame to the center line of the axle, which is difficult to measure directly and needs to be converted to the distance from the lower wing surface of the frame to the ground), and then uses a tape measure to measure the distance in real time. After the lower wing surfaces of the frames on both sides reach the calculated height, the other operator is fed back to stop the inflation and deflation operation, and the calibration computer is used to calibrate the suspension height information. In this way, the normal height of the suspension, the upper limit height of the suspension, the lower limit height of the suspension, and the zero position of the pressure sensor are calibrated. Therefore, during the vehicle offline and market maintenance process, the OEM and the aftermarket need to purchase additional calibration computers, special calibration software, adapters, connecting wires, etc. At the same time, due to the complex operation, the calibration personnel need to undergo professional training before they can take up their posts, which is not conducive to the offline adjustment and market maintenance of the electronically controlled air suspension model. Therefore, it is necessary to design a commercial vehicle electronically controlled air suspension self-calibration system and calibration method to solve the problems of complex operation, low efficiency and high cost of existing suspension height calibration. Summary of the invention

[0004] In view of the problems existing in the prior art, the object of the present invention is to provide a self-calibration system and a calibration method for an electronically controlled air suspension of a commercial vehicle.

[0005] The technical solution adopted by the present invention to solve the technical problem is: a commercial vehicle electronically controlled air suspension self-calibration system, including an electronically controlled air suspension control system and an air suspension body, the electronically controlled air suspension control system including a suspension height measuring unit, a suspension air pressure measuring unit, a controller, a combination solenoid valve, and a remote control operation unit, the controller is connected to the combination solenoid valve;

[0006] The suspension height measuring unit includes a height sensor and a height sensor swing bar, and the height sensor is connected to a controller;

[0007] The suspension air pressure measuring unit includes a plurality of pressure sensors, which are mounted on the air spring;

[0008] The remote control operation unit includes a handheld remote control and a push-button switch, and the handheld remote control is connected to the controller;

[0009] The air suspension body includes an air spring, an air spring bracket, a thrust rod, a lateral stabilizer bar, a shock absorber, a guide arm, and a guide arm bracket. The electronically controlled air suspension control system controls the suspension height by controlling the inflation and deflation of the air spring of the air suspension body;

[0010] The electronically controlled air suspension self-calibration system is integrated into the electronically controlled air suspension control system. The electronically controlled air suspension self-calibration system calibrates the air suspension height and pressure sensor zero position through the electronically controlled air suspension control system's handheld remote control and a set of calibration limit tooling. The electronically controlled air suspension self-calibration system guides the calibration personnel to complete the air suspension height and pressure sensor zero position calibration.

[0011] Preferably, the calibration limit tooling includes 2 calibration blocks and 6 pluggable pins, and multiple groups of height calibration positioning holes are processed on the calibration blocks. The top row of height calibration positioning holes are upper limit height positioning holes for suspension upper limit height calibration, the bottom row of height calibration positioning holes are lower limit height positioning holes for suspension lower limit height calibration, and the middle row of height calibration positioning holes are normal height positioning holes for suspension normal height calibration. One end of the pluggable pin can be inserted through the height calibration positioning hole of the calibration block and extend out to a sufficient length to support the frame. A handle is provided at the other end of the pluggable pin, and a positioning boss is processed on the middle part of the pluggable pin near the handle, and the positioning boss limits the insertion amount of the pluggable pin.

[0012] A calibration method for a commercial vehicle electronically controlled air suspension self-calibration system comprises the following steps:

[0013] S1. The handheld remote controller of the electronic air suspension control system enters or exits the calibration function, and the vehicle instrument prompts the calibrator to complete the calibration steps in real time. The calibration result prompt function prompts the calibrator whether the calibration is successful through the vehicle instrument and lights;

[0014] S2. The calibration function is divided into quick calibration and temporary calibration;

[0015] S3, height sensor calibration data deviation determination: calibration data deviation determination logic during suspension upper limit height calibration, calibration data deviation determination logic during suspension normal height calibration, calibration data deviation determination logic during suspension lower limit height calibration;

[0016] S4. The logic for determining the zero position calibration range of the pressure sensor is as follows: when the pressure sensor is zero-calibrated, if the stored original value of the pressure sensor is greater than 350, it is determined that the calibration value does not meet the requirements of the zero position calibration range of the pressure sensor; otherwise, it is determined that the calibration value meets the requirements of the zero position calibration range of the pressure sensor;

[0017] S5, setting the height sensor monotonicity judgment logic and the calibration height upper and lower limit consistency judgment logic;

[0018] S6, the controller communicates with the handheld remote control via CAN signals, and the controller communicates with the vehicle instrument and light controller via CAN signals, and the message format is set;

[0019] S7. Set the logic of charging and deflation.

[0020] Preferably, the handheld remote control button control of the electronically controlled air suspension control system in step S1 inflates or deflates the air springs on the left and right sides of the suspension at the same time, inflates or deflates the air spring on the left side only, or inflates or deflates the air spring on the right side only, and the electronically controlled air suspension control system stores the calibration of the upper limit height of the suspension, the normal height of the suspension, the lower limit height of the suspension, and the zero position of the pressure sensor.

[0021] Preferably, the handheld remote controller button control in step S1 is:

[0022] The STOP button, reset button and M1 button of the handheld remote control are triggered in sequence and held for 5 seconds, and the electronically controlled air suspension control system automatically enters the calibration mode; after the electronically controlled air suspension control system enters the calibration mode, the M1 button can be triggered to select the activation or deactivation of the charging and deflating function of the left air spring, and the M2 button can be triggered to select the activation or deactivation of the charging and deflating function of the right air spring. By default, the charging and deflating functions of the left and right air springs are activated when the calibration mode is first entered; the up key combination solenoid valve is triggered to inflate the activated air spring, and the down key combination solenoid valve is triggered to deflate the activated air spring; the STOP button and the up key of the handheld remote control are triggered in sequence at the same time to activate the upper limit height calibration storage instruction; the STOP button and the down key of the handheld remote control are triggered in sequence at the same time to activate the lower limit height calibration storage instruction; the STOP button and the M1 button of the handheld remote control are triggered in sequence at the same time to activate the normal height calibration storage instruction; the STOP button and the M2 button of the handheld remote control are triggered in sequence at the same time to activate the pressure sensor calibration storage instruction.

[0023] Preferably, the quick calibration in step S2 uses a handheld remote control, a calibration pad, and a pluggable pin, and a single person completes the calibration of the suspension upper limit height, the suspension normal height, the suspension lower limit height, and the pressure sensor zero position according to the calibration sequence prompted by the instrument. During the calibration process, the system automatically determines the feasibility of the calibration data and prompts the calibration result through the instrument and light.

[0024] Temporary calibration uses a handheld remote control and a tape measure or height reference object. According to the calibration sequence prompted by the instrument, the suspension upper limit height, suspension normal height, suspension lower limit height, and pressure sensor zero position calibration are achieved through single-sided or double-sided inflation and deflation functions. During the calibration process, the system can determine the feasibility of the calibration data and can prompt the calibration results through instruments and lights.

[0025] Preferably, the calibration data deviation determination logic during the suspension upper limit height calibration in step S3 is: when performing the upper limit height calibration, if the absolute value of the difference between the stored left and right height sensor original values ​​is greater than 60, it is determined that it does not meet the left and right height sensor calibration data deviation, otherwise it is determined that it meets the left and right height sensor calibration data deviation;

[0026] Calibration data deviation judgment logic during suspension lower limit height calibration: During lower limit height calibration, if the absolute value of the difference between the stored left and right height sensor original values ​​is greater than 55, it is judged as not meeting the left and right height sensor calibration data deviation, otherwise it is judged as meeting the left and right height sensor calibration data deviation;

[0027] Calibration data deviation judgment logic during normal height calibration of the suspension: During normal height calibration, if the absolute value of the difference between the stored original values ​​of the left and right height sensors is greater than 50, it is judged that it does not conform to the calibration data deviation of the left and right height sensors, otherwise it is judged to conform to the calibration data deviation of the left and right height sensors; Normal height calibration range judgment logic of the suspension: During normal height calibration, if the stored original value of the left or right height sensor is greater than 3500 or less than 2500, it is judged that the calibration value does not conform to the normal height calibration range requirements, otherwise it is judged to conform to the normal height calibration range requirements.

[0028] Preferably, the height sensor monotonicity determination logic in step S5 is as follows: after the suspension upper limit height, suspension normal height and suspension lower limit height are calibrated, if the original values ​​of the left height sensor of the suspension upper limit height, suspension normal height and suspension lower limit height to be stored satisfy monotonic decreasing, and the original values ​​of the right height sensor satisfy monotonic increasing, it is determined that the height sensor monotonicity determination is met; otherwise, it is determined that the height sensor monotonicity determination is not met;

[0029] Height sensor calibration height upper and lower limit consistency judgment logic: After completing the suspension upper limit height, suspension normal height, and suspension lower limit height calibration, such as the left height sensor upper limit height original value H to be stored Lh Subtract the original value H of the normal height on the left Lm The absolute value of the difference |H Lh -H Lm |With the original value of the lower limit height of the left height sensor H Ll Subtract the original value of the normal height on the left side from the difference H Lm The absolute value of |H Ll -H Lm The absolute value of the difference between ||H Lh -H Lm |-|H Ll -H Lm || and the upper limit height original value H of the right height sensor Rh The difference H between the original value of the normal height on the right side Rm The absolute value of |H Rh –H Rm |、Right height sensor lower limit height original value H Rl The difference H between the original value of the normal height on the right side Rm The absolute value of |H Rl –H Rm |Absolute value of the difference||H Rh –H Rm |-|H Rl –H Rm || is less than 200, that is, ||H Lh -H Lm |-|H Ll -H Lm ||<200 and ||H Rh –H Rm |-|H Rl –H Rm If ||<200, it is judged as meeting the consistency judgment of the upper and lower limits of the calibration height; otherwise, it is judged as not meeting the consistency judgment of the upper and lower limits of the calibration height.

[0030] Preferably, the controller in step S6 communicates with the handheld remote control via a CAN signal, and when the STOP key, reset key and M1 key of the handheld remote control are triggered in sequence, the handheld remote control sends a message for entering the calibration mode; in the calibration mode, the STOP key and the up key of the handheld remote control are triggered in sequence, and the handheld remote control sends an upper limit height calibration storage message; in the calibration mode, the STOP key and the down key of the handheld remote control are triggered in sequence, and the handheld remote control sends a lower limit height calibration storage message; in the calibration mode, the STOP key and the M1 key of the handheld remote control are triggered in sequence, and the handheld remote control sends a normal height calibration storage message; in the calibration mode, the STOP key and the M2 key of the handheld remote control are triggered in sequence, and the handheld remote control sends a pressure sensor calibration storage message; in the calibration mode, the M1 key of the handheld remote control is triggered, and the handheld remote control sends a left air spring charging and deflation activation or shutdown message, and the M2 key of the handheld remote control is triggered, and the handheld remote control sends a right air spring charging and deflation activation or shutdown message; in the calibration mode, the up key of the handheld remote control is triggered, and the handheld remote control sends a combination solenoid valve charging message instruction, and the down key of the handheld remote control is triggered, and the handheld remote control sends a combination solenoid valve deflation message instruction;

[0031] The controller also communicates with the vehicle instrument and light controller via CAN signals. According to the calibration process, when the vehicle needs to calibrate the upper limit height, the electronically controlled air suspension controller sends an upper limit height calibration prompt message. After receiving the message, the instrument displays "Please calibrate the upper limit height of the suspension". If the upper limit height calibration is successful, the electronically controlled air suspension controller sends an upper limit height calibration success prompt message. After receiving the message, the instrument displays "Upper limit height calibration is successful". If the upper limit height calibration fails, the electronically controlled air suspension controller sends an upper limit height calibration failure prompt message. After receiving the message, the instrument panel displays "Upper limit height calibration failed, please recheck the calibration"; after each calibration task is completed and calibrated successfully, the electronic air suspension controller will send a double flash request instruction to the headlight controller, and the headlight controller will control the headlight to perform a double flash action once, indicating that the calibration is successful; similarly, in the normal height calibration, lower limit height calibration, pressure sensor calibration and final calibration status determination steps, the electronic air suspension controller will send relevant message instructions to the instrument panel and headlight controller, and the instrument panel and headlight will perform the calibration process and result prompts according to the display matrix.

[0032] Preferably, the inflation and deflation logic in step S7 is as follows: the default state of the electronically controlled air suspension control system when it is turned on is the non-calibration mode; when the system receives a message for entering the calibration mode sent by the handheld remote control and lasts for more than 5 seconds, the electronically controlled air suspension control system enters the calibration mode; after the system enters the calibration mode, the left and right solenoid valves are in the activated state by default; when the left solenoid valve receives an activation or shutdown message for the left solenoid valve in the activated state, the left solenoid valve is closed; when the left solenoid valve receives an activation or shutdown message for the left solenoid valve in the closed state, the left solenoid valve is activated; when the right solenoid valve receives an activation or shutdown message for the right solenoid valve in the activated state, the right solenoid valve is closed; when the right solenoid valve receives an activation or shutdown message for the right solenoid valve in the closed state, the right solenoid valve is activated; when the system receives an inflation message command, the solenoid valve in the activated state of the air suspension opens for inflation, the inflation message stops, and the solenoid valve stops inflating; when the system receives a deflation message command, the solenoid valve in the activated state of the air suspension opens for deflation, the deflation message stops, and the solenoid valve stops deflation.

[0033] The present invention has the following beneficial effects:

[0034] The commercial vehicle electronically controlled air suspension self-calibration system and calibration method designed by the present invention can realize the height self-calibration of the electronically controlled air suspension system. The calibration function is directly integrated into the electronically controlled air suspension control system, and the calibration process is guided by instruments and lights, and the calibration results are prompted. During the calibration process, no special calibration computer, calibration software, adapter, connecting wire, etc. are required. At the same time, the system also has two calibration modes: quick calibration and temporary calibration. During quick calibration, the calibration personnel use a handheld remote control, a calibration limit tooling, and the prompt information of the instrument and light. During the calibration process, there is no need to measure the suspension height. A single person can quickly calibrate the suspension height by operating the handheld remote control and the calibration limit tooling that come with the electronically controlled air suspension control system. During temporary calibration or without a calibration limit tooling, the calibration personnel can use the single-side and double-side inflation and deflation switching function of the calibration system, combined with on-site measurement or reference objects and instrument light prompt information, and adjust the left and right suspension heights simultaneously or separately through the handheld remote control that comes with the electronically controlled air suspension control system, thereby realizing rapid calibration of the suspension height. Since no special calibration equipment is required and the calibration method is simple, the system can effectively reduce the time and cost of off-line installation and adjustment of air suspension models and market maintenance, reduce the difficulty of air suspension height calibration of market vehicles, and improve the accuracy of air suspension height calibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the structure of the electronically controlled air suspension system of the present invention.

[0036] Figure 2 It is a schematic diagram of the assembly diagram of the calibration pad and the pluggable pin described in the present invention.

[0037] Figure 3 This is a structural diagram of the pluggable column pin described in the present invention.

[0038] Figure 4 It is a schematic diagram of the use of the calibration pad block described in the present invention.

[0039] Figure 5 It is a schematic diagram of the panel of the handheld remote controller of the present invention.

[0040] Figure 6 It is a flow chart of the calibration method described in the present invention.

[0041] In the figure: 1-handheld remote control; 2-instrument; 3-electronic air suspension controller; 4-combination solenoid valve; 5-frame; 6-air reservoir; 7-air spring; 8-lower bracket of air spring; 9-axle; 10-pressure sensor; 11-electrical wiring harness; 12-air pipeline; 13-height sensor rocker; 14-height sensor; 15-headlight; 16-headlight controller; 17-calibration pad; 18-pluggable pin; 1701-upper height positioning hole; 1702-normal height positioning hole; 1703-lower height positioning hole; 1801-positioning boss; 1802-handle. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely further describe the technical solutions in the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0043] like Figure 1As shown, the electronically controlled air suspension system includes an electronically controlled air suspension control system and an air suspension body. The electronically controlled air suspension control system includes a suspension height measuring unit, a suspension air pressure measuring unit, a controller 3, a combination solenoid valve 4, a remote control unit, etc., wherein the suspension height measuring unit is composed of a height sensor 14 and a height sensor swing rod 13, the suspension air pressure measuring unit is composed of different numbers of pressure sensors 10, and the remote control unit includes a handheld remote controller 1 and a push button switch. The air suspension body includes an air spring 7, an air spring bracket 8, a thrust rod, a lateral stabilizer bar, a shock absorber, a guide arm, a guide arm bracket, etc. The electronically controlled air suspension control system controls the suspension height by controlling the inflation and deflation of the air spring 7 of the air suspension body. The electronically controlled air suspension self-calibration system is integrated into the electronically controlled air suspension control system, and realizes the calibration of the zero position of the air suspension height and pressure sensor 10 through the handheld remote control 1 of the electronically controlled air suspension control system and a set of calibration limit tooling. At the same time, the system also has a calibration process guidance function and a calibration result prompt function, which can prompt the calibration results and guide the calibration personnel to complete the zero position calibration of the air suspension height and pressure sensor 10.

[0044] like Figure 2 and Figure 3 As shown, a commercial vehicle electronically controlled air suspension self-calibration system and suspension calibration method calibration limit tooling consists of two calibration pads 17 and six pluggable pins 18. The calibration pad 17 is processed with multiple groups of height calibration positioning holes, the top row of holes are suspension upper limit height positioning holes 1701, the bottom row of holes are suspension lower limit height positioning holes 1703, and the middle row of holes are suspension normal height positioning holes 1702. One end of the pluggable pin 18 can be inserted through the positioning hole of the calibration pad 17 and extend to a sufficient length to support the frame 5, and the other end is processed with a positioning boss 1801 to prevent the pluggable pin from being insufficiently inserted and unable to limit.

[0045] like Figure 1 and Figure 5As shown, a commercial vehicle electronically controlled air suspension self-calibration system and suspension calibration method. The electronically controlled air suspension self-calibration system can realize the calibration function entry or exit, simultaneous inflation or deflation of the air springs 7 on the left and right sides of the suspension, inflation or deflation of the air spring 7 on the left side only, inflation or deflation of the air spring 7 on the right side only, and other operating functions through the handheld remote controller 1 provided with the electronically controlled air suspension control system. At the same time, it has the calibration storage function of the upper limit height of the suspension, the normal height of the suspension, the lower limit height of the suspension, and the zero position of the pressure sensor 10. The specific correspondence between the calibration function and the buttons of the handheld remote control 1 is as follows: the handheld remote control 1 STOP button, reset button and M1 button are triggered in sequence at the same time and held for 5 seconds, and the system automatically enters the calibration mode; after the system enters the calibration mode, the charging and deflation function of the left air spring 7 can be activated or disabled by triggering the M1 button, and the charging and deflation function of the right air spring 7 can be activated or disabled by triggering the M2 button. By default, the charging and deflation functions of the left and right air springs 7 are activated when the calibration mode is first entered; the up button combination solenoid valve 4 is triggered to inflate the activated air spring 7, and the down button combination solenoid valve 4 is triggered to deflate the activated air spring 7; the handheld remote control STOP button and the up button are triggered in sequence at the same time to activate the upper limit height calibration storage instruction; the handheld remote control STOP button and the down button are triggered in sequence at the same time to activate the lower limit height calibration storage instruction; the handheld remote control STOP button and the M1 button are triggered in sequence at the same time to activate the normal height calibration storage instruction; the handheld remote control 1 STOP button and the M2 button are triggered in sequence at the same time to activate the pressure sensor 10 calibration storage instruction.

[0046] Test Figure 1 , Figure 2 , Figure 3 and Figure 5 A commercial vehicle electronically controlled air suspension self-calibration system and suspension calibration method, wherein the quick calibration steps of the electronically controlled air suspension are as follows:

[0047] Step 1: Check whether the installation status or installation direction of each component of the electronic air suspension control system is normal. At the same time, trigger the STOP button, reset button and M1 button of the handheld remote control 1 in sequence and hold them for 5 seconds to activate the calibration function. The system first performs a fault self-check. If there is a fault, it sends a fault status prompt message to the instrument 2. After receiving the message, the instrument 2 prompts the calibration personnel to perform fault troubleshooting. If there is no fault in the system, it sends an upper limit height calibration prompt message. The instrument 2 prompts the calibration personnel to perform the upper limit height calibration, trigger the up button of the remote control 1 to perform the inflation operation, adjust the suspension height to the highest, insert the pluggable pin 18 into the upper limit height positioning hole 1701, the normal height positioning hole 1702 and the lower limit positioning hole 1703 of the calibration pad 17 respectively, and after confirming that the calibration pad 17 is in normal status, place the two calibration pads 17 between the left and right axles 9 of the air suspension and the lower wing surface of the frame 5 respectively.

[0048] Step 2: Operate the down button of the remote control 1 to drop both sides of the frame 5 onto the plug-in pins 18 of the upper limit height positioning hole 1701 of the calibration pad 17, triggering the handheld remote control 1 to activate the upper limit height calibration storage message instruction. After receiving the instruction, the control system determines the deviation of the current calibration data of the left and right height sensors 14. If the current deviation of the calibration data of the left and right height sensors 14 meets the upper limit height calibration success criterion, the system stores the value as the upper limit height target value of the suspension. At the same time, the air suspension controller 3 sends a double flash request message and an upper limit height calibration success prompt message to the bus, and the headlight controller 16 controls the headlight 15 to perform a double flash action once. The instrument 2 prompts that the upper limit height calibration is successful and keeps it for 2s, and then sends a normal height calibration prompt message. The calibration personnel unplug the plug-in pins 18 of the upper limit height positioning hole of the calibration pad 17 to complete the suspension upper limit height calibration. If the current calibration data deviation of the left and right height sensors 14 does not meet the upper limit height calibration success criterion, the air suspension controller 3 sends an upper limit height calibration failure prompt message, and the instrument 2 displays "Upper limit height calibration failed, please recheck the calibration". At this time, the calibration personnel need to check whether the installation status of the height sensor 14 and the wiring harness 11 is normal. If the installation status is abnormal, it needs to be adjusted and the upper limit height calibration needs to be performed again.

[0049] Step 3: Refer to step 2 to operate the handheld remote controller 1 to drop the frame onto the plug-in pin 18 of the normal height positioning hole 1702 of the calibration pad 17, triggering the handheld remote controller 1 to activate the normal height calibration storage message instruction. After receiving the instruction, the control system determines the current deviation of the left and right height sensors 14 and the normal height calibration range. If the current calibration data deviation of the left and right height sensors 14 and the normal height calibration range meet the normal height calibration success criteria, the system stores the value as the normal height target value of the suspension. At the same time, the air suspension controller 3 sends a double flash request message and a normal height calibration success prompt message to the bus, the headlight controller 16 controls the headlight 15 to perform a double flash action once, the instrument 2 prompts that the normal height calibration is successful and keeps it for 2s, and then sends a lower limit height calibration prompt message. The calibration personnel unplug the plug-in pin 18 of the normal height positioning hole to complete the normal height calibration of the suspension. If the current calibration data deviation of the left and right height sensors 14 and the normal height calibration range do not meet the normal height calibration success criteria, the air suspension controller 3 sends a normal height calibration failure prompt message, and the instrument 2 displays "Normal height calibration failed, please recheck the calibration". At this time, the calibration personnel need to check whether the installation status of the height sensor 14 and the wiring harness 11 is normal. If the installation status is abnormal, it needs to be adjusted and the upper limit height calibration needs to be re-performed.

[0050] Step 4: Refer to step 2 to drop the frame 5 onto the plug-in pin 18 of the lower limit height positioning hole 1703 of the calibration pad 17, trigger the handheld remote control 1 to activate the lower limit height calibration storage message instruction, and the control system will determine the deviation of the current left and right height sensors 14 after receiving the instruction. If the current calibration data deviation of the left and right height sensors 14 meets the lower limit height calibration success criterion, the system will store the value as the suspension lower limit height target value, and at the same time, the air suspension controller 3 will send a double flash request message and a lower limit height calibration success prompt message to the bus, the light controller 16 will control the light 15 to perform a double flash action once, the instrument 2 will prompt that the lower limit height calibration is successful and keep it for 2s, and then send the pressure sensor 10 calibration prompt message. The calibration personnel remove the two calibration pads 17 to complete the suspension lower limit height calibration. If the current calibration data deviation of the left and right height sensors 14 does not meet the lower limit height calibration success criterion, the air suspension controller 3 sends a lower limit height calibration failure prompt message, and the instrument 2 displays "Lower limit height calibration failed, please recheck the calibration". At this time, the calibration personnel need to check whether the installation status of the height sensor 14 and the wiring harness 11 is normal. If the installation status is abnormal, it needs to be adjusted and the upper limit height calibration needs to be re-performed.

[0051] Step 5: Refer to step 2 to completely exhaust the gas in the air spring 7 of the air suspension, trigger the handheld remote control 1 to activate the pressure sensor 10 calibration storage message instruction, and after receiving the instruction, the control system determines the zero position calibration range of each pressure sensor 10 collected. If each pressure sensor 10 meets the zero position calibration range success criterion, the system stores the value as the zero position target value of the pressure sensor 10. At the same time, the air suspension controller 3 sends a pressure sensor 10 calibration success prompt message to the bus, and the instrument 2 prompts that the pressure sensor 10 is calibrated successfully and maintains it. At the same time, the system checks the upper limit height and positive value of the calibration. The normal height and lower limit height calibration values ​​are used to determine the monotonicity and upper and lower limit consistency of the height sensors 14 on both sides. If the upper limit height, normal height, and lower limit height calibration values ​​meet the success criteria for the monotonicity and upper and lower limit consistency of the height sensors 14 on both sides, the system will write the upper limit height, normal height, lower limit height, and pressure sensor calibration values ​​into the controller 3. At the same time, the air suspension controller 3 sends a double flash request message and a successful calibration prompt message of the electronic air suspension control system to the bus. The headlight controller 16 controls the headlight 15 to perform a double flash action once, and the instrument 2 prompts that the air suspension control system is successfully calibrated and maintained. If the current value of the pressure sensor 10 does not meet the success criteria for the zero position calibration range, the air suspension controller 3 sends a pressure sensor 10 calibration failure prompt message, and the instrument 2 displays "Pressure sensor calibration failed, please recheck the calibration". At this time, the calibration personnel need to check whether the installation status of the pressure sensor 10 and the wiring harness 11 is normal. If the installation status is abnormal, the pressure sensor 10 needs to be adjusted and recalibrated. If the calibration values ​​of the upper limit height, normal height and lower limit height do not meet the successful judgment criteria of monotonicity and upper and lower limit consistency of the height sensors 14 on both sides, the electronically controlled air suspension controller 3 sends a message prompting the calibration failure of the air suspension control system, and the instrument displays "Calibration of the electronically controlled air suspension control system failed, please recheck the calibration". At this time, the calibration personnel need to check whether the installation status or installation direction of each component of the electronically controlled air suspension control system is normal. If the installation status is abnormal, it needs to be adjusted and the overall calibration needs to be re-performed.

[0052] Furthermore, if Figure 4 As shown, the temporary calibration steps of the commercial vehicle electronically controlled air suspension self-calibration system and suspension calibration method electronically controlled air suspension are:

[0053] Step 1: Check whether the installation status or installation direction of each component of the electronic air suspension control system is normal, and prepare a tape measure or reference object.

[0054] Step 2: Simultaneously trigger the STOP button, reset button and M1 button of the handheld remote control 1 and hold them for 5 seconds to activate the calibration function. The system first performs a fault self-check. If there is a fault, it sends a fault status prompt message to instrument 2. After receiving the message, instrument 2 prompts the calibration personnel to perform fault troubleshooting. If there is no fault in the system, it sends an upper limit height calibration prompt message. Instrument 2 prompts the calibration personnel to perform upper limit height calibration. According to the on-site requirements, choose to inflate or deflate both sides or one side of the suspension, use a tape measure or reference object to measure the left and right suspension heights, and adjust the left and right suspension heights to the upper limit heights through the up or down button of the handheld remote control 1. , triggering the handheld remote control 1 to activate the upper limit height calibration storage instruction. After receiving the instruction, the control system determines the current calibration data deviation of the left and right height sensors 14. If the current calibration data deviation of the left and right height sensors 14 meets the upper limit height calibration success criterion, the system stores the value as the suspension upper limit height target value. At the same time, the air suspension controller 3 sends a double flash request message and an upper limit height calibration success prompt message to the bus. The light controller 16 controls the light 15 to perform a double flash action once. The instrument 2 prompts that the upper limit height calibration is successful and keeps it for 2s, and then sends a normal height calibration prompt message to complete the suspension upper limit height calibration. If the current calibration data deviation of the left and right height sensors 14 does not meet the upper limit height calibration success criterion, the air suspension controller 3 sends an upper limit height calibration failure prompt message, and the instrument 2 displays "Upper limit height calibration failed, please recheck the calibration". At this time, the calibration personnel need to check whether the installation status of the height sensor 14 and the wiring harness 11 is normal. If the installation status is abnormal, it needs to be adjusted and the upper limit height calibration is re-performed.

[0055] Step 3: Refer to step 1 to adjust the left and right suspension heights to normal heights, trigger the handheld remote control 1 to activate the normal height calibration storage instruction, and after receiving the instruction, the control system determines the current deviation of the left and right height sensors 14 and the normal height calibration range. If the current calibration data deviation of the left and right height sensors 14 and the normal height calibration range meet the normal height calibration success criteria, the system stores the value as the suspension normal height target value. At the same time, the air suspension controller 3 sends a double flash request message and a normal height calibration success prompt message to the bus, the headlight controller 16 controls the headlight 15 to perform a double flash action once, the instrument 2 prompts that the normal height calibration is successful and maintains it for 2s, and then sends a lower limit height calibration prompt message to complete the suspension normal height calibration. If the current calibration data deviation of the left and right height sensors 14 and the normal height calibration range do not meet the normal height calibration success criteria, the air suspension controller 3 sends a normal height calibration failure prompt message, and the instrument 2 displays "Normal height calibration failed, please recheck the calibration". At this time, the calibration personnel need to check whether the installation status of the height sensor 14 and the wiring harness 11 is normal. If the installation status is abnormal, it needs to be adjusted and the upper limit height calibration needs to be re-performed.

[0056] Step 4: Refer to step 1 to adjust the left and right suspension heights to the lower limit height, trigger the handheld remote control 1 to activate the lower limit height calibration storage instruction, and after receiving the instruction, the control system will determine the deviation of the current left and right height sensors 14. If the current calibration data deviation of the left and right height sensors 14 meets the lower limit height calibration success criterion, the system will store the value as the suspension lower limit height target value. At the same time, the air suspension controller 3 sends a double flash request message and a lower limit height calibration success prompt message to the bus, the headlight controller 16 controls the headlight 15 to perform a double flash action once, the instrument 2 prompts that the lower limit height calibration is successful and maintains it for 2s, and then sends a pressure sensor 10 calibration prompt message to complete the suspension lower limit height calibration. If the current calibration data deviation of the left and right height sensors 14 does not meet the lower limit height calibration success criterion, the air suspension controller 3 sends a lower limit height calibration failure prompt message, and the instrument 2 displays "Lower limit height calibration failed, please recheck the calibration". At this time, the calibration personnel need to check whether the installation status of the height sensor 14 and the wiring harness 11 is normal. If the installation status is abnormal, it needs to be adjusted and the upper limit height calibration needs to be re-performed.

[0057] Step 5: Refer to step 1 to completely exhaust the gas in the air springs 7 of the left and right air suspensions until the frame 5 cannot be lowered due to the limit, triggering the handheld remote control 1 to activate the zero-position calibration storage instruction of the pressure sensor 10. After receiving the instruction, the control system determines the zero-position calibration range of each pressure sensor 10 collected. If each pressure sensor 10 meets the zero-position calibration range success criterion, the system stores the value as the zero-position target value of the pressure sensor 10. At the same time, the air suspension controller 3 sends a pressure sensor 10 calibration success prompt message to the bus, and the instrument 2 prompts that the pressure sensor 10 is calibrated successfully and maintains it. At the same time, the system performs calibration. The upper limit height, normal height and lower limit height calibration values ​​are used to determine the monotonicity and upper and lower limit consistency of the height sensors 14 on both sides. If the upper limit height, normal height and lower limit height calibration values ​​meet the success criteria for the monotonicity and upper and lower limit consistency of the height sensors 14 on both sides, the system writes the upper limit height, normal height, lower limit height and pressure sensor 10 calibration values ​​into the controller 3. At the same time, the air suspension controller 3 sends a double flash request message and a successful calibration prompt message of the electronic air suspension control system to the bus. The headlight controller 16 controls the headlight 15 to perform a double flash action once, and the instrument 2 prompts that the air suspension control system is successfully calibrated and maintained. If the current value of the pressure sensor 10 does not meet the success criteria for the zero position calibration range, the air suspension controller 3 sends a pressure sensor 10 calibration failure prompt message, and the instrument 2 displays "Pressure sensor calibration failed, please recheck the calibration". At this time, the calibration personnel need to check whether the installation status of the pressure sensor 10 and the wiring harness 11 is normal. If the installation status is abnormal, the pressure sensor 10 needs to be adjusted and recalibrated. If the calibration values ​​of the upper limit height, normal height and lower limit height do not meet the successful judgment criteria of monotonicity and upper and lower limit consistency of the height sensors 14 on both sides, the electronically controlled air suspension controller 3 sends a prompt message indicating that the air suspension control system calibration has failed, and the instrument 2 displays "Electrically controlled air suspension control system calibration failed, please recheck the calibration". At this time, the calibration personnel need to check whether the installation status or installation direction of each component of the electronically controlled air suspension control system is normal. If the installation status is abnormal, it needs to be adjusted and the overall calibration needs to be re-performed.

[0058] Furthermore, if Figure 6As shown, the judgment logic of the calibration data deviation of the left and right height sensors 14 is as follows: when calibrating the upper limit height, if the absolute value of the difference between the original values ​​of the left and right height sensors 14 stored is greater than 60, it is judged that it does not conform to the calibration data deviation of the left and right height sensors 14, otherwise it is judged that it conforms to the calibration data deviation of the left and right height sensors 14; when calibrating at the normal height, if the absolute value of the difference between the original values ​​of the left and right height sensors 14 stored is greater than 50, it is judged that it does not conform to the calibration data deviation of the left and right height sensors 14, otherwise it is judged that it conforms to the calibration data deviation of the left and right height sensors 14; when calibrating at the lower limit height, if the absolute value of the difference between the original values ​​of the left and right height sensors 14 stored is greater than 55, it is judged that it does not conform to the calibration data deviation of the left and right height sensors 14, otherwise it is judged that it conforms to the calibration data deviation of the left and right height sensors 14.

[0059] Furthermore, if Figure 6 As shown, the normal height calibration range judgment logic is: during normal height calibration, if the stored original value of the left or right height sensor 14 is greater than 3500 or less than 2500, it is determined that the calibration value does not meet the normal height calibration range requirements; otherwise, it is determined to meet the normal height calibration range requirements.

[0060] Furthermore, if Figure 6 As shown, the logic for determining the zero position calibration range of the pressure sensor 10 is as follows: when the pressure sensor 10 is zero-calibrated, if the stored original value of the pressure sensor 10 is greater than 350, it is determined that the calibration value does not meet the requirements of the zero position calibration range of the pressure sensor 10; otherwise, it is determined that the calibration value meets the requirements of the zero position calibration range of the pressure sensor 10.

[0061] Furthermore, if Figure 6 As shown, the monotonicity judgment logic of the height sensor 14 is: after completing the calibration of the upper limit height, normal height and lower limit height, if the original values ​​of the upper limit height, normal height and lower limit height to be stored of the left side height sensor 14 satisfy the monotonic decreasing trend, and the original value of the right side height sensor 14 satisfies the monotonic increasing trend, then it is judged to meet the monotonicity judgment of the height sensor 14; otherwise, it is judged to not meet the monotonicity judgment of the height sensor 14.

[0062] Furthermore, if Figure 6 As shown, the upper and lower limit consistency judgment logic is: after completing the upper limit height, normal height, and lower limit height calibration, if the upper limit height original value H of the left height sensor to be stored Lh Subtract the original value H of the normal height on the left Lm The absolute value of the difference |H Lh -H Lm |With the original value of the lower limit height of the left height sensor H Ll Subtract the original value of the normal height on the left side from the difference H Lm The absolute value of |H Ll -HLm The absolute value of the difference between ||H Lh -H Lm |-|H Ll -H Lm || and the upper limit height original value H of the right height sensor Rh The difference H between the original value of the normal height on the right side Rm The absolute value of |H Rh –H Rm |、Right height sensor lower limit height original value H Rl The difference H between the original value of the normal height on the right side Rm The absolute value of |H Rl –H Rm |Absolute value of the difference||H Rh –H Rm |-|H Rl –H Rm || is less than 200, that is, ||H Lh -H Lm |-|H Ll -H Lm ||<200 and ||H Rh –H Rm |-|H Rl –H Rm If ||<200, it is judged as meeting the consistency judgment of the upper and lower limits of the calibration height; otherwise, it is judged as not meeting the consistency judgment of the upper and lower limits of the calibration height.

[0063] Furthermore, if Figure 6 As shown, the electronically controlled air suspension controller 3 communicates with the handheld remote controller 1 via CAN signals. When the handheld remote controller 1 STOP key, reset key and M1 key are triggered in sequence, the handheld remote controller sends a message to enter the calibration mode; in the calibration mode, the handheld remote controller 1 STOP key and up key are triggered in sequence, and the handheld remote controller 1 sends an upper limit height calibration storage message; in the calibration mode, the handheld remote controller 1 STOP key and down key are triggered in sequence, and the handheld remote controller 1 sends a lower limit height calibration storage message; in the calibration mode, the handheld remote controller 1 STOP key and M1 key are triggered in sequence, and the handheld remote controller 1 sends a normal height calibration storage message; in the calibration mode, the handheld remote controller 1 STOP key and down key are triggered in sequence, and the handheld remote controller 1 sends a normal height calibration storage message. The STOP key and M2 key of the handheld remote control 1 are triggered for the second time, and the handheld remote control 1 sends a calibration storage message for the pressure sensor 10; in the calibration mode, the M1 key of the handheld remote control 1 is triggered, and the remote control 1 sends an activation or shutdown message for charging or deflation of the left air spring 7; the M2 key of the handheld remote control 1 is triggered, and the handheld remote control 1 sends an activation or shutdown message for charging or deflation of the right air spring 7; in the calibration mode, the up key of the handheld remote control 1 is triggered, and the handheld remote control 1 sends an inflation message instruction for the combination solenoid valve 4; and the down key of the handheld remote control 1 is triggered, and the handheld remote control 1 sends a deflation message instruction for the combination solenoid valve 4.

[0064] Furthermore, if Figure 6 As shown, the electronically controlled air suspension controller 1 also communicates with the vehicle instrument 2 and the light controller 16 via CAN signals. According to the calibration process, when the vehicle needs to calibrate the upper limit height, the electronically controlled air suspension controller 3 sends an upper limit height calibration prompt message, and the instrument 2 displays "Please calibrate the upper limit height of the suspension" after receiving the message; if the upper limit height calibration is successful, the electronically controlled air suspension controller 3 sends an upper limit height calibration success prompt message, and the instrument 2 displays "Upper limit height calibration is successful" after receiving the message; if the upper limit height calibration fails, the electronically controlled air suspension controller 3 sends an upper limit height calibration failure prompt message, and the instrument 2 displays "Upper limit height calibration is failed" after receiving the message. Calibration failed, please recheck the calibration"; after all calibration tasks are completed and the calibration is successful, the electronically controlled air suspension controller 3 will send a double flash request instruction to the light controller 16, and the light controller 16 will control the light 15 to perform a double flash action once, indicating that the calibration is successful; similarly, in the normal height calibration, lower limit height calibration, pressure sensor 10 calibration and final calibration state determination steps, the electronically controlled air suspension controller 3 will send relevant message instructions to the instrument 2 and the light controller 16, and the instrument 2 and the light 15 will perform the calibration process and result prompts according to the display matrix.

[0065] Furthermore, if Figure 6 As shown, the specific charging and deflation logic of the control system is as follows: the default state of the control system when it is turned on is the non-calibration mode; when the system receives the message of entering the calibration mode sent by the handheld remote control 1 and lasts for more than 5s, the control system enters the calibration mode; after the system enters the calibration mode, the left and right combined solenoid valves 4 are in the activated state by default; when the left solenoid valve 4 receives the message of activating or closing the left solenoid valve 4 in the activated state, the left solenoid valve 4 is closed; when the left solenoid valve 4 receives the message of activating or closing the left solenoid valve 4 in the closed state, the left solenoid valve 4 is activated; when the right solenoid valve 4 receives the message of activating or closing the right solenoid valve 4 in the activated state, the right solenoid valve 4 is closed; when the right solenoid valve 4 receives the message of activating or closing the right solenoid valve 4 in the closed state, the right solenoid valve 4 is activated; when the system receives the inflation message command, the solenoid valve 4 in the activated state of the air suspension opens for inflation, the inflation command stops, and the solenoid valve 4 stops inflating. When the system receives the deflation message command, the solenoid valve 4 in the activated state of the air suspension opens for deflation, the deflation command stops, and the solenoid valve 4 stops deflation.

[0066] The present invention is not limited to the above-mentioned implementation modes, and anyone should be aware of the structural changes made under the enlightenment of the present invention, and all those having the same or similar technical solutions as the present invention fall within the protection scope of the present invention.

[0067] The techniques, shapes, and structural parts not described in detail in the present invention are all well-known techniques.

Claims

1. A commercial vehicle electronically controlled air suspension self-calibration system, characterized in that: The electronically controlled air suspension control system comprises an air suspension body, wherein the electronically controlled air suspension control system comprises a suspension height measuring unit, a suspension air pressure measuring unit, a controller (3), a combined solenoid valve (4), and a remote control operation unit, wherein the controller (3) is connected to the combined solenoid valve (4); The suspension height measuring unit comprises a height sensor (14) and a height sensor swing rod (13), and the height sensor (14) is connected to a controller; The suspension air pressure measuring unit comprises a plurality of pressure sensors (10), wherein the pressure sensors (10) are mounted on the air spring (7); The remote control operation unit comprises a handheld remote controller (1) and a push-button switch, wherein the handheld remote controller (1) is connected to a controller (3); The air suspension body comprises an air spring (7), an air spring bracket (8), a thrust rod, a lateral stabilizer bar, a shock absorber, a guide arm, and a guide arm bracket, and the electronically controlled air suspension control system controls the suspension height by controlling the inflation and deflation of the air spring (7) of the air suspension body; The electronically controlled air suspension self-calibration system is integrated into the electronically controlled air suspension control system. The electronically controlled air suspension self-calibration system calibrates the zero position of the air suspension height and pressure sensor (10) through a handheld remote controller (1) of the electronically controlled air suspension control system and a set of calibration limit tooling. The electronically controlled air suspension self-calibration system guides the calibration personnel to complete the zero position calibration of the air suspension height and pressure sensor (10).

2. The commercial vehicle electronically controlled air suspension self-calibration system according to claim 1, characterized in that: The calibration limit tooling comprises two calibration pads (17) and six pluggable pins (18), wherein the calibration pads (17) are processed with a plurality of groups of height calibration positioning holes, wherein the uppermost row of height calibration positioning holes are upper limit height positioning holes (1701) for calibrating the upper limit height of the suspension, the lowermost row of height calibration positioning holes are lower limit height positioning holes (1703) for calibrating the lower limit height of the suspension, and the middle row of height calibration positioning holes are normal height positioning holes (1704) for calibrating the normal height of the suspension. The pluggable column pin (18) has a height positioning hole (1702), one end of the pluggable column pin (18) can be inserted into the height calibration positioning hole of the calibration pad (17) and extend to a sufficient length to support the frame, the other end of the pluggable column pin (18) is provided with a handle (1802), and a positioning boss (1801) is processed on one side of the middle part of the pluggable column pin (18) close to the handle (1802), and the positioning boss (1801) limits the insertion amount of the pluggable column pin (18).

3. The calibration method of the commercial vehicle electronically controlled air suspension self-calibration system according to any one of claims 1-2, characterized in that: The following steps are involved: S1, the handheld remote controller (1) of the electronic air suspension control system enters or exits the calibration function, and the vehicle instrument (2) prompts the calibrator in real time to complete the calibration steps, and the calibration result prompt function prompts the calibrator whether the calibration is successful through the vehicle instrument (2) and the vehicle light (15); S2. The calibration function is divided into quick calibration and temporary calibration; S3, height sensor (14) calibration data deviation determination: calibration data deviation determination logic when calibrating the upper limit height of the suspension, calibration data deviation determination logic when calibrating the normal height of the suspension, and calibration data deviation determination logic when calibrating the lower limit height of the suspension; S4, the logic for determining the zero position calibration range of the pressure sensor (10) is as follows: when the pressure sensor (10) is zero-calibrated, if the stored original value of the pressure sensor (10) is greater than 350, it is determined that the calibration value does not meet the requirements of the zero position calibration range of the pressure sensor (10); otherwise, it is determined that the calibration value meets the requirements of the zero position calibration range of the pressure sensor (10); S5, setting the monotonicity judgment logic of the altitude sensor (14) and the consistency judgment logic of the upper and lower limits of the calibration altitude; S6, the controller (3) communicates with the handheld remote control (1) via CAN signals, and the controller (3) communicates with the vehicle instrument (2) and the vehicle light controller (16) via CAN signals, and the message format is set; S7. Set the logic of charging and deflation.

4. The calibration method of the commercial vehicle electronically controlled air suspension self-calibration system according to claim 3, characterized in that: The handheld remote controller (1) of the electronically controlled air suspension control system in step S1 controls the air springs (7) on the left and right sides of the suspension to be inflated or deflated simultaneously, inflates or deflates only the air spring (7) on the left side, or inflates or deflates only the air spring (7) on the right side. The electronically controlled air suspension control system stores the calibration of the upper limit height of the suspension, the normal height of the suspension, the lower limit height of the suspension, and the zero position of the pressure sensor (10).

5. The calibration method of the commercial vehicle electronically controlled air suspension self-calibration system according to claim 3, characterized in that: The button control of the handheld remote controller (1) in step S1 is as follows: The STOP button, the reset button and the M1 button of the handheld remote control (1) are triggered in sequence and held for 5 seconds, and the electronically controlled air suspension control system automatically enters the calibration mode; after the electronically controlled air suspension control system enters the calibration mode, the M1 button can be triggered to select whether to activate or deactivate the charging and deflating function of the left air spring (7), and the M2 button can be triggered to select whether to activate or deactivate the charging and deflating function of the right air spring (7). By default, when the calibration mode is first entered, the charging and deflating functions of the left and right air springs (7) are activated; the up button combination solenoid valve (4) is triggered to activate the air spring in the activated state. (7) is inflated, triggering the descending key combination solenoid valve (4) to deflate the activated air spring (7); at the same time, the STOP key and the ascending key of the handheld remote controller (1) are sequentially triggered to activate the upper limit altitude calibration storage instruction; at the same time, the STOP key and the descending key of the handheld remote controller (1) are sequentially triggered to activate the lower limit altitude calibration storage instruction; at the same time, the STOP key and the M1 key of the handheld remote controller (1) are sequentially triggered to activate the normal altitude calibration storage instruction; at the same time, the STOP key and the M2 key of the handheld remote controller (1) are sequentially triggered to activate the pressure sensor (10) calibration storage instruction.

6. The calibration method of the commercial vehicle electronically controlled air suspension self-calibration system according to claim 3, characterized in that: The quick calibration in step S2 uses a handheld remote controller (1), a calibration pad (17), and a pluggable pin (18) to complete the calibration of the upper limit height of the suspension, the normal height of the suspension, the lower limit height of the suspension, and the zero position of the pressure sensor (10) by a single person according to the calibration sequence prompted by the instrument (2). During the calibration process, the system automatically determines the feasibility of the calibration data and prompts the calibration result through the instrument (2) and the light (15); Temporary calibration uses a handheld remote control (1) and a tape measure or a height reference object, and according to the calibration sequence prompted by the instrument (2), the upper limit height of the suspension, the normal height of the suspension, the lower limit height of the suspension, and the zero position of the pressure sensor (10) are calibrated through the single-sided or double-sided inflation and deflation functions. During the calibration process, the system can determine the feasibility of the calibration data and can prompt the calibration results through the instrument (2) and lights.

7. The calibration method of the commercial vehicle electronically controlled air suspension self-calibration system according to claim 3, characterized in that: The calibration data deviation judgment logic during the suspension upper limit height calibration in step S3 is as follows: when the upper limit height calibration is performed, if the absolute value of the difference between the original values ​​of the left and right height sensors (14) stored is greater than 60, it is judged that it does not conform to the calibration data deviation of the left and right height sensors (14); otherwise, it is judged that it conforms to the calibration data deviation of the left and right height sensors (14); Calibration data deviation judgment logic when calibrating the lower limit height of the suspension: when calibrating the lower limit height, if the absolute value of the difference between the original values ​​of the left and right height sensors (14) stored is greater than 55, it is judged that it does not meet the calibration data deviation of the left and right height sensors (14); otherwise, it is judged that it meets the calibration data deviation of the left and right height sensors (14); Calibration data deviation judgment logic during normal height calibration of the suspension: during normal height calibration, if the absolute value of the difference between the original values ​​of the left and right height sensors (14) stored is greater than 50, it is judged that the calibration data deviation of the left and right height sensors (14) is not met, otherwise it is judged that the calibration data deviation of the left and right height sensors (14) is met; normal height calibration range judgment logic of the suspension: during normal height calibration, if the original value of the left or right height sensor (14) stored is greater than 3500 or less than 2500, it is judged that the calibration value does not meet the normal height calibration range requirement, otherwise it is judged that the calibration value meets the normal height calibration range requirement.

8. The calibration method of the commercial vehicle electronically controlled air suspension self-calibration system according to claim 3, characterized in that: The monotonicity determination logic of the height sensor (14) in step S5: after the calibration of the suspension upper limit height, the suspension normal height and the suspension lower limit height is completed, if the original values ​​of the left height sensor (14) of the suspension upper limit height, the suspension normal height and the suspension lower limit height to be stored meet the monotonic decreasing trend, and the original value of the right height sensor (14) meets the monotonic increasing trend, it is determined that the monotonicity determination of the height sensor (14) is met; otherwise, it is determined that the monotonicity determination of the height sensor (14) is not met; Height sensor (14) calibration height upper and lower limit consistency judgment logic: After completing the suspension upper limit height, suspension normal height, and suspension lower limit height calibration, if the left height sensor (14) upper limit height original value H is to be stored Lh Subtract the original value H of the normal height on the left Lm The absolute value of the difference |H Lh -H Lm |With the lower limit height original value H of the left height sensor (14) Ll Subtract the original value of the normal height on the left side from the difference H Lm The absolute value of |H Ll -H Lm The absolute value of the difference between ||H Lh -H Lm |-|H Ll -H Lm || and the upper limit height original value H of the right height sensor (14) Rh The difference H between the original value of the normal height on the right side Rm The absolute value of |H Rh –H Rm |, the lower limit height original value H of the right height sensor (14) Rl The difference H between the original value of the normal height on the right side Rm The absolute value of |H Rl –H Rm |Absolute value of the difference||H Rh –H Rm |-|H Rl –H Rm || is less than 200, that is, || H Lh -H Lm |-|H Ll -H Lm ||<200 and ||H Rh –H Rm |-|H Rl –H Rm If ||<200, it is judged as meeting the consistency judgment of the upper and lower limits of the calibration height; otherwise, it is judged as not meeting the consistency judgment of the upper and lower limits of the calibration height.

9. The calibration method of the commercial vehicle electronically controlled air suspension self-calibration system according to claim 3, characterized in that: In the step S6, the controller (3) communicates with the handheld remote controller (1) via CAN signals, and when the STOP key, the reset key and the M1 key of the handheld remote controller (1) are triggered in sequence, the handheld remote controller (1) sends a message for entering the calibration mode; in the calibration mode, the STOP key and the up key of the handheld remote controller (1) are triggered in sequence, and the handheld remote controller (1) sends an upper limit altitude calibration storage message; in the calibration mode, the STOP key and the down key of the handheld remote controller (1) are triggered in sequence, and the handheld remote controller (1) sends a lower limit altitude calibration storage message; in the calibration mode, the STOP key and the M1 key of the handheld remote controller (1) are triggered in sequence, and the handheld remote controller (1) sends a normal altitude calibration storage message; in the calibration mode, the STOP key and the M2 key of the handheld remote controller (1) are triggered in sequence, and the handheld remote controller (1) sends a pressure sensor (10) calibration storage message; In the calibration mode, the M1 key of the handheld remote controller (1) is triggered, and the handheld remote controller (1) sends a message to activate or shut down the left air spring (7) by charging or deflation, and the M2 key of the handheld remote controller (1) is triggered, and the handheld remote controller (1) sends a message to activate or shut down the right air spring (7) by charging or deflation; in the calibration mode, the up key of the handheld remote controller (1) is triggered, and the handheld remote controller (1) sends a message to inflate the combined solenoid valve (4); and the down key of the handheld remote controller (1) is triggered, and the handheld remote controller (1) sends a message to deflate the combined solenoid valve (4); The controller (3) communicates with the vehicle instrument (2) and the light (15) controller via CAN signals. According to the calibration process, when the vehicle needs to calibrate the upper limit height, the electronically controlled air suspension controller (3) sends an upper limit height calibration prompt message, and the instrument (2) displays "Please calibrate the upper limit height of the suspension" after receiving the message; if the upper limit height calibration is successful, the electronically controlled air suspension controller (3) sends an upper limit height calibration success prompt message, and the instrument (2) displays "Upper limit height calibration is successful" after receiving the message; if the upper limit height calibration fails, the electronically controlled air suspension controller (3) sends an upper limit height calibration failure prompt message, and the instrument (2) displays "Upper limit height calibration is successful" after receiving the message. ) after receiving the message, it displays "Upper limit height calibration failed, please recheck calibration"; after each calibration task is completed and the calibration is successful, the electronically controlled air suspension controller (3) will send a double flash request instruction to the headlight controller (16), and the headlight controller (16) will control the headlight (15) to perform a double flash action once, indicating that the calibration is successful; similarly, in the normal height calibration, lower limit height calibration, pressure sensor (10) calibration and final calibration state determination steps, the electronically controlled air suspension controller (3) will send relevant message instructions to the instrument (2) and the headlight controller (16), and the instrument (2) and the headlight (15) will perform the calibration process and result prompts according to the display matrix.

10. The calibration method of the commercial vehicle electronically controlled air suspension self-calibration system according to claim 3, characterized in that: The logic of inflation and deflation in step S7 is as follows: the default state of the electronically controlled air suspension control system when it is turned on is the non-calibration mode; when the system receives a calibration mode entry message sent by the handheld remote control (1) and the message lasts for more than 5 seconds, the electronically controlled air suspension control system enters the calibration mode; after the system enters the calibration mode, the left and right solenoid valves (4) are both in an activated state by default; when the left solenoid valve (4) is in an activated state and receives an activation or shutdown message for the left solenoid valve (4), the left solenoid valve (4) is closed; when the left solenoid valve (4) is in a closed state and receives an activation or shutdown message for the left solenoid valve (4), the left solenoid valve (4) is closed. ) is activated; when the right solenoid valve (4) is in an activated state and receives an activation or shutdown message for the right solenoid valve (4), the right solenoid valve (4) is closed; when the right solenoid valve (4) is in a closed state and receives an activation or shutdown message for the right solenoid valve (4), the right solenoid valve (4) is activated; when the system receives an inflation message command, the solenoid valve (4) in the activated state of the air suspension is opened for inflation; when the inflation message command is stopped, the solenoid valve (4) stops inflating; when the system receives a deflation message command, the solenoid valve (4) in the activated state of the air suspension is opened for deflation; when the deflation message command is stopped, the solenoid valve (4) stops deflation.

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