Vehicle body leveling method, device and equipment and storage medium

Abstract

The invention relates to a vehicle body leveling method, device and equipment and a storage medium, and relates to the technical field of intelligent vehicles. The method comprises the steps of obtaining inertia information and state information of a vehicle, determining a leveling strategy based on the inertia information under the condition that the state information meets a leveling condition, and driving a supporting device of the vehicle to level a vehicle body of the vehicle based on the leveling strategy. Therefore, the vehicle body leveling accuracy can be improved, and the situation that the vehicle body leveling accuracy is low in a traditional manual adjustment mode is avoided.

Description

Technical Field

[0001] The present application relates to the field of intelligent vehicle technology, in particular to the field of automobile chassis technology, and specifically to a vehicle body leveling method, device, equipment and storage medium. Background Art

[0002] When a vehicle is parked on a slope, the vehicle body will tilt due to gravity, which not only affects the convenience of passengers getting on and off the vehicle and the riding comfort, but may also cause unnecessary burden on the vehicle's suspension system, braking system, etc.

[0003] At present, the vehicle body is mainly leveled by traditional manual adjustment. However, the above method relies on the driver's experience and subjective judgment and cannot achieve high precision, which leads to low accuracy of vehicle body leveling. Summary of the invention

[0004] The present application provides a vehicle body leveling method, device, equipment and storage medium to at least solve the technical problem that the vehicle body leveling by traditional manual adjustment in the related art relies on the driver's experience and subjective judgment, cannot achieve high precision, and thus leads to low accuracy of vehicle body leveling. The technical solution of the present application is as follows:

[0005] According to a first aspect of the present application, a vehicle body leveling method is provided, comprising: acquiring inertial information of a vehicle, the inertial information comprising at least one of the following: lateral acceleration, longitudinal acceleration, roll angle, or pitch angle; determining a leveling strategy based on the inertial information, and based on the leveling strategy, driving a support device of the vehicle to level the vehicle body.

[0006] According to the above technical means, the present application can determine the leveling strategy according to the acquired inertial information of the vehicle, and level the vehicle body based on the leveling strategy. Since the inertial information includes lateral acceleration, longitudinal acceleration, roll angle, or pitch angle, the leveling strategy determined based on the above inertial information improves the accuracy of the leveling strategy compared to the leveling strategy determined by the driver's experience and subjective judgment in the general technology, thereby improving the accuracy of the vehicle body leveling.

[0007] In a possible implementation, the method further includes: acquiring status information of the vehicle, where the status information is used to indicate a current operating condition of the vehicle; and determining to level the vehicle body based on the status information.

[0008] According to the above-mentioned technical means, the present application can determine the current operating status of the vehicle based on the acquired vehicle status information, and then determine to level the vehicle body. In this way, it can be determined to level the vehicle body under appropriate circumstances, thereby improving the safety of the vehicle body leveling operation and reducing safety hazards.

[0009] In a possible implementation, the above-mentioned determining to level the vehicle body based on the status information includes: when the status information satisfies a leveling condition, determining to level the vehicle body, the leveling condition being a maximum range corresponding to the status information when the vehicle's supporting device is in an operating state.

[0010] According to the above-mentioned technical means, the present application determines whether the status information satisfies the leveling conditions, and only levels the vehicle body when the status information satisfies the leveling conditions, thereby ensuring that the vehicle body is leveled when the vehicle body leveling operation is possible, thereby improving the safety of the vehicle body leveling operation.

[0011] In a possible implementation manner, the status information includes at least one of the following: vehicle speed, steering wheel angle, gear status, charging status, door status, collision status, or air spring airbag pressure.

[0012] According to the above-mentioned technical means, the vehicle status information obtained by the present application includes status information of multiple dimensions, and the current operating status of the vehicle can be evaluated from different dimensions, thereby improving the accuracy of evaluating the current operating status of the vehicle.

[0013] In a possible implementation, the leveling condition includes at least one of the following: the vehicle speed is within a first range; the steering wheel angle is within a second range; the gear state is a parking gear state; the charging state is an uncharged state; the door state is a closed state; the collision state is a non-collision state; or the air spring airbag pressure is within a third range.

[0014] According to the above-mentioned technical means, the leveling conditions in the present application include conditions in multiple dimensions. By judging whether the status information of the vehicle satisfies the corresponding conditions, it can be determined from different dimensions whether the vehicle body can be leveled, thereby further ensuring that the vehicle body can be leveled under appropriate circumstances, thereby further improving the safety of the vehicle body leveling operation.

[0015] According to a second aspect provided by the present application, a vehicle body leveling device is provided, including an acquisition unit and a processing unit; the acquisition unit is used to acquire inertial information of the vehicle, the inertial information including at least one of the following: lateral acceleration, longitudinal acceleration, roll angle, or pitch angle; the processing unit is used to determine a leveling strategy based on the inertial information, and based on the leveling strategy, drive a supporting device of the vehicle to level the vehicle body.

[0016] In a possible implementation manner, the acquisition unit is further used to acquire status information of the vehicle, where the status information is used to indicate the current operating condition of the vehicle; and the processing unit is further used to determine to level the vehicle body based on the status information.

[0017] In a possible implementation, the processing unit is further configured to determine to level the vehicle body when the status information satisfies a leveling condition, where the leveling condition is a maximum range corresponding to the status information when the supporting device of the vehicle is in operation.

[0018] In a possible implementation manner, the status information includes at least one of the following: vehicle speed, steering wheel angle, gear status, charging status, door status, collision status, or air spring airbag pressure.

[0019] In a possible implementation, the leveling condition includes at least one of the following: the vehicle speed is within a first range; the steering wheel angle is within a second range; the gear state is a parking gear state; the charging state is an uncharged state; the door state is a closed state; the collision state is a non-collision state; or the air spring airbag pressure is within a third range.

[0020] According to the third aspect provided by the present application, an electronic device is provided, comprising: a processor; a memory for storing processor executable instructions; wherein the processor is configured to execute instructions to implement the method of the above-mentioned first aspect and any possible implementation manner thereof.

[0021] According to a fourth aspect provided by the present application, a vehicle is provided, comprising the electronic device provided by the third aspect above.

[0022] According to the fifth aspect provided by the present application, a computer-readable storage medium is provided. When the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the method in the above-mentioned first aspect and any possible implementation method thereof.

[0023] According to the sixth aspect provided by the present application, a computer program product is provided, the computer program product comprising computer instructions, and when the computer instructions are executed on an electronic device, the electronic device executes the method of the above-mentioned first aspect and any possible implementation manner thereof.

[0024] Therefore, the above technical features of the present application have the following beneficial effects:

[0025] (1) The present application can determine a leveling strategy based on the acquired inertial information of the vehicle, and level the vehicle body based on the leveling strategy. Since the inertial information includes lateral acceleration, longitudinal acceleration, roll angle, or pitch angle, the leveling strategy determined based on the inertial information improves the accuracy of the leveling strategy, thereby improving the accuracy of the vehicle body leveling, compared to the leveling strategy determined by the driver's experience and subjective judgment in the general technology.

[0026] (2) The present application can determine the current operating status of the vehicle based on the acquired vehicle status information, and then determine whether to level the vehicle body. In this way, the vehicle body can be leveled under appropriate circumstances, thereby improving the safety of the vehicle body leveling operation and reducing safety hazards.

[0027] (3) The present application determines whether the status information satisfies the leveling conditions. The vehicle body is leveled only when the status information satisfies the leveling conditions. This ensures that the vehicle body is leveled when the vehicle body leveling operation is possible, thereby improving the safety of the vehicle body leveling operation.

[0028] (4) The vehicle status information obtained by the present application includes status information of multiple dimensions, which can evaluate the current operating status of the vehicle from different dimensions, thereby improving the accuracy of evaluating the current operating status of the vehicle.

[0029] (5) The leveling conditions in the present application include conditions of multiple dimensions. By judging whether the status information of the vehicle satisfies the corresponding conditions, it can be determined from different dimensions whether the vehicle body can be leveled, thereby further ensuring that the vehicle body can be leveled under appropriate circumstances, thereby further improving the safety of the vehicle body leveling operation.

[0030] It should be noted that the technical effects brought about by any implementation method in the second to fifth aspects can refer to the technical effects brought about by the corresponding implementation method in the first aspect, and will not be repeated here.

[0031] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a structural schematic diagram of a vehicle body leveling system according to an exemplary embodiment;

[0033] Figure 2 is a structural schematic diagram of another vehicle body leveling system according to an exemplary embodiment;

[0034] Figure 3 is a schematic diagram showing the composition of a vehicle body leveling device according to an exemplary embodiment;

[0035] Figure 4 is a flow chart showing a vehicle body leveling method according to an exemplary embodiment;

[0036] Figure 5 is a flow chart of another vehicle body leveling method according to an exemplary embodiment;

[0037] Figure 6is a flow chart of another vehicle body leveling method according to an exemplary embodiment;

[0038] Figure 7 is a logic state transition diagram of a vehicle body intelligent leveling function according to an exemplary embodiment;

[0039] Figure 8 is a block diagram of a vehicle body leveling device according to an exemplary embodiment;

[0040] Fig. 9 It is a block diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0041] In order to enable ordinary persons in the art to better understand the technical solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0042] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0043] When a vehicle is parked on a slope, the vehicle body will tilt due to gravity, which not only affects the convenience of passengers getting on and off the vehicle and the riding comfort, but may also cause unnecessary burden on the vehicle's suspension system, braking system, etc.

[0044] At present, some vehicles are equipped with air spring systems, which can adjust the height of the vehicle body to level the vehicle body by manually operating buttons. However, the above method relies on the driver's experience and subjective judgment and cannot achieve high precision, which leads to low accuracy of vehicle body leveling.

[0045] In view of this, an embodiment of the present application provides a vehicle body leveling method, the method comprising: obtaining inertial information of the vehicle, the inertial information comprising at least one of the following: lateral acceleration, longitudinal acceleration, roll angle, or pitch angle; determining a leveling strategy based on the inertial information, and based on the leveling strategy, driving the vehicle's support device to level the vehicle body.

[0046] For ease of understanding, the vehicle body leveling method provided in the present application is specifically introduced below with reference to the accompanying drawings.

[0047] Figure 1 1 is a schematic diagram showing a vehicle body leveling system 10 according to an exemplary embodiment. The vehicle body leveling system 10 may include at least one electronic device 101 and at least one supporting device 102 , and the electronic device 101 may be connected to the supporting device 102 for communication. Figure 1 Only one electronic device 101 and one supporting device 102 are shown. The embodiment of the present application does not impose any limitation on the number of electronic devices 101 and supporting devices 102.

[0048] The electronic device 101 is used to obtain inertia information of the vehicle, determine a leveling strategy based on the inertia information, and drive the supporting device 102 of the vehicle to level the body of the vehicle based on the leveling strategy.

[0049] Optionally, the electronic device 101 may be an intelligent electronic computer, an intelligent terminal, or an intelligent processing device. Of course, the above is only an exemplary description of the electronic device 101, and the electronic device 101 may also be other devices, and the present application embodiment does not impose any limitation on this.

[0050] The supporting device 102 is used to level the vehicle body.

[0051] Optionally, the support device 102 may be an air spring device, a rubber spring device, or a hydraulic suspension device. Of course, the above is only an exemplary description of the support device 102, and the support device 102 may also be other devices, and the embodiment of the present application does not impose any limitation on this.

[0052] It should be noted that Figure 1 This is just an exemplary framework diagram. Figure 1 The number of nodes included in the Figure 1 In addition to the functional nodes shown, the vehicle body leveling system 10 may also include other nodes, and the present application does not impose any limitation on this.

[0053] Further, optionally, Figure 2 FIG. 2 is a schematic diagram showing a structure of another vehicle body leveling system 20 according to an exemplary embodiment. Figure 2 As shown, the vehicle body leveling system 20 may include an electronic device 101 and an air spring device 202. The electronic device 101 includes a vehicle state acquisition module 201 and an air spring control module 203. The air spring device 202 may be understood as Figure 1 An example of a support device 102 is shown.

[0054] Furthermore, the vehicle body leveling system 20 may further include a human-machine interaction module 204. The human-machine interaction module 204 and the air spring control module 203 may be connected via a controller area network (CAN) line.

[0055] Optionally, the human-computer interaction module 204 is used to send an intelligent leveling request to the air spring control module 203 and receive error information from the air spring control module 203. The intelligent leveling request is used to request the air spring control module 203 to level the vehicle body. The error information is used to prompt the user that the leveling condition is not met.

[0056] The vehicle state acquisition module 201 is used to acquire the inertia information of the vehicle.

[0057] Furthermore, the vehicle status acquisition module 201 is also used to acquire vehicle status information.

[0058] Optionally, the vehicle status acquisition module 201 may include: a vehicle speed acquisition unit, a gear signal acquisition unit, a charging gun status acquisition unit, a door status acquisition unit, a vehicle collision status acquisition unit, a steering wheel angle signal acquisition unit, a vehicle inertia signal acquisition unit, a height sensor, a temperature sensor, and a pressure sensor.

[0059] Among them, the vehicle speed acquisition unit is used to acquire the vehicle speed. The gear signal acquisition unit is used to acquire the gear status. The charging gun status acquisition unit is used to acquire the charging status. The door status acquisition unit is used to acquire the door status. The vehicle collision status acquisition unit is used to acquire the collision status. The steering wheel angle signal acquisition unit is used to acquire the steering wheel angle. The vehicle inertia signal acquisition unit is used to acquire the inertia information of the vehicle. The height sensor is used to acquire the height of the four wheels of the vehicle. The temperature sensor is used to acquire the temperature of the air spring control module 203. The pressure sensor is used to acquire the air spring airbag pressure.

[0060] Furthermore, the vehicle body leveling system 20 may also include: a left front wheel speed sensor, a right front wheel speed sensor, a left rear wheel speed sensor, a right rear wheel speed sensor, an electronic shifter, a collision sensor, a steering wheel angle sensor, and an inertial sensor.

[0061] Among them, the vehicle speed acquisition unit can be connected to the left front wheel speed sensor, the right front wheel speed sensor, the left rear wheel speed sensor, and the right rear wheel speed sensor through hard wires. The gear position signal acquisition unit can be connected to the electronic shifter through hard wires. The vehicle collision state acquisition unit can be connected to the collision sensor through hard wires. The steering wheel angle signal acquisition unit can be connected to the steering wheel angle sensor through hard wires. The vehicle inertia signal acquisition unit can be connected to the inertia sensor through hard wires.

[0062] The air spring control module 203 is used to drive the air spring device 202 to level the vehicle body.

[0063] The air spring control module 203 can be connected to the vehicle speed acquisition unit, the gear position signal acquisition unit, the charging gun status acquisition unit, the door status acquisition unit, the vehicle collision status acquisition unit, and the steering wheel angle signal acquisition unit through a CAN line. The air spring control module 203 can be connected to the vehicle inertia signal acquisition unit, the height sensor, the temperature sensor, and the pressure sensor through a hard line.

[0064] Optionally, the air spring device 202 is used to level the body of the vehicle.

[0065] Optionally, the air spring device 202 may include: a left front air spring device, a right front air spring device, a left rear air spring device, and a right rear air spring device, wherein the left front air spring device, the right front air spring device, the left rear air spring device, and the right rear air spring device may be connected to the air spring control module 203 via a hard line.

[0066] The application scenarios of the embodiments of the present application are not limited. The system architecture and business scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. It is known to those skilled in the art that with the evolution of the network architecture and the emergence of new business scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0067] When implementing it specifically, Figure 1 The equipment in Figure 3 The structure shown, or including Figure 3 Parts shown. Figure 3 is a schematic diagram showing the composition of a vehicle body leveling device 30 according to an exemplary embodiment. The vehicle body leveling device 30 may be an electronic device 101 or a chip or a system on chip in the electronic device 101. Alternatively, the vehicle body leveling device 30 may be a supporting device 102 or a chip or a system on chip in the supporting device 102. Figure 3 As shown, the vehicle body leveling device 30 may include a processor 301 and a bus 302 .

[0068] Furthermore, the vehicle body leveling device 30 may also include a communication interface 303 and a memory 304 . The processor 301 , the memory 304 and the communication interface 303 may be connected via a bus 302 .

[0069] The processor 301 is a central processing unit (CPU), a general processor, a network processor (NP), a digital signal processor (DSP), a microprocessor, a microcontroller, a programmable logic device (PLD), or any combination thereof. The processor 301 may also be other devices with processing functions, such as circuits, devices, or software modules, without limitation.

[0070] The bus 302 is used to transmit information between the components included in the vehicle body leveling device 30 .

[0071] The communication interface 303 is used to communicate with other devices or other communication networks. The other communication networks may be Ethernet, radio access network (RAN), wireless local area network (WLAN), etc. The communication interface 303 may be a module, a circuit, a communication interface or any device capable of achieving communication.

[0072] The memory 304 is used to store instructions, where the instructions may be computer programs.

[0073] The memory 304 may be a read-only memory (ROM) or other types of static storage devices that can store static information and / or instructions, or a random access memory (RAM) or other types of dynamic storage devices that can store information and / or instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), magnetic disk storage media or other magnetic storage devices, etc., without limitation.

[0074] It should be noted that the memory 304 can exist independently of the processor 301, or can be integrated with the processor 301. The memory 304 can be used to store instructions or program codes or some data, etc. The memory 304 can be located inside the vehicle body leveling device 30, or can be located outside the vehicle body leveling device 30, without limitation. The processor 301 is used to execute the instructions stored in the memory 304 to implement the vehicle body leveling method provided in the following embodiments of the present application.

[0075] In an example, the processor 301 may include one or more CPUs, for example, CPU0 and CPU1 (not shown in the figure).

[0076] As an optional implementation, the vehicle body leveling device 30 includes multiple processors.

[0077] As an optional implementation, the vehicle body leveling device 30 further includes an output device and an input device. For example, the input device is a keyboard, a mouse, a microphone, a joystick, and the like, and the output device is a display screen, a speaker, and the like.

[0078] It should be noted that the vehicle body leveling device 30 can be a desktop computer, a portable computer, a network server, a mobile phone, a tablet computer, a wireless terminal, an embedded device, a chip system or a Figure 3 In addition, Figure 3 The composition shown in the Figure 1 as well as Figure 3 The limitations of each device in Figure 3 In addition to the parts shown, Figure 1 as well as Figure 3 The various devices in the drawings may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0079] In the embodiment of the present application, the chip system may be composed of a chip, or may include a chip and other discrete devices.

[0080] In addition, the actions, terms, etc. involved in the various embodiments of the present application can refer to each other without limitation. The message name or parameter name in the message exchanged between the various devices in the embodiments of the present application is only an example, and other names can also be used in the specific implementation without limitation.

[0081] The following is a description of the vehicle body leveling method provided in the embodiment of the present application in conjunction with the accompanying drawings. Among them, the actions, terms, etc. involved in the various embodiments of the present application can refer to each other without limitation. The message name or parameter name in the message exchanged between the various devices in the embodiment of the present application is only an example, and other names can also be used in the specific implementation without limitation. The actions involved in the various embodiments of the present application are only an example, and other names can also be used in the specific implementation, such as: "included in" in the embodiment of the present application can also be replaced by "carried on" or "carried on", etc.

[0082] Figure 4 is a flow chart of a vehicle body leveling method according to an exemplary embodiment. Figure 4 As shown, the vehicle body leveling method comprises the following steps:

[0083] S401. The electronic device obtains inertia information of the vehicle.

[0084] The inertial information includes at least one of the following: lateral acceleration, longitudinal acceleration, roll angle, or pitch angle.

[0085] Optionally, the implementation process of the above S401 may be: the electronic device collects the inertial signal of the vehicle through the vehicle sensor, and performs filtering, denoising and other processing on the inertial signal of the vehicle to obtain the inertial information of the vehicle.

[0086] In one example, the inertial information may include lateral acceleration and longitudinal acceleration.

[0087] As another example, the inertial information may include a roll angle and a pitch angle.

[0088] Of course, the above is only an exemplary description of inertial information, and the above inertial information may also include other information, and the embodiments of the present application do not impose any limitation on this.

[0089] Exemplarily, the vehicle sensor may include at least one of the following: an inertial sensor, a lateral acceleration sensor, a longitudinal acceleration sensor, or a tilt sensor. Of course, the above is only an exemplary description of the vehicle sensor, and the vehicle sensor may also be other sensors, and the embodiments of the present application do not impose any limitation on this.

[0090] It should be noted that the above-mentioned vehicle sensors are usually installed at key positions of the vehicle. For example, the inertial sensor is installed on the chassis of the vehicle, the longitudinal acceleration sensor is installed at the front end of the center of gravity of the vehicle, and the lateral acceleration sensor is installed on the front suspension of the vehicle, so that the inertial signal of the vehicle can be accurately sensed.

[0091] S402: The electronic device determines a leveling strategy based on the inertial information, and drives a supporting device of the vehicle to level the vehicle body based on the leveling strategy.

[0092] Exemplarily, the support device of the above-mentioned vehicle can be an air spring device, which includes components such as an air spring, an air pump, and an air release valve, and is a core device for leveling the vehicle body. The electronic device can achieve precise adjustment of the vehicle body height by controlling the air pressure in the air spring. Of course, the above is only an exemplary description of the support device of the vehicle, and the support device of the above-mentioned vehicle can also be other devices, such as a hydraulic suspension device, and the embodiments of the present application do not impose any restrictions on this.

[0093] Optionally, in combination with the above example, the implementation process of the above S402 may be: the electronic device determines the leveling strategy based on the inertial information and the leveling algorithm. The leveling strategy may include the inflation or deflation amount of the air spring in the air spring device. The electronic device sends a control instruction to the air spring controller based on the inflation or deflation amount of the air spring in the air spring device. The control instruction is used to instruct the air spring controller to control the inflation pump or deflation valve in the air spring device. Accordingly, the air spring controller receives the control instruction from the electronic device, and controls the inflation pump or deflation valve in the air spring device to open within a preset time period, so that the air spring is inflated or deflated to stretch or compress the front suspension and rear suspension of the vehicle, thereby leveling the vehicle body.

[0094] It should be noted that the range of stretching or compression of the front suspension and rear suspension of the above-mentioned vehicle needs to be smaller than the preset range. Specifically, the stretching range of the front suspension and rear suspension of the vehicle needs to be smaller than the suspension stretching limit stroke × 0.8, and the compression range of the front suspension and rear suspension of the vehicle needs to be smaller than the suspension compression limit stroke × 0.8.

[0095] In one example, the above-mentioned leveling strategy may be the first leveling strategy. The first leveling strategy is used to instruct the vehicle to adjust the pitch angle of the vehicle and monitor the roll angle of the vehicle. Specifically, the electronic device calculates the target adjustment height of the four wheels of the vehicle with the longitudinal acceleration of the vehicle being 0, and calculates the inflation or deflation amount of the air spring according to the target adjustment height of the four wheels. The electronic device adjusts the vehicle according to the inflation or deflation amount of the air spring, and then adjusts the pitch angle of the vehicle. After the adjustment is completed, the electronic device determines whether the lateral acceleration of the vehicle is greater than a preset threshold value (for example, 0.15 gravitational acceleration (g)) based on the status information of the vehicle. If the lateral acceleration of the vehicle is less than or equal to the preset threshold value, it means that the roll angle of the vehicle meets expectations, and the intelligent leveling is completed. If the lateral acceleration of the vehicle is greater than the preset threshold value, it means that the roll angle of the vehicle does not meet expectations, and the intelligent leveling is exited.

[0096] In another example, the above-mentioned leveling strategy may be a second leveling strategy. The second leveling strategy is used to instruct the vehicle to adjust the roll angle of the vehicle first, and then adjust the pitch angle of the vehicle. Specifically, the electronic device calculates the first target adjustment height of the four wheels of the vehicle with the lateral acceleration of the vehicle being 0, and calculates the first inflation amount or the first deflation amount of the air spring according to the first target adjustment height of the four wheels. The electronic device adjusts the vehicle according to the first inflation amount or the first deflation amount of the air spring, and then adjusts the roll angle of the vehicle. After the adjustment is completed, the electronic device calculates the second target adjustment height of the four wheels of the vehicle with the longitudinal acceleration of the vehicle being 0, and calculates the second inflation amount or the second deflation amount of the air spring according to the second target adjustment height of the four wheels. The electronic device adjusts the vehicle according to the second inflation amount or the second deflation amount of the air spring, and then adjusts the pitch angle of the vehicle.

[0097] Further, optionally, the electronic device can determine whether the status information after leveling the vehicle body reaches the leveling target. Specifically, after the electronic device performs the initial leveling of the vehicle body, the electronic device determines whether the heights of the four wheels of the vehicle are all less than or equal to the preset height, and determines whether the air spring airbag pressure is less than or equal to the preset pressure. If the heights of the four wheels of the vehicle are all less than or equal to the preset height, and the air spring airbag pressure is less than or equal to the preset pressure, the leveling target is that the lateral acceleration of the vehicle is less than or equal to 0.15g, and the longitudinal acceleration of the vehicle is less than or equal to 0.1g. If the height of any of the four wheels of the vehicle is greater than the preset height or the air spring airbag pressure is greater than the preset pressure, the leveling target has no requirements for the lateral acceleration and longitudinal acceleration of the vehicle.

[0098] In addition, the order in which the electronic device performs leveling operations on the vehicle body is different in different parking scenarios. Specifically, when the vehicle is parked on an uphill road, the electronic device first raises the rear axle of the vehicle and then lowers the front axle of the vehicle when leveling the vehicle body. When the vehicle is parked on a downhill road, the electronic device first raises the front axle of the vehicle and then lowers the rear axle of the vehicle when leveling the vehicle body. When the vehicle is parked on an inclined road, the electronic device first raises the low side of the vehicle and then lowers the high side of the vehicle when leveling the vehicle body.

[0099] Alternatively, the implementation process of S402 may be: the electronic device inputs the inertial information into the leveling model to obtain the leveling strategy. Based on the leveling strategy, the electronic device drives the supporting device of the vehicle to level the vehicle body.

[0100] It is understandable that by driving the vehicle's support device to level the vehicle body and adjusting the vehicle body to a horizontal state within the permitted range, the convenience of passengers getting on and off the vehicle and the riding comfort can be improved. In addition, the burden of the vehicle body tilt on the vehicle's suspension system and braking system can be reduced, the service life of the vehicle can be extended, and the stability and safety of the vehicle when parked on a slope can be improved, reducing the safety hazards caused by the tilt of the vehicle body.

[0101] Further, optionally, after S402, it can be ensured that the vehicle maintains the adjusted horizontal state during parking. Specifically, the electronic device continuously obtains the inertial information of the vehicle, and determines the tilt angle of the vehicle body according to the inertial information of the vehicle. In the case where the tilt angle of the vehicle body changes, the electronic device determines an updated leveling strategy based on the inertial information of the vehicle, and drives the support device of the vehicle again to level the vehicle body based on the updated leveling strategy.

[0102] In some embodiments, in order to determine whether the current operating condition of the vehicle is suitable for performing a vehicle body leveling operation, such as Figure 5 As shown, the vehicle body leveling method provided in the embodiment of the present application further includes the following steps:

[0103] S501. The electronic device obtains status information of the vehicle.

[0104] Among them, the status information is used to indicate the current operating status of the vehicle.

[0105] Optionally, the implementation process of the above S501 may be: the human-computer interaction module sends an intelligent leveling request to the electronic device in response to the user operation. The intelligent leveling request is used to request the electronic device to level the vehicle body. Correspondingly, the electronic device receives the intelligent leveling request from the human-computer interaction module, the vehicle status acquisition module collects the vehicle status signal, and sends the vehicle status signal to the air spring control module through the CAN bus. The electronic device processes the vehicle status signal to obtain the vehicle status information.

[0106] Exemplarily, the implementation process of the above-mentioned human-computer interaction module sending an intelligent leveling request to the electronic device in response to the user operation can be: the vehicle has a body intelligent leveling function, and an intelligent leveling switch is set. When the vehicle is powered on and the power gear is in the on gear, the user turns on the intelligent leveling switch in the human-computer interaction module of the vehicle, and the human-computer interaction module sends an intelligent leveling request to the electronic device.

[0107] Exemplarily, the above-mentioned state information may include at least one of the following: vehicle speed, steering wheel angle, gear status, charging status, door status, collision status, or air spring airbag pressure. Of course, the above is only an exemplary description of the state information, and the above-mentioned state information may also include other information, and the embodiments of the present application do not impose any limitation on this.

[0108] Further, optionally, if the user does not turn on the intelligent leveling switch, the electronic device does not obtain the vehicle status information and does not level the vehicle body. The user can level the vehicle body according to the conventional user mode adjustment strategy. Specifically, the user can drive the vehicle support device to level the vehicle body by operating the corresponding button. The vehicle body leveling method provided in the present application sets an intelligent leveling switch, and the user can freely choose whether to turn on the automatic leveling function of the vehicle body, thereby avoiding the unexpected movement of the vehicle causing the user to feel nervous.

[0109] S502: The electronic device determines to level the vehicle body based on the status information.

[0110] In a possible implementation, the implementation process of S502 may be: the electronic device determines to level the vehicle body when the status information satisfies the leveling condition, wherein the leveling condition is the maximum range corresponding to the status information when the supporting device of the vehicle is in operation.

[0111] Exemplarily, the above-mentioned leveling condition may include at least one of the following: the vehicle speed is within the first range; the steering wheel angle is within the second range; the gear state is the parking gear state; the charging state is the uncharged state; the door state is the closed state; the collision state is the non-collision state; or the air spring airbag pressure is within the third range. Of course, the above is only an exemplary description of the leveling condition, and the above-mentioned leveling condition can also be other conditions, and the embodiments of the present application do not impose any restrictions on this.

[0112] Exemplarily, the first range may be 0 to 0.5 km / h. Of course, the above is only an exemplary description of the first range, and the first range may also be other ranges, and the present application embodiment does not impose any limitation on this.

[0113] Exemplarily, the second range may be 0 to 5 degrees. Of course, the above is only an exemplary description of the second range, and the second range may also be other ranges, and the present application embodiment does not impose any limitation on this.

[0114] Exemplarily, the third range may be 5 to 15 bar (barometric pressure unit, bar). Of course, the above is only an exemplary description of the third range, and the third range may also be other ranges, and the present application embodiment does not impose any limitation on this.

[0115] Further, optionally, the above-mentioned leveling conditions may also include: the absolute value of the lateral acceleration is less than a first threshold value (for example, 0.3g); the absolute value of the longitudinal acceleration is less than a second threshold value (for example, 0.5g); the air spring controller is in a ready on state; the four air release valves in the air spring device are all in a normal state; the air spring device is in a normal state; and the suspension height of the vehicle is within 50 to 100 centimeters.

[0116] Further, optionally, when the status information does not meet the leveling condition, the electronic device sends an error message to the human-computer interaction module. The error message is used to prompt the user that the leveling condition is not met. Accordingly, the human-computer interaction module receives the error message from the electronic device. In addition, the electronic device continues to obtain the status information of the vehicle, and when the status information meets the leveling condition, determines to level the vehicle body.

[0117] In another possible implementation, the implementation process of S502 may be: the electronic device inputs the state information into the leveling model, and determines whether the state information meets the preset condition according to the output of the leveling model. If the state information meets the preset condition, the electronic device determines to level the vehicle body.

[0118] Figure 6is an overall flow chart of a vehicle body leveling method according to an exemplary embodiment. Figure 6 As shown, the vehicle body leveling method provided in the embodiment of the present application may include the following steps.

[0119] S601: The human-computer interaction module sends an intelligent leveling request to the electronic device. Correspondingly, the electronic device receives the intelligent leveling request from the human-computer interaction module.

[0120] The intelligent leveling request is used to request the electronic device to level the vehicle body.

[0121] S602: The electronic device obtains inertia information and status information of the vehicle.

[0122] The inertial information includes at least one of the following: lateral acceleration, longitudinal acceleration, roll angle, or pitch angle. The status information is used to indicate the current operating status of the vehicle. The status information includes at least one of the following: vehicle speed, steering wheel angle, gear status, charging status, door status, collision status, or air spring airbag pressure.

[0123] S603: The electronic device determines whether the status information of the vehicle meets the leveling condition.

[0124] Among them, the leveling conditions include at least one of the following: the vehicle speed is within the first range; the steering wheel angle is within the second range; the gear state is the parking gear state; the charging state is the uncharged state; the door state is the closed state; the collision state is the non-collision state; or the air spring airbag pressure is within the third range.

[0125] If the status information of the vehicle does not meet the leveling condition, the electronic device executes step S604.

[0126] S604: The electronic device sends error information to the human-computer interaction module. Correspondingly, the human-computer interaction module receives the error information from the electronic device.

[0127] The error message is used to prompt the user that the leveling condition is not met.

[0128] If the status information of the vehicle meets the leveling condition, the electronic device executes step S605.

[0129] S605: The electronic device calculates target adjustment heights of four wheels of the vehicle based on the inertia information of the vehicle.

[0130] S606: The electronic device drives the air spring device of the vehicle to level the vehicle body based on the target adjustment height of the four wheels of the vehicle.

[0131] As described above, the intelligent leveling function of the vehicle body has three logical states, namely: the intelligent leveling function of the vehicle body is turned off (i.e., intelligent leveling mode=off), the intelligent leveling function of the vehicle body is on standby (i.e., intelligent leveling mode=stand by), and the intelligent leveling function of the vehicle body is activated (i.e., intelligent leveling mode=switching or completed). Figure 7 is a logic state transition diagram of the vehicle body intelligent leveling function according to an exemplary embodiment. Figure 7 As shown, the logical state conversion method of the vehicle body intelligent leveling function provided in the embodiment of the present application is as follows.

[0132] When the intelligent leveling function of the vehicle body is turned off, if the system self-check is normal and the intelligent leveling switch is turned on, the intelligent leveling function of the vehicle body is switched from off to standby. When the intelligent leveling function of the vehicle body is in standby, if all the leveling sub-conditions are met, the intelligent leveling function of the vehicle body is switched from standby to active. Among them, the leveling sub-conditions are: the gear signal is valid and is in P gear; the vehicle speed is valid and between 0 and 0.5 kilometers per hour; the steering wheel angle signal is valid and between 0 and 5 degrees; all four doors are closed, the charging gun is not connected, and no collision occurs; the longitudinal acceleration signal is valid and the absolute value is less than 0.5g; the lateral acceleration signal is valid and the absolute value is less than 0.3g; the air spring controller is currently in the ReadyOn state; the four deflation valves in the air spring device are normal; the air spring device is in normal state; the air spring airbag pressure is between 5 and 15bar; the height of the four-wheel suspension of the vehicle is between 50 and 100 centimeters. When the intelligent leveling function of the vehicle body is activated, if any of the leveling sub-conditions are not met during the leveling process, the intelligent leveling function of the vehicle body is switched from active to standby. When the intelligent leveling function of the vehicle body is activated, if the intelligent leveling switch is turned off, or the vehicle speed is greater than 0.5 km / h, or the gear is not P, or the driver has other mutually exclusive function operations with higher priority, or the system determines that the adjustment has failed, the intelligent leveling function of the vehicle body will be converted from activated to off.

[0133] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the method. In order to achieve the above functions, the vehicle body leveling device or electronic device includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0134] The embodiment of the present application can divide the functional modules of the vehicle body leveling device or the electronic device according to the above method. For example, the vehicle body leveling device or the electronic device can include various functional modules corresponding to the various functional divisions, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0135] Figure 8 is a block diagram of a vehicle body leveling device according to an exemplary embodiment. Figure 8 The vehicle body leveling device 800 includes: an acquisition unit 801 and a processing unit 802 .

[0136] The acquisition unit 801 is used to acquire inertial information of the vehicle, where the inertial information includes at least one of the following: lateral acceleration, longitudinal acceleration, roll angle, or pitch angle.

[0137] The processing unit 802 is used to determine a leveling strategy based on the inertial information, and drive the supporting device of the vehicle to level the body of the vehicle based on the leveling strategy.

[0138] In a possible implementation, the acquisition unit 801 is further used to acquire status information of the vehicle, where the status information is used to indicate the current operating condition of the vehicle; and the processing unit 802 is further used to determine to level the vehicle body based on the status information.

[0139] In a possible implementation, the processing unit 802 is further configured to determine to level the vehicle body when the status information satisfies a leveling condition, where the leveling condition is a maximum range corresponding to the status information when the supporting device of the vehicle is in operation.

[0140] In a possible implementation manner, the status information includes at least one of the following: vehicle speed, steering wheel angle, gear status, charging status, door status, collision status, or air spring airbag pressure.

[0141] In a possible implementation, the leveling condition includes at least one of the following: the vehicle speed is within a first range; the steering wheel angle is within a second range; the gear state is a parking gear state; the charging state is an uncharged state; the door state is a closed state; the collision state is a non-collision state; or the air spring airbag pressure is within a third range.

[0142] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0143] Fig. 9 FIG. 1 is a block diagram of an electronic device according to an exemplary embodiment. Fig. 9 As shown, the electronic device 900 includes but is not limited to: a processor 901 and a memory 902 .

[0144] The memory 902 is used to store executable instructions of the processor 901. It can be understood that the processor 901 is configured to execute instructions to implement the group fault detection method in the above embodiment.

[0145] It should be noted that those skilled in the art can understand that Fig. 9 The electronic device structure shown in the figure does not constitute a limitation on the electronic device, and the electronic device may include Fig. 9 More or fewer components may be shown, or certain components may be combined, or the components may be arranged differently.

[0146] The processor 901 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. By running or executing software programs and / or modules stored in the memory 902, and calling data stored in the memory 902, it performs various functions of the electronic device and processes data, thereby monitoring the electronic device as a whole. The processor 901 may include one or more processing units. Optionally, the processor 901 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 901.

[0147] The memory 902 may be used to store software programs and various data. The memory 902 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one functional module (such as a determination unit, a processing unit, etc.), etc. In addition, the memory 902 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0148] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 902 including instructions, and the above instructions can be executed by the processor 901 of the electronic device 900 to implement the method in the above embodiment.

[0149] In actual implementation, Figure 8 The functions of the acquisition unit 801 and the processing unit 802 in Fig. 9 The processor 901 in the embodiment calls the computer program stored in the memory 902 to implement. The specific execution process can refer to the description of the method part in the above embodiment, which will not be repeated here.

[0150] Optionally, the computer-readable storage medium may be a non-temporary computer-readable storage medium, for example, the non-temporary computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0151] In an exemplary embodiment, the present application also provides a computer program product including one or more instructions, and the one or more instructions can be executed by the processor 901 of the electronic device to complete the method in the above embodiment.

[0152] It should be noted that when the instructions in the above-mentioned computer-readable storage medium or one or more instructions in the computer program product are executed by the processor of the electronic device, the various processes of the above-mentioned method embodiment are implemented, and the same technical effect as the above-mentioned method can be achieved. To avoid repetition, they will not be repeated here.

[0153] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0154] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0155] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0156] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0157] If the integrated 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 readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or the full classification part or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including a number of instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute the full classification part or part of the steps of each embodiment method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, ROM, RAM, disk or CD and other media that can store program code.

[0158] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle body leveling method, characterized in that: The method comprises: Acquiring inertial information of the vehicle, the inertial information comprising at least one of the following: lateral acceleration, longitudinal acceleration, roll angle, or pitch angle; A leveling strategy is determined based on the inertial information, and based on the leveling strategy, a supporting device of the vehicle is driven to level a body of the vehicle.

2. The method according to claim 1, characterized in that The method further comprises: Acquiring status information of the vehicle, where the status information is used to indicate a current operating condition of the vehicle; Based on the status information, it is determined to level the body of the vehicle.

3. The method according to claim 2, characterized in that The step of determining to level the vehicle body based on the state information includes: In a case where the state information satisfies a leveling condition, it is determined to level the body of the vehicle, wherein the leveling condition is a maximum range corresponding to the state information when the supporting device of the vehicle is in an operating state.

4. The method according to claim 3, characterized in that The status information includes at least one of the following: vehicle speed, steering wheel angle, gear status, charging status, door status, collision status, or air spring airbag pressure.

5. The method according to claim 4, characterized in that The leveling condition includes at least one of the following: The vehicle speed is within a first range; The steering wheel angle is within a second range; The gear position state is a parking gear state; The charging state is an uncharged state; The door state is a closed state; The collision state is a state where no collision occurs; Alternatively, the air spring bellows pressure is within a third range.

6. A vehicle body leveling device, characterized in that: including an acquisition unit and a processing unit; An acquisition unit, configured to acquire inertial information of the vehicle, wherein the inertial information includes at least one of the following: lateral acceleration, longitudinal acceleration, roll angle, or pitch angle; The processing unit is used to determine a leveling strategy based on the inertial information, and drive the supporting device of the vehicle to level the body of the vehicle based on the leveling strategy.

7. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the method as claimed in any one of claims 1 to 5.

8. A vehicle, characterized in that: The vehicle comprises the electronic device as claimed in claim 7.

9. A computer-readable storage medium, characterized in that: When the computer-executable instructions stored in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is capable of performing the method as claimed in any one of claims 1 to 5.

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