Vehicle suspension height adjusting method, controller, vehicle and program product

Abstract

The invention provides a vehicle suspension height adjusting method, a controller, a vehicle and a program product. The method comprises the steps that the actual adjusting height collected by a normal wheel height sensor of the vehicle is obtained; the chassis mass center position speed, the pitch angle speed and the roll angle speed are determined according to the actual adjustment height; determining a predicted adjusting speed corresponding to the abnormal wheel height sensor according to the chassis mass center position speed, the pitch angle speed and the roll angle speed; and determining a predicted adjustment height corresponding to the abnormal wheel height sensor according to the predicted adjustment speed, and performing suspension height adjustment according to the predicted adjustment height. According to the method, the predicted height value corresponding to the abnormal height sensor is determined according to the actual adjustment height collected by the normal wheel height sensor of the vehicle, so that the suspension height adjustment is realized. Therefore, according to the method, when the vehicle height sensor is abnormal, it can be guaranteed that the vehicle normally conducts suspension height adjustment.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle driving control, and in particular to a vehicle suspension height adjustment method, a controller, a vehicle and a program product. Background Art

[0002] At present, wheel height sensors are generally installed between the four suspension arms and the vehicle body to collect the height changes between the vehicle body and the wheels, so as to ensure that the vehicle body height can be automatically adjusted according to the road conditions and vehicle status during driving, thereby improving the driving stability and comfort of the vehicle. However, in actual applications, there may be an abnormal failure of a wheel height sensor; when the wheel height sensor fails abnormally, the wheel height sensor cannot provide accurate measurement data, thereby affecting the vehicle's suspension height adjustment.

[0003] Therefore, how to ensure that the vehicle can normally adjust the suspension height when the vehicle height sensor is abnormal is a technical problem that technicians in this field currently need to solve. Summary of the invention

[0004] The purpose of the present application is to provide a suspension height adjustment method, device, controller, a vehicle, a computer-readable storage medium and a computer program product for a vehicle, so as to ensure that the vehicle can normally adjust the suspension height when the vehicle height sensor is abnormal.

[0005] In a first aspect, the present application provides a method for adjusting the suspension height of a vehicle. The method comprises:

[0006] Obtaining an actual adjustment height acquired by a normal wheel height sensor of the vehicle;

[0007] Determine the chassis center of mass position velocity, pitch angular velocity and roll angular velocity according to the actual adjustment height;

[0008] Determine a predicted adjustment speed corresponding to an abnormal wheel height sensor according to the chassis center of mass position speed, the pitch angle speed, and the roll angle speed;

[0009] The predicted adjustment height corresponding to the abnormal wheel height sensor is determined according to the predicted adjustment speed, and the suspension height is adjusted according to the predicted adjustment height.

[0010] In one embodiment, determining the predicted adjustment height corresponding to the abnormal wheel height sensor according to the predicted adjustment speed, and adjusting the suspension height according to the predicted adjustment height, comprises:

[0011] Integrating the predicted adjustment speed to obtain a predicted height change;

[0012] Acquiring an actual height change of a normal wheel height sensor coaxial with the abnormal wheel height sensor;

[0013] Performing weighted calculation on the predicted height change amount and the actual height change amount to obtain a predicted adjustment height corresponding to the abnormal wheel height sensor;

[0014] Suspension height adjustment is performed according to the predicted adjustment height.

[0015] In one embodiment, after performing integral calculation on the predicted adjustment speed to obtain the predicted height change, the method further includes:

[0016] The predicted height change is subjected to high-pass filtering.

[0017] In one of the embodiments, after determining the predicted adjustment height corresponding to the abnormal wheel height sensor according to the predicted adjustment speed and adjusting the suspension height according to the predicted adjustment height, the method further includes:

[0018] Determine whether the actual height value corresponding to the normal wheel height sensor and the predicted height value corresponding to the abnormal wheel height sensor are both equal to the target height value;

[0019] If the actual height value and / or the predicted height value is not equal to the target height value, the process returns to the step of obtaining the actual adjustment height acquired by the normal wheel height sensor of the vehicle.

[0020] In one embodiment, before obtaining the actual adjustment height acquired by the normal wheel height sensor of the vehicle, the method further includes:

[0021] Acquire an initial vehicle posture of the vehicle; the initial vehicle posture includes an initial pitch angle and an initial roll angle;

[0022] After determining the predicted adjustment height corresponding to the abnormal wheel height sensor according to the predicted adjustment speed and adjusting the suspension height according to the predicted adjustment height, the method further includes:

[0023] Obtaining the current vehicle posture of the vehicle;

[0024] Determining whether the current vehicle posture and the initial vehicle posture are within an error range;

[0025] If the error range is exceeded, a corresponding prompt message is generated and sent.

[0026] In one embodiment, the obtaining of the initial vehicle posture of the vehicle includes:

[0027] The initial vehicle posture is calculated based on the initial vehicle data of the vehicle through complementary filtering method, Kalman filtering method, rotation matrix method or quaternion method.

[0028] In one embodiment, determining the chassis center of mass position velocity, pitch angular velocity, and roll angular velocity according to the actual adjustment height includes:

[0029] Performing differential calculation on each of the actual adjustment heights to obtain actual adjustment speeds corresponding to each of the normal wheel height sensors;

[0030] A coordinate system is established with the center of mass of the chassis as the origin, and based on the coordinate system, the distances from each normal wheel height sensor to the yoz plane, the xoz plane and the xoy plane are obtained respectively;

[0031] The chassis center of mass position speed, pitch angular speed and roll angular speed are calculated according to the actual adjustment speeds and the distances.

[0032] In a second aspect, the present application also provides a vehicle suspension height adjustment device. The device comprises:

[0033] An acquisition module, used to acquire an actual adjustment height collected by a normal wheel height sensor of the vehicle;

[0034] A first determination module is used to determine the chassis center of mass position velocity, pitch angular velocity and roll angular velocity according to the actual adjustment height;

[0035] A second determination module is used to determine the predicted adjustment speed corresponding to the abnormal wheel height sensor according to the chassis center of mass position speed, the pitch angle speed and the roll angle speed;

[0036] The adjustment module is used to determine the predicted adjustment height corresponding to the abnormal wheel height sensor according to the predicted adjustment speed, and adjust the suspension height according to the predicted adjustment height.

[0037] In a third aspect, the present application further provides a controller, wherein the controller comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0038] In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0039] In a fifth aspect, the present application further provides a vehicle, wherein the vehicle comprises a vehicle body and a controller, wherein the controller implements the steps of the above method when executed.

[0040] In a sixth aspect, the present application further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0041] The present application provides a suspension height adjustment method for a vehicle. When the vehicle has an abnormal wheel height sensor, the actual adjustment height collected by the normal wheel height sensor of the vehicle is obtained; the chassis center of mass position speed, pitch angular velocity and roll angular velocity are determined according to the actual adjustment height; the predicted adjustment speed corresponding to the abnormal wheel height sensor is determined according to the chassis center of mass position speed, pitch angular velocity and roll angular velocity; the predicted height value corresponding to the abnormal height sensor is determined according to the predicted adjustment speed; that is, the predicted height value corresponding to the abnormal height sensor is determined according to the actual adjustment height collected by the normal wheel height sensor of the vehicle, thereby achieving suspension height adjustment. Therefore, the present method can ensure that the vehicle can perform normal suspension height adjustment when the vehicle height sensor is abnormal.

[0042] It can be understood that the embodiments of the present application provide a vehicle suspension height adjustment device, a controller, a vehicle, a computer-readable storage medium and a computer program product, which have the same beneficial effects as the above-mentioned vehicle suspension height adjustment method, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0044] Figure 1 A flow chart of a method for adjusting the suspension height of a vehicle provided in an embodiment of the present application;

[0045] Figure 2 A schematic diagram of a coordinate system provided for this application;

[0046] Figure 3 A schematic diagram of the distribution of a wheel height sensor provided in an embodiment of the present application;

[0047] Figure 4 A schematic structural diagram of a vehicle suspension height adjustment device provided in an embodiment of the present application;

[0048] Figure 5 A schematic diagram of the structure of a controller provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0050] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0051] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0052] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0053] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0054] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways. "Multiple" means "two or more".

[0055] A method for adjusting the suspension height of a vehicle provided in an embodiment of the present application can be executed by a controller when running a corresponding computer program.

[0056] Figure 1 This is a flow chart of a method for adjusting the height of a vehicle suspension provided in an embodiment of the present application. For ease of explanation, only the part related to the present embodiment is shown. The method provided in the present embodiment includes the following steps:

[0057] S100: Acquire the actual adjustment height collected by the normal wheel height sensor of the vehicle.

[0058] Among them, a normal wheel height sensor refers to a sensor that can operate normally, accurately collect the height change between the vehicle body and the vehicle, and output the collected height change to the controller; an abnormal wheel height sensor refers to a sensor that cannot operate normally, cannot accurately collect the height change between the vehicle body and the vehicle, or cannot output the collected height change to the controller, that is, this embodiment does not limit the abnormal type of the abnormal wheel height sensor. It should be noted that in this embodiment, it is limited to a single wheel height sensor failure, that is, among the wheel height sensors of the vehicle, only one wheel height sensor is abnormal.

[0059] The actual adjustment height refers to the height value of the actual height adjustment between the vehicle body and the wheel during the suspension height adjustment process, which is collected by a normal wheel height sensor.

[0060] S200: Determine the chassis center of mass position speed, pitch angular speed, and roll angular speed according to the actual adjustment height.

[0061] Among them, the chassis center of mass position speed refers to the speed at which the chassis center of mass of the vehicle moves in space. The chassis center of mass is the average position of all mass points of the chassis, and its position speed reflects the movement trend and speed of the chassis as a whole during driving. The pitch angular velocity refers to the angular velocity of the vehicle rotating around its transverse axis (left and right axis); the pitch angular velocity reflects the rate of change of the vehicle's tilt in the longitudinal plane. The roll angular velocity refers to the angular velocity of the vehicle rotating around its longitudinal axis (front and rear axis); the roll angular velocity reflects the rate of change of the vehicle's tilt in the transverse plane.

[0062] In this step, after obtaining the actual adjustment height collected by each normal wheel height sensor, each height adjustment value is differentiated to obtain the corresponding actual adjustment speed; the chassis center of mass position speed, pitch angular velocity and roll angular velocity are calculated according to each actual adjustment speed. The actual adjustment speed refers to the movement speed of the wheel corresponding to the normal wheel height sensor in the vertical direction, that is, the speed of suspension lifting and lowering.

[0063] S300: Determine a predicted adjustment speed corresponding to the abnormal wheel height sensor according to the chassis center of mass position speed, the pitch angle speed and the roll angle speed.

[0064] The predicted adjustment speed refers to the predicted movement speed of the wheel corresponding to the abnormal wheel height sensor in the vertical direction, that is, the predicted speed of the suspension lifting and lowering.

[0065] Specifically, after calculating the chassis center of mass position speed, pitch angular velocity and roll angular velocity, the chassis center of mass position speed is distributed to each wheel height sensor, thereby determining the predicted adjustment speed corresponding to the abnormal wheel height sensor.

[0066] S400: Determine a predicted adjustment height corresponding to the abnormal wheel height sensor according to the predicted adjustment speed, and adjust the suspension height according to the predicted adjustment height.

[0067] The predicted adjustment height refers to the predicted height that the wheel corresponding to the abnormal wheel height sensor needs to adjust. In this step, after the predicted adjustment speed is calculated, the predicted adjustment speed is integrated to obtain the predicted adjustment height corresponding to the abnormal wheel height sensor.

[0068] After the predicted adjustment height is determined, the suspension height is adjusted according to the predicted adjustment height. After the suspension height is adjusted, the suspension height is the sum of the initial height before adjustment and the predicted adjustment height.

[0069] The embodiment of the present application provides a method for adjusting the suspension height of a vehicle. When the vehicle has an abnormal wheel height sensor, the actual adjustment height collected by the normal wheel height sensor of the vehicle is obtained; the chassis center of mass position speed, pitch angular velocity and roll angular velocity are determined according to the actual adjustment height; the predicted adjustment speed corresponding to the abnormal wheel height sensor is determined according to the chassis center of mass position speed, pitch angular velocity and roll angular velocity; the predicted height value corresponding to the abnormal height sensor is determined according to the predicted adjustment speed; that is, the predicted height value corresponding to the abnormal height sensor is determined according to the actual adjustment height collected by the normal wheel height sensor of the vehicle, thereby achieving suspension height adjustment. Therefore, the method can ensure that the vehicle can perform normal suspension height adjustment when the vehicle height sensor is abnormal.

[0070] Based on the above embodiments, this embodiment further illustrates and optimizes the technical solution. Specifically, in this embodiment, the predicted adjustment height corresponding to the abnormal wheel height sensor is determined according to the predicted adjustment speed, and the suspension height is adjusted according to the predicted adjustment height, including:

[0071] Integrate the predicted adjustment speed to obtain the predicted height change;

[0072] acquiring an actual height change of a normal wheel height sensor coaxial with the abnormal wheel height sensor;

[0073] Performing weighted calculation on the predicted height change and the actual height change to obtain the predicted adjustment height corresponding to the abnormal wheel height sensor;

[0074] Suspension height adjustment is performed based on predicted height adjustment.

[0075] In this embodiment, the predicted adjustment speed is integrated with respect to time to obtain the change in height of the vehicle within the time period, ie, the predicted height change.

[0076] The normal wheel height sensor coaxial with the abnormal wheel height sensor refers to a normal wheel height sensor on the same axle as the abnormal wheel height sensor. For example, if the height sensor of the left front wheel fails, the height sensor of the right front wheel is the normal wheel height sensor coaxial with the abnormal wheel height sensor.

[0077] After determining the predicted height change RR_HighEM, obtain the actual height change RL_HighSnsr of the normal wheel height sensor coaxial with the abnormal wheel height sensor; perform weighted calculation on the predicted height change and the actual height change to obtain the predicted adjustment height RR_HighLast.

[0078] That is, RR_HighLast=k*RR_HighEM+(1-k)*(RL_HighSnsr);

[0079] Among them, k is the weight coefficient, which can be calibrated according to actual conditions, such as a value of 0.5.

[0080] According to the method of this embodiment, the predicted adjustment height can be calculated more accurately, thereby improving the accuracy of the vehicle's suspension height adjustment.

[0081] On the basis of the above embodiment, this embodiment further illustrates and optimizes the technical solution. Specifically, in this embodiment, after the predicted adjustment speed is integrated and calculated to obtain the predicted height change, a method for adjusting the suspension height of a vehicle further includes:

[0082] Perform high-pass filtering on the predicted height change.

[0083] It should be noted that in the process of integrating the predicted adjustment speed to obtain the predicted altitude change, the integral may drift to zero, that is, when the input predicted adjustment speed is zero, due to factors such as sensor noise or environmental changes, the output predicted altitude change deviates from zero, thereby affecting the accuracy of the final predicted adjustment altitude.

[0084] In this embodiment, after the predicted adjustment speed is integrated to obtain the predicted height change, a first-order high-pass filter is added to perform high-pass filtering on the predicted height change. It can be understood that the function of the high-pass filter is to allow high-frequency signals to pass through and suppress low-frequency signals; by performing high-pass filtering on the predicted height change, the low-frequency drift component in the predicted height change can be effectively removed, thereby obtaining a more accurate integration result, that is, improving the accuracy of the determined predicted height change.

[0085] According to the method of this embodiment, by performing high-pass filtering on the predicted height change, the accuracy of the determined predicted height change is improved, thereby improving the accuracy of the suspension height adjustment of the vehicle.

[0086] On the basis of the above-mentioned embodiment, this embodiment further illustrates and optimizes the technical solution. Specifically, in this embodiment, after determining the predicted adjustment height corresponding to the abnormal wheel height sensor according to the predicted adjustment speed and adjusting the suspension height according to the predicted adjustment height, the method further includes:

[0087] determining whether an actual height value corresponding to a normal wheel height sensor and a predicted height value corresponding to an abnormal wheel height sensor are both equal to a target height value;

[0088] If not, a corresponding prompt message is generated and sent.

[0089] Among them, the actual height value is the sum of the actual adjustment height corresponding to the normal wheel height sensor and the initial height before the suspension height is adjusted, that is, the actual height value = actual adjustment height + initial height; the predicted height value is the sum of the predicted adjustment height corresponding to the abnormal wheel height sensor and the initial height before the suspension height is adjusted, and the predicted height value = predicted adjustment height + initial height.

[0090] The target height value is a preset height of a desired suspension adjustment of the vehicle, and the target height value can be obtained by a human-computer interaction device in response to an input operation of a user.

[0091] In this embodiment, it is determined whether the actual height value corresponding to the normal wheel height sensor is equal to the target height value, and it is determined whether the predicted height value corresponding to the abnormal wheel height sensor is equal to the target height value; if the actual height value corresponding to the normal wheel height sensor and the predicted height value corresponding to the abnormal wheel height sensor are both equal to the target height value, it is determined that the current suspension height adjustment has achieved the expected effect, and thus the process is terminated; if the actual height value and / or the predicted height value are not equal to the target height value, it indicates that the current suspension height adjustment has not achieved the expected effect, and thus the suspension height adjustment needs to be performed again. Specifically, the process may return to S100: the step of obtaining the actual adjustment height collected by the normal wheel height sensor of the vehicle.

[0092] According to the method of this embodiment, it is possible to further determine whether the suspension adjustment has achieved the expected effect, and return to continue adjusting the suspension height if the expected effect has not been achieved. Therefore, the accuracy of the suspension height adjustment can be guaranteed, further improving the user experience.

[0093] On the basis of the above embodiment, this embodiment further illustrates and optimizes the technical solution. Specifically, in this embodiment, before obtaining the actual adjustment height collected by the normal wheel height sensor of the vehicle, the method further includes:

[0094] Obtaining the initial vehicle posture of the vehicle; the initial vehicle posture includes an initial pitch angle and an initial roll angle;

[0095] After determining the predicted adjustment height corresponding to the abnormal wheel height sensor according to the predicted adjustment speed and adjusting the suspension height according to the predicted adjustment height, the method further includes:

[0096] Get the current vehicle posture of the vehicle;

[0097] Determine whether the current vehicle posture and the initial vehicle posture are within the error range;

[0098] If the error range is exceeded, a corresponding prompt message is generated and sent.

[0099] In this embodiment, before obtaining the actual adjustment height collected by the normal wheel height sensor of the vehicle, the initial vehicle posture of the vehicle is obtained; the initial vehicle posture includes an initial pitch angle and an initial roll angle.

[0100] Correspondingly, after determining the predicted adjustment height corresponding to the abnormal wheel height sensor according to the predicted adjustment speed and adjusting the suspension height according to the predicted adjustment height, the current vehicle posture of the vehicle is acquired again. In this embodiment, the current vehicle posture also includes at least the current pitch angle and the current roll angle.

[0101] Then the initial vehicle posture is compared with the current vehicle posture to determine whether the current vehicle posture and the initial vehicle posture are within the error range; if they are within the error range, the suspension height adjustment is completed and the process ends; if they exceed the error range, it means that the vehicle posture has changed during the suspension height adjustment process, that is, the suspension height adjustment process is inaccurate, and a corresponding prompt message is generated and sent. In this embodiment, the specific value of the error range is not limited, and the smaller the error range, the higher the accuracy requirement for the suspension height adjustment.

[0102] The prompt information is used to prompt that the current suspension height adjustment process is inaccurate, so the prompt information is generated and sent to the prompt device, and the prompt device continuously sends a corresponding signal to prompt the user. The prompt device includes a buzzer, an indicator light, a voice player or a display, etc. The corresponding signal includes a continuous buzzer, a flashing indicator light, etc., which is not limited in this embodiment.

[0103] In a specific embodiment, whether the suspension height adjustment is completed can be determined based on the following three conditions:

[0104] Condition 1: The actual height value corresponding to the normal wheel height sensor value = the target height value;

[0105] Condition 2: The predicted height value corresponding to the abnormal wheel height sensor = the target height value;

[0106] Condition 3: After the suspension height adjustment is completed, the difference between the current vehicle posture and the initial vehicle posture is within the error range; for example, the current pitch angle = the initial pitch angle Pitch_bodyTarget, and the current roll angle = the initial roll angle Roll_bodyTarget.

[0107] According to the method of this embodiment, it is possible to further verify whether the suspension height adjustment process is accurate, that is, to ensure the accuracy of the suspension height adjustment.

[0108] Based on the above embodiment, this embodiment further illustrates and optimizes the technical solution. Specifically, in this embodiment, obtaining the initial vehicle posture of the vehicle includes:

[0109] The initial vehicle posture is calculated based on the initial vehicle data through complementary filtering method, Kalman filtering method, rotation matrix method or quaternion method.

[0110] Specifically, the initial vehicle data is collected using the vehicle body sensors, including the acceleration of the vehicle in three directions (longitudinal, lateral, and vertical) collected by the three-axis accelerometer, and the angular velocity of the vehicle in three directions (yaw, pitch, and roll) collected by the three-axis gyroscope; then the initial vehicle posture of the vehicle is calculated based on the initial vehicle data by using algorithms such as complementary filtering, Kalman filtering, rotation matrix method, or quaternion method. In this embodiment, the initial vehicle posture includes at least an initial pitch angle and an initial roll angle, and the initial vehicle posture is stored.

[0111] Correspondingly, the process of obtaining the current vehicle posture of the vehicle includes: using body sensors to collect current vehicle data, including the acceleration of the vehicle in three directions (longitudinal, lateral, and vertical) collected by a three-axis accelerometer, and the angular velocity of the vehicle in three directions (yaw, pitch, and roll) collected by a three-axis gyroscope; then using algorithms such as complementary filtering, Kalman filtering, rotation matrix method, or quaternion method to calculate the current vehicle posture based on the current vehicle data.

[0112] Among them, complementary filtering is a simple and effective filtering method, which eliminates noise by complementary fusion of high-frequency signals and low-frequency signals to obtain more accurate signals; Kalman filtering is a recursive algorithm that estimates the state of a dynamic system by minimizing the variance of the estimation error; the rotation matrix is ​​a matrix used to describe the rotation relationship between coordinate systems. A vector can be converted from one coordinate system to another through the rotation matrix; quaternion is a mathematical tool used to describe three-dimensional rotation. Compared with Euler angles, it avoids the universal joint lock problem and has higher computational efficiency.

[0113] According to the method of this embodiment, the initial vehicle posture and the current vehicle posture of the vehicle can be determined more efficiently and accurately, thereby improving the accuracy of verifying whether the suspension height adjustment process is accurate.

[0114] Based on the above embodiment, this embodiment further illustrates and optimizes the technical solution. Specifically, in this embodiment, the chassis center of mass position velocity, pitch angular velocity and roll angular velocity are determined according to the actual adjustment height, including:

[0115] Differentiate each actual adjustment height to obtain the actual adjustment speed corresponding to each normal wheel height sensor;

[0116] A coordinate system is established with the center of mass of the chassis as the origin, and the distances from each normal wheel height sensor to the yoz plane, xoz plane, and xoy plane are obtained based on the coordinate system;

[0117] The chassis center of mass position speed, pitch angular velocity and roll angular velocity are calculated according to each actual adjustment speed and each distance.

[0118] Specifically, after obtaining the actual adjustment heights collected by each normal wheel height sensor, each height adjustment value is differentiated to obtain the corresponding actual adjustment speed, that is, the actual adjustment speed corresponding to each normal wheel height sensor is obtained.

[0119] Then, establish a coordinate system with the chassis center of mass as the origin. Figure 2 , which is a schematic diagram of a coordinate system provided in an embodiment of the present application. Figure 2In the figure, the location of Zcg is the center of mass of the chassis, which is also the origin of the coordinate system.

[0120] After establishing the coordinate system, the distances from each normal wheel height sensor to the yoz plane, xoz plane and xoy plane are obtained based on the coordinate system, that is, the distances from the center of mass of the chassis along the X-axis, Y-axis and Z-axis to each normal wheel height sensor are obtained.

[0121] According to the actual adjustment speed corresponding to each normal wheel height sensor and the distance from each normal wheel height sensor to the yoz plane, xoz plane and xoy plane, the chassis center of mass position speed Zcg and the pitch angular speed are calculated. Roll angular velocity

[0122] Figure 3 A schematic diagram of the distribution of wheel height sensors provided in an embodiment of the present application. Figure 2 and Figure 3 As shown, it is assumed that the wheel height sensor (RR_wheel height sensor) corresponding to the right rear wheel of the vehicle is an abnormal wheel height sensor. Therefore, the actual adjustment heights corresponding to the three normal wheel height sensors are differentiated and calculated to obtain the actual adjustment speeds corresponding to each normal wheel height sensor: left front adjustment speed Zfl, right front adjustment speed Zfr and left rear adjustment speed Zrl.

[0123] Get the distances from the three normal wheel height sensors to the yoz plane, xoz plane and xoy plane respectively; wherein, Dfl, Dfr and Drl are the distances from the left front wheel height sensor, the right front wheel height sensor and the left rear wheel height sensor to the yoz plane respectively, that is, the distances from the center of mass to the left front wheel height sensor, the right front wheel height sensor and the left rear wheel height sensor along the X-axis respectively; Lfl, Lfr and Lrl are the distances from the left front wheel height sensor, the right front wheel height sensor and the left rear wheel height sensor to the xoz plane respectively, that is, the distances from the center of mass to the left front wheel height sensor, the right front wheel height sensor and the left rear wheel height sensor along the Y-axis respectively; Hfl, Hfr and Hrl are the distances from the left front wheel height sensor, the right front wheel height sensor and the left rear wheel height sensor to the xoy plane respectively, that is, the distances from the center of mass to the left front wheel height sensor, the right front wheel height sensor and the left rear wheel height sensor along the Z-axis respectively, and this value can be 0.

[0124] According to the actual adjustment speeds corresponding to the three normal wheel height sensors and the distances from the three normal wheel height sensors to the yoz plane, xoz plane and xoy plane, the chassis center of mass position speed Zcg and the pitch angular speed Zcg are calculated according to the following formulas: Roll angular velocity

[0125]

[0126] Then, the chassis center of mass position speed Zcg is distributed to each wheel height sensor, that is, according to the chassis center of mass position speed Zcg, the pitch angular velocity and roll angular velocity Determine the predicted adjustment speed corresponding to each wheel height sensor:

[0127]

[0128] Among them, Zfl is the predicted adjustment speed corresponding to the left front wheel height sensor, Zfr is the predicted adjustment speed corresponding to the right front wheel height sensor, Zrl is the predicted adjustment speed corresponding to the left rear wheel height sensor, and Zrr is the predicted adjustment speed corresponding to the right rear wheel height sensor, that is, the predicted adjustment speed of the abnormal wheel height sensor is determined.

[0129] According to the method of this embodiment, the chassis center of mass position velocity, pitch angular velocity and roll angular velocity can be determined efficiently and accurately, thereby improving the efficiency and accuracy of suspension height adjustment.

[0130] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0131] It should be noted that the information collection process (such as face image collection process, fingerprint information collection process, etc.) / feature extraction process involved in this application is performed with the user's knowledge and permission, that is, the information collection process / feature extraction process complies with the requirements of laws and regulations and does not constitute an act that harms the public interest.

[0132] Figure 4 FIG. 1 is a schematic diagram of the structure of a vehicle suspension height adjustment device provided in an embodiment of the present application. Figure 4 As shown, the vehicle suspension height adjustment device of this embodiment includes an acquisition module 410, a first determination module 420, a second determination module 430 and an adjustment module 440; wherein,

[0133] An acquisition module 410 is used to acquire an actual adjustment height collected by a normal wheel height sensor of the vehicle;

[0134] A first determination module 420, for determining the chassis mass center position velocity, pitch angular velocity and roll angular velocity according to the actual adjustment height;

[0135] A second determination module 430 is used to determine the predicted adjustment speed corresponding to the abnormal wheel height sensor according to the chassis center of mass position speed, the pitch angle speed and the roll angle speed;

[0136] The adjustment module 440 is used to determine the predicted adjustment height corresponding to the abnormal wheel height sensor according to the predicted adjustment speed, and adjust the suspension height according to the predicted adjustment height.

[0137] A vehicle suspension height adjustment device provided in an embodiment of the present application has the same beneficial effects as the above-mentioned vehicle suspension height adjustment method.

[0138] In one embodiment, the adjustment module 440 includes:

[0139] The predicted height change determination submodule is used to perform integral calculation on the predicted adjustment speed to obtain the predicted height change;

[0140] An actual height variation acquisition submodule is used to acquire an actual height variation of a normal wheel height sensor coaxial with the abnormal wheel height sensor;

[0141] A predicted adjustment height determination submodule is used to perform weighted calculation on the predicted height change and the actual height change to obtain a predicted adjustment height corresponding to the abnormal wheel height sensor;

[0142] The height adjustment submodule is used to adjust the suspension height according to the predicted adjustment height.

[0143] In one embodiment, a suspension height adjustment device for a vehicle further includes:

[0144] The filtering processing submodule is used to perform high-pass filtering on the predicted height change.

[0145] In one embodiment, a suspension height adjustment device for a vehicle further includes:

[0146] The first judgment submodule is used to determine whether the actual height value corresponding to the normal wheel height sensor and the predicted height value corresponding to the abnormal wheel height sensor are both equal to the target height value; if the actual height value and / or the predicted height value are not equal to the target height value, the acquisition module 410 is called.

[0147] In one embodiment, a suspension height adjustment device for a vehicle further includes:

[0148] The initial vehicle posture acquisition submodule is used to obtain the initial vehicle posture of the vehicle; the initial vehicle posture includes an initial pitch angle and an initial roll angle;

[0149] The current vehicle posture acquisition submodule is used to obtain the current vehicle posture of the vehicle;

[0150] The error range judgment submodule is used to determine whether the current vehicle posture and the initial vehicle posture are within the error range;

[0151] The prompt submodule is used to generate and send corresponding prompt information if the error range is exceeded.

[0152] In one embodiment, the initial vehicle posture acquisition submodule includes:

[0153] The initial vehicle posture acquisition unit is used to calculate the initial vehicle posture according to the initial vehicle data of the vehicle through complementary filtering method, Kalman filtering method, rotation matrix method or quaternion method.

[0154] In one embodiment, the first determination module 420 includes:

[0155] A first calculation submodule is used to perform differential calculation on each actual adjustment height to obtain an actual adjustment speed corresponding to each normal wheel height sensor;

[0156] The second calculation submodule is used to establish a coordinate system with the center of mass of the chassis as the origin, and obtain the distances of each normal wheel height sensor to the yoz plane, the xoz plane and the xoy plane respectively based on the coordinate system;

[0157] The third calculation submodule is used to calculate the chassis center of mass position speed, pitch angular velocity and roll angular velocity according to each actual adjustment speed and each distance.

[0158] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0159] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0160] Figure 5 A schematic diagram of the structure of a controller provided in an embodiment of the present application. Figure 5 As shown, the controller 500 of this embodiment includes a memory 501, a processor 502, and a computer program 503 stored in the memory 501 and executable on the processor 502; when the processor 502 executes the computer program 503, the steps in the above-mentioned suspension height adjustment method embodiments of each vehicle are implemented; or when the processor 502 executes the computer program 503, the functions of each module / unit in the above-mentioned device embodiments are implemented.

[0161] Exemplarily, the computer program 503 may be divided into one or more modules / units, one or more modules / units are stored in the memory 501, and are executed by the processor 502 to implement the method of the embodiment of the present application. One or more modules / units may be a series of computer program instruction segments that can perform specific functions, and the instruction segments are used to describe the execution process of the computer program 503 in the controller 500. For example, the computer program 503 may be divided into an acquisition module, a first determination module, a second determination module, and an adjustment module, and the specific functions of each module are as follows:

[0162] An acquisition module, used to acquire an actual adjustment height collected by a normal wheel height sensor of the vehicle;

[0163] A first determination module is used to determine the chassis mass center position speed, pitch angle speed and roll angle speed according to the actual adjustment height;

[0164] A second determination module is used to determine the predicted adjustment speed corresponding to the abnormal wheel height sensor according to the chassis center of mass position speed, the pitch angle speed and the roll angle speed;

[0165] The adjustment module is used to determine the predicted adjustment height corresponding to the abnormal wheel height sensor according to the predicted adjustment speed, and adjust the suspension height according to the predicted adjustment height.

[0166] The controller 500 may include but is not limited to a memory 501 and a processor 502. Those skilled in the art will appreciate that Figure 5 It is only an example of a controller and does not constitute a limitation of the controller. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the controller may also include input and output devices, network access devices, buses, etc.; wherein the input and output devices may include cameras, audio acquisition / playback devices, display screens, etc.; the network access device may include a communication module for wireless communication with external devices.

[0167] In applications, the controller may be an electronic control unit (ECU) or a body control module (BCM), which is not limited in this embodiment.

[0168] In applications, the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0169] In applications, the memory can be the controller's internal storage unit, such as the controller's hard disk or memory; it can also be the controller's external storage device, such as the controller's plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, etc.; it can also include both the controller's internal storage unit and external storage device. The memory is used to store operating systems, applications, boot loaders, data, and other programs, such as the program code of computer programs. The memory can also be used to temporarily store data that has been output or is about to be output.

[0170] The embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0171] The present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of each of the above-mentioned method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device capable of carrying the computer program code to the controller, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, RandomAccess Memory), an electrical carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk.

[0172] A computer-readable storage medium provided in an embodiment of the present application has the same beneficial effects as the above-mentioned method for adjusting the suspension height of a vehicle.

[0173] An embodiment of the present application also provides a vehicle, including a vehicle body and a controller, which executes the steps in the above-mentioned method embodiments.

[0174] The vehicle may be any type of vehicle, such as a fuel vehicle, a battery electric vehicle (BEV), and a hybrid vehicle (Hybrid Vehicle), etc. In this embodiment, the vehicle includes a vehicle body and a controller, and the controller can implement the steps of the vehicle suspension height adjustment method in the above embodiment.

[0175] A vehicle provided in an embodiment of the present application has the same beneficial effects as the suspension height adjustment method of the above-mentioned vehicle.

[0176] An embodiment of the present application further provides a computer program product, including a computer program, which can implement the steps in the above-mentioned method embodiments when executed by a processor.

[0177] A computer program product provided in an embodiment of the present application has the same beneficial effects as the above-mentioned method for adjusting the suspension height of a vehicle.

[0178] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0179] Those of ordinary skill in the art will appreciate that the devices and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software 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 be beyond the scope of this application.

[0180] In the 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. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interface, indirect coupling or communication connection of devices, which can be electrical, mechanical or other forms.

[0181] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for adjusting the suspension height of a vehicle, characterized in that: The method comprises: Obtaining an actual adjustment height acquired by a normal wheel height sensor of the vehicle; Determine the chassis center of mass position velocity, pitch angular velocity and roll angular velocity according to the actual adjustment height; Determine a predicted adjustment speed corresponding to an abnormal wheel height sensor according to the chassis center of mass position speed, the pitch angle speed, and the roll angle speed; The predicted adjustment height corresponding to the abnormal wheel height sensor is determined according to the predicted adjustment speed, and the suspension height is adjusted according to the predicted adjustment height.

2. The method according to claim 1, characterized in that The step of determining the predicted adjustment height corresponding to the abnormal wheel height sensor according to the predicted adjustment speed, and adjusting the suspension height according to the predicted adjustment height includes: Integrating the predicted adjustment speed to obtain a predicted height change; Acquiring an actual height change of a normal wheel height sensor coaxial with the abnormal wheel height sensor; Performing weighted calculation on the predicted height change amount and the actual height change amount to obtain a predicted adjustment height corresponding to the abnormal wheel height sensor; Suspension height adjustment is performed according to the predicted adjustment height.

3. The method according to claim 2, characterized in that After performing integral calculation on the predicted adjustment speed to obtain the predicted height change, the method further includes: The predicted height change is subjected to high-pass filtering.

4. The method according to claim 1, characterized in that: After determining the predicted adjustment height corresponding to the abnormal wheel height sensor according to the predicted adjustment speed and adjusting the suspension height according to the predicted adjustment height, the method further includes: Determine whether the actual height value corresponding to the normal wheel height sensor and the predicted height value corresponding to the abnormal wheel height sensor are both equal to the target height value; If the actual height value and / or the predicted height value is not equal to the target height value, the process returns to the step of obtaining the actual adjustment height acquired by the normal wheel height sensor of the vehicle.

5. The method according to claim 4, characterized in that Before acquiring the actual adjustment height acquired by the normal wheel height sensor of the vehicle, the method further includes: Acquire an initial vehicle posture of the vehicle; the initial vehicle posture includes an initial pitch angle and an initial roll angle; After determining the predicted adjustment height corresponding to the abnormal wheel height sensor according to the predicted adjustment speed and adjusting the suspension height according to the predicted adjustment height, the method further includes: Obtaining the current vehicle posture of the vehicle; Determining whether the current vehicle posture and the initial vehicle posture are within an error range; If the error range is exceeded, a corresponding prompt message is generated and sent.

6. The method according to claim 5, characterized in that The obtaining of the initial vehicle posture of the vehicle comprises: The initial vehicle posture is calculated based on the initial vehicle data of the vehicle through complementary filtering method, Kalman filtering method, rotation matrix method or quaternion method.

7. The method according to any one of claims 1 to 6, characterized in that: The determining of the chassis center of mass position velocity, the pitch angular velocity and the roll angular velocity according to the actual adjustment height comprises: Performing differential calculation on each of the actual adjustment heights to obtain actual adjustment speeds corresponding to each of the normal wheel height sensors; A coordinate system is established with the center of mass of the chassis as the origin, and based on the coordinate system, the distances from each normal wheel height sensor to the yoz plane, the xoz plane and the xoy plane are obtained respectively; The chassis center of mass position speed, pitch angular speed and roll angular speed are calculated according to the actual adjustment speeds and the distances.

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

9. A vehicle, comprising a vehicle body, characterized in that: It also includes a controller, which executes the steps of the method according to any one of claims 1 to 7.

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

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