Vehicle suspension system, method and device and vehicle

Abstract

The invention relates to a vehicle suspension system, method and device and a vehicle, the vehicle suspension system comprises a plurality of height sensors, and the height sensors are used for detecting the height of a vehicle body; under the state that the height sensor fails, determining an available suspension function of the vehicle suspension system according to the current failure parameter of the failure of the height sensor; wherein the failure parameter comprises at least one of a failure type, a failure number and a failure position.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle control technology, and more specifically, to a vehicle suspension system, method, device and vehicle. Background Art

[0002] The vehicle's suspension system is connected between the vehicle body and the tires to transfer the force between the wheels and the vehicle body. The main functions of the suspension system include buffering, vibration filtering and guidance. The suspension system can be classified into passive suspension, semi-active suspension and fully active suspension according to the control type. Among them, passive suspension generally refers to suspension with fixed damping force, which can only be forced to move with the wheels; semi-active suspension realizes passive adjustable damping force by adding electronic control elements; active suspension refers to dynamic adaptive adjustment according to the driving conditions of the car (the vehicle's motion state and road conditions, etc.). For example, the vehicle height can be adjusted through active suspension to adapt to the road conditions.

[0003] In order to achieve closed-loop control of the active suspension and perform precise body height adjustment, the suspension system is equipped with multiple height sensors to detect the height between the body action point and the corresponding wheel. However, when the height sensor fails, the suspension system will suppress all height adjustment functions, resulting in the inability to further adjust the body state, which poses a safety risk. Summary of the invention

[0004] An object of the embodiments of the present disclosure is to provide a new technical solution for a suspension system to improve the safety of a vehicle when a height sensor fails.

[0005] According to a first aspect of the present disclosure, there is provided an embodiment of a vehicle suspension system, the system comprising:

[0006] A plurality of height sensors, wherein the height sensors are used to detect the height of the vehicle body;

[0007] In a state where the height sensor fails, an available suspension function of the vehicle suspension system is determined according to current failure parameters of the height sensor failure; wherein the failure parameters include at least one of a failure type, a failure number, and a failure position.

[0008] Optionally, the failure type includes a type of failure, and the type of failure includes at least one of a hardware failure of the height sensor and an output value exceeding a limit range; and / or,

[0009] The failure type includes a type II failure, and the type II failure includes that any one of a pitch angle and a roll angle of the vehicle body after leveling exceeds a corresponding angle range.

[0010] Optionally, the vehicle suspension system performs vehicle body leveling according to height data detected by the height sensor.

[0011] Optionally, when the failure type of the current failure parameter is a type II failure, or when the failure type of the current failure parameter is a type I failure and the number of failures is a single height sensor, the available suspension functions include some functions of the height adjustment type functions, as well as height adjustment suppression type functions, damping control type functions and stiffness control type functions; or,

[0012] When the failure type of the current failure parameter is a type I failure and the number of failures is two height sensors, the available suspension functions include height suppression adjustment functions and damping control functions; or,

[0013] When the failure type of the current failure parameter is a type I failure and the number of failures is three height sensors, the available suspension functions include inhibiting height adjustment functions; or,

[0014] When the failure type of the current failure parameter is a type I failure and the failure quantity corresponds to all height sensors, all suspension functions are disabled.

[0015] Optionally, when the failure type of the current failure parameter is a type I failure and the failure quantity corresponds to some height sensors, or when the failure type of the current failure parameter is a type II failure, the pitch angle and roll angle of the vehicle body are adjusted to their respective corresponding angle ranges.

[0016] Optionally, when any one of the pitch angle and the roll angle of the vehicle body cannot be adjusted to a corresponding angle range, a suspension function level corresponding to a current failure parameter is reduced, wherein the lower the suspension function level, the less available suspension functions.

[0017] Optionally, in the event that any one of a hardware failure and an output value of the height sensor exceeds a limit range occurs, the height sensor fails, and the failure type of the current failure parameter is a type I failure;

[0018] In the case where there is no hardware failure in the height sensor and the output value exceeds the limit range, when any one of the pitch angle and the roll angle of the vehicle body after leveling exceeds the corresponding angle range, the height sensor fails, and the failure type of the current failure parameter is the second type of failure.

[0019] Optionally, first determine whether the height sensor has a hardware failure, and if the height sensor has a hardware failure, the height sensor fails;

[0020] In the case that there is no hardware failure in the height sensor, it is determined whether the output value of the height sensor exceeds the limit range. In the case that the output value of the height sensor exceeds the limit range, the height sensor fails.

[0021] Optionally, when the duration of height sensor failure of the vehicle suspension system reaches a first duration, the vehicle suspension system is in a state of height sensor failure.

[0022] Optionally, when the failure recovery time of the vehicle suspension system reaches a second time, the disabled suspension function in the state of the height sensor failure is restored; wherein the failure recovery time is the time taken to recover from the state of the height sensor failure to the state of the height sensor validity.

[0023] Optionally, when the height sensor fails, the driving state of the vehicle satisfies the failure processing condition, and the pitch angle and roll angle of the vehicle body are adjusted to their respective corresponding angle ranges;

[0024] The driving state includes at least one of a driving speed state, a driving acceleration state, a driving road surface inclination state, and a driving road surface in front inclination state. The failure parameters of the height sensor failure are different, and the corresponding failure processing conditions are different.

[0025] Optionally, when the failure type of the current failure parameter is a type I failure and the failure quantity is a single height sensor, the failure processing condition includes that the driving acceleration is within the acceleration range and the driving speed is less than or equal to the first speed; or

[0026] When the failure type of the current failure parameter is a type I failure, the number of failures is two height sensors, and the failure positions are two diagonal height sensors, the failure processing condition includes that the driving acceleration is within the acceleration range, and the driving speed is less than or equal to the second speed; or

[0027] When the failure type of the current failure parameter is a type I failure, the number of failures is two height sensors, and the failure positions are two height sensors on the same side, the failure processing condition includes that the driving acceleration is within the acceleration range, and the driving speed is less than or equal to the third speed; or

[0028] When the failure type of the current failure parameter is a type I failure and the number of failures is three height sensors, the failure processing condition includes the driving acceleration and the driving speed being 0; or

[0029] When the failure type of the current failure parameter is a second-class failure, the failure processing condition includes the driving acceleration being 0, and the driving speed being less than or equal to the fourth speed;

[0030] Among them, the second type of failure includes that any one of the pitch angle and roll angle of the vehicle body after leveling exceeds the corresponding second angle range; the acceleration range includes 0 value, the first speed is greater than the second speed, the second speed is greater than the third speed, and the fourth speed is less than or equal to the first speed.

[0031] According to a second aspect of the present disclosure, there is provided an embodiment of a vehicle control method, the method comprising:

[0032] When the suspension system is in a state of height sensor failure, the available suspension function of the vehicle suspension system is determined according to the current failure parameters of the height sensor failure; wherein the height sensor is used to detect the vehicle body height, and the failure parameters include at least one of the failure type, failure number and failure position.

[0033] According to a third aspect of the present disclosure, an embodiment of a vehicle control device is provided, the device comprising: a memory and a processor, the memory storing executable instructions, the instructions being used to control the processor to operate to execute the vehicle control method according to the second aspect of the present disclosure.

[0034] According to a fourth aspect of the present disclosure, a vehicle is further provided. The vehicle includes the vehicle suspension system according to the first aspect of the present disclosure, or includes the vehicle control device according to the third aspect.

[0035] One beneficial effect of the embodiments of the present disclosure is that, by determining the available suspension function of the vehicle suspension system according to the current failure parameters of the height sensor when the height sensor fails, the problem of safety risks caused by the failure of a single height sensor in the related art can be avoided, thereby improving the driver's vehicle driving safety.

[0036] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0038] Figure 1a is a schematic diagram of the structure of a vehicle suspension system according to some embodiments;

[0039] Figure 1b is a schematic diagram of the structure of a vehicle suspension system according to other embodiments;

[0040] Figure 2 is a schematic diagram of a vehicle structure according to some embodiments (I);

[0041] Figure 3 is a test schematic diagram of a vehicle height sensor according to some embodiments;

[0042] Figure 4 is a schematic diagram of calculating a height difference of a failed height sensor according to some embodiments;

[0043] Figure 5 is a schematic structural diagram of a vehicle according to some embodiments (II);

[0044] Figure 6 is a flow chart of a vehicle control method according to some embodiments;

[0045] Figure 7 is a flow chart of a vehicle control method according to some other embodiments;

[0046] Figure 8 is a schematic diagram of the structure of a vehicle control device according to some embodiments;

[0047] Fig. 9 is a schematic diagram of the structure of a vehicle according to some embodiments;

[0048] Fig.10 is a schematic structural diagram of a vehicle according to some other embodiments. DETAILED DESCRIPTION

[0049] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0050] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0051] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0052] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0053] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0054] The disclosed embodiments relate to a solution for handling a vehicle suspension system when a height sensor fails. Figure 1a Schematic diagram of a vehicle suspension system according to some embodiments is shown. Figure 1a As shown, the vehicle suspension system of the embodiment of the present application may include multiple height sensors, for example, a left front height sensor 10A, a right front height sensor 10B, a left rear height sensor 10C, and a right rear height sensor 10D.

[0055] The vehicle suspension system 100 also includes an active suspension, which is connected between the vehicle body and wheels. The suspension system 100 can adjust the vehicle body height, posture, etc. according to the height data detected by the height sensor.

[0056] Figure 1b FIG. 2 shows a vehicle suspension system according to some other embodiments. Figure 1b As shown, the vehicle suspension system 100 includes a height sensor 10 and an active suspension 50. Figure 1b Only one height sensor 10 and one suspension 50 are schematically shown, and the number of height sensors and suspensions is not intended to be limited. Figure 1b As shown, the vehicle suspension system 100 may further include a control device U1, which is connected to each height sensor 10, receives height data output by the height sensor, and controls the action of the active suspension 50 according to the height data. For example, the active suspension is a hydraulic suspension, which may be a power part such as a pump that controls the active suspension and various valve bodies on the hydraulic pipeline.

[0057] In addition, if Figure 1b As shown, the vehicle suspension system may also include various sensors to detect the vehicle status and provide data support for the control device U1 to perform height sensor failure processing. Figure 1b Several sensors are shown without limitation, including a camera device 40, a wheel speed sensor 60, an inertial measurement unit (IMU) 20, an acceleration sensor 30, etc. In another embodiment, the vehicle suspension system may also be provided with only some of the sensors, such as the inertial measurement unit 20, etc., which is not limited here.

[0058] exist Figure 1b In the embodiment, the camera device 40 can be used to collect road surface images to determine the road surface conditions such as the inclination of the road surface on which the vehicle is traveling and the inclination of the road surface in front of the vehicle based on the road surface images. The inertial measurement unit 20 can provide acceleration data such as the acceleration of the vehicle in the driving direction, as well as angle data such as the pitch angle and roll angle of the vehicle body. The wheel speed sensor 60 can be used to provide wheel speed data to the control device U1. The acceleration sensor 30 is used to provide acceleration data reflecting the acceleration of the suspension action to the control device U1.

[0059] like Figure 2 The vehicle shown is equipped with Figure 1a or Figure 1b The vehicle suspension system 100 shown in the figure has four tires, namely, the left front tire, the right front tire, the left rear tire and the right rear tire. The suspension system 100 includes active suspensions arranged at the four tires, and the active suspensions may be double wishbone active suspensions. One end of the active suspension is connected to the swing arm of the corresponding wheel, and the other end is connected to the corresponding body action point.

[0060] In the embodiment where the vehicle is provided with four independent suspensions, the four height sensors 10A, 10B, 10C, and 10D correspond to the four active suspensions, the left front height sensor 10A corresponds to the left front suspension of the vehicle, the right front height sensor 10B corresponds to the right front suspension of the vehicle, the left rear height sensor 10C corresponds to the left rear suspension of the vehicle, and the right rear height sensor 10D corresponds to the right rear suspension of the vehicle, that is, the multiple suspensions of the suspension system are provided in one-to-one correspondence with the multiple height sensors. Each height sensor is used to detect the height between its corresponding vehicle body action point and the corresponding wheel.

[0061] Figure 3 FIG. 1 is a schematic diagram of the structure of an active suspension according to some embodiments. Figure 3 As shown, in some embodiments, each active suspension includes a shock absorber 3, multiple shock absorbers correspond one-to-one to multiple height sensors 10, different shock absorbers correspond to different wheels, and the vehicle body action point corresponding to the height sensor is the connection point between the corresponding shock absorber and the vehicle body.

[0062] In this embodiment, the shock absorber 3 can be a hydraulic cylinder, an air spring, etc., which is not limited here. Different shock absorbers correspond to different wheels, one end of the shock absorber 3 is connected to the swing arm 2 of the corresponding wheel, and the other end of the shock absorber 3 is connected to the vehicle body. The height sensor 10 is set in a one-to-one correspondence with the shock absorber 3. The height sensor 10 is used to detect the height of the shock absorber 3.

[0063] The active suspension may also include a spring. The spring and the shock absorber may occupy different installation spaces separately. The spring may also be mounted on the shock absorber to save installation space. The spring may also be connected in series with the shock absorber. One end of the spring is connected to the wheel, and the other end of the spring is connected to the shock absorber. The output end of the shock absorber is connected to the vehicle body. This is not limited here. In the embodiment where the active suspension includes a spring, Figure 1b The acceleration sensor in the suspension can be set at the spring of the suspension to detect the unsprung acceleration reflecting the spring bounce.

[0064] In some embodiments, the height sensor 10 may be an angle sensor, which is respectively arranged at the left front, right front, left rear, and right rear shock absorbers 3 of the vehicle. The bracket end of each height sensor in the height sensor 10 is connected and fixed to the vehicle body, and the other end is fixed to the swing arm 2 of the corresponding wheel 1. When the shock absorber 3 pressurizes and lifts the vehicle body, the swing arm 2 drives the height sensor 10 to move, causing its swing angle to change. The height sensor 10 collects the angle value θ in this state, and then obtains the height value of the shock absorber 3 corresponding to the angle value.

[0065] In some embodiments, Figure 3 As shown, the height sensor 10 may be an angle sensor, which is respectively arranged at the left front, right front, left rear, and right rear shock absorbers 3 of the vehicle. The bracket end of each height sensor in the height sensor 10 is connected and fixed to the vehicle body, and the other end is fixed to the swing arm 2 of the corresponding wheel 1. When the shock absorber 3 pressurizes and lifts the vehicle body, the swing arm 2 drives the height sensor 10 to move, causing its swing angle to change. The height sensor 10 collects the angle value θ in this state, and then obtains the height value of the shock absorber 3 corresponding to the angle value.

[0066] In some embodiments, after the height sensor 10 collects the angle value θ, the DMU simulation calculation can be performed using the design principle of the vehicle and the dimensions of the active suspension and height sensor components to obtain a preliminary height value y0. For example, it can be calculated using formula (1):

[0067] y0 = k*θ + b (1),

[0068] Among them, k and b are constant values ​​used for DMU simulation determined according to the dimensions of the double wishbone swing arm and height sensor of the active suspension.

[0069] Then, the preliminary height value y0 is calibrated according to the diagnostic software to obtain the final height value y corresponding to the angle value.

[0070] In some embodiments, the angle limit range of the corresponding height sensor may also be determined according to the height limit range of the shock absorber 3 .

[0071] In some embodiments, the vehicle suspension system may be configured to determine available suspension functions of the vehicle suspension system in a state where the height sensor fails according to a failure type of the height sensor failure.

[0072] In this embodiment, the action may be performed by, for example, a control device of a vehicle suspension system. The failure type of the height sensor failure is the type of the height sensor failure determination basis. If the type of the height sensor failure determination basis is different, the failure type is different. The control device of the vehicle suspension system may determine the available suspension function of the suspension system according to the failure type of the current height sensor failure.

[0073] In some embodiments, the failure type includes a type of failure, the type of failure including at least one of a hardware failure of the height sensor and an output value exceeding a limit range; and / or,

[0074] The failure type includes a type II failure, and the type II failure includes that any one of a pitch angle and a roll angle of the vehicle body after leveling exceeds a corresponding angle range.

[0075] In this embodiment, a failure type set is preset, and the failure type set includes at least one of a first type of failure and a second type of failure. Among them, the first type of failure is based on at least one of a hardware failure of the height sensor (such as open circuit, short circuit, voltage abnormality, etc.) and an output value exceeding a limit range. In the case of a hardware failure of the height sensor, the height sensor cannot output a value, the height sensor fails, and the failure type of the current failure parameter is a first type of failure.

[0076] When the height sensor output value exceeds the limit range, it means that the height sensor output value is inaccurate, the height sensor is failed, and the failure type of the current failure parameter is a type I failure.

[0077] The second type of failure is determined based on the failure that any one of the pitch angle and roll angle of the vehicle body after leveling exceeds the corresponding angle range. Among them, the angle range is set as the basis for determining whether the second type of failure occurs. The angle range can be set based on the historical experience values ​​of the pitch angle and roll angle of the vehicle body after leveling when the height sensor is effective. Those skilled in the art should understand that the angle range can also be set in other ways, which are not specifically limited here.

[0078] According to the preset failure type set, it is determined that the failure type of the height sensor failure is a failure type in the set failure type set.

[0079] According to the embodiment of the present application, a preset failure type set can facilitate determination of a specific failure type of height sensor failure, and further determine the available functions of the suspension system according to the failure type of height sensor failure.

[0080] In some embodiments, the vehicle suspension system may be configured to determine that the height sensor fails when any one of a hardware failure occurs in the height sensor and an output value exceeds a limit range, and the failure type of the current failure parameter is a type I failure.

[0081] In this embodiment, the action may be executed by, for example, a control device of the vehicle suspension system.

[0082] In some embodiments, when the height sensor has a hardware failure and the output value exceeds the limit range, it is determined that the height sensor has failed, and the failure type of the current failure parameter is a type I failure, including: step S1100 and step S1200.

[0083] Step S1100 , first determine whether the height sensor has a hardware failure. If the height sensor has a hardware failure, determine that the height sensor has failed, and the failure type of the current failure parameter is a type I failure.

[0084] In this embodiment, when a hardware failure occurs in the height sensor, the output value of the height sensor is missing, and it is determined that the height sensor fails, and the failure type of the current failure parameter is a type I failure.

[0085] In some embodiments, the hardware fault may be an open circuit, a short circuit to the power supply, a short circuit to the ground, or other circuit faults. In this case, the fault signal indicating that the height sensor has a hardware fault may be a fault signal indicating that the height sensor has a circuit fault. When a fault signal indicating that the height sensor has a circuit fault is received, it is determined that the height sensor has failed, and the failure type of the current failure parameter is a type I failure.

[0086] The fault signal may be a DTC fault code corresponding to an open circuit, a short circuit to power supply, or a short circuit to ground.

[0087] The hardware fault may also be other faults other than circuit faults that can cause the height sensor to fail to output a value. In this case, the fault signal may be a signal indicating that the height sensor output value is missing. When a signal indicating that the height sensor output value is missing is received, it is determined that the height sensor with the missing output value has a type of failure.

[0088] Step S1200, when there is no hardware failure in the height sensor, determine whether the output value of the height sensor exceeds the limit range. When the output value of the height sensor exceeds the limit range, determine that the height sensor has failed, and the failure type of the current failure parameter is a type I failure.

[0089] In this embodiment, when there is no hardware failure in the height sensor, if the output value of the height sensor exceeds the limit range, it is determined that the height sensor has failed, and the failure type of the current failure parameter is a type I failure.

[0090] In some embodiments, the vehicle suspension system can be used to cause the height sensor to fail when any of the pitch angle and roll angle of the vehicle body after leveling exceeds the corresponding angle range, provided that there is no hardware failure in the height sensor and the output value exceeds the limit range, and the failure type of the current failure parameter is the second type of failure.

[0091] In this embodiment, the action may be performed by, for example, a control device of a vehicle suspension system. Correspondingly, the action may include step S2100 and step S2200.

[0092] Step S2100, when there is no hardware failure in the height sensor and the output value exceeds the limit range, it is determined whether the pitch angle and the roll angle of the vehicle body in the leveling state are within their respective corresponding angle ranges.

[0093] Step S2200: When any one of the pitch angle and the roll angle exceeds the corresponding angle range, it is determined that the altitude sensor fails, and the failure type of the current failure parameter is the second type failure.

[0094] In this embodiment, when there is no type I failure in the height sensor, it is determined whether the pitch angle and roll angle of the vehicle body after leveling exceed the corresponding angle range. When either the pitch angle or the roll angle exceeds the corresponding angle range, it is determined that the height sensor fails, and the failure type of the current failure parameter is type II failure.

[0095] In some embodiments, the pitch angle and roll angle of the vehicle body can be obtained through the IMU six-axis attitude data after the vehicle body is leveled.

[0096] In this embodiment, Figure 2 As shown, an inertial measurement unit 20 (IMU) is set at the center of mass of the vehicle. A spatial rectangular coordinate system is established with the center of mass of the vehicle as the origin O, the front-to-back direction of the vehicle body as the x-axis, the left-to-right direction of the vehicle body as the y-axis, and the up-down direction of the vehicle body as the z-axis. The six-axis posture of the IMU in the current state of the vehicle (IMU_Ax, IMU_Ay, IMU_Az, IMU_pitch, IMU_roll, IMU_yaw) can be obtained through the IMU. Among them, IMU_Ax is the acceleration along the x-axis, IMU_Ay is the acceleration along the y-axis, IMU_Az is the acceleration along the z-axis, IMU_pitch is the pitch angle, IMU_roll is the roll angle, and IMU_yaw is the yaw angle.

[0097] Whether a type II failure occurs is determined based on whether the pitch angle and roll angle after vehicle body leveling are within their respective corresponding angle ranges. If either the pitch angle or the roll angle exceeds the corresponding angle range, it is determined that the height sensor fails, and the failure type of the current failure parameter is a type II failure.

[0098] According to the embodiment of the present application, by setting a specific method for determining the failure type of the current failure parameter of the height sensor, it is possible to accurately determine the failure type of the height sensor.

[0099] In some embodiments, when the duration of height sensor failure of the vehicle suspension system reaches a first duration, the vehicle suspension system is in a state of height sensor failure.

[0100] In this embodiment, the control device of the vehicle suspension system may execute the following steps S3100 and S3200.

[0101] Step S3100, when it is determined that a height sensor failure occurs in the vehicle suspension system, the failure duration is recorded.

[0102] Step S3200: When the failure duration reaches a first duration, determining that the vehicle suspension system is in a height sensor failure state.

[0103] In this embodiment, the failure type of the height sensor may be one of a type I failure and a type II failure.

[0104] For example, when the failure duration of a type 1 failure reaches 5 seconds, it is determined that the vehicle suspension system is in a state of height sensor failure. When the failure duration of a type 2 failure reaches 3 seconds, it is determined that the vehicle suspension system is in a state of height sensor failure. This can avoid unnecessary failure processing caused by accidental failures of the vehicle suspension system, thereby reducing power consumption.

[0105] In some embodiments, the suspension functions of the suspension system may include the following categories: damping control functions, stiffness control functions, height adjustment functions, and height suppression adjustment functions.

[0106] The damping control function refers to the function of adjusting the suspension damping. The damping control function may include at least one of roll damping control, pitch damping control, vertical damping control and speed-dependent damping control.

[0107] The stiffness control function refers to the function of adjusting the stiffness of the suspension. The stiffness control function may include at least one of the following functions: roll stiffness control, pitch stiffness control, and vertical stiffness control.

[0108] Height adjustment functions refer to functions for adjusting the height of the vehicle body through the suspension. Height adjustment functions may include at least one of the following functions: voice height adjustment function, manual height adjustment function, height adjustment with speed function, camping leveling function, super-high escape function, welcome function, pick-up function, load balancing function, and height return function. Voice height adjustment function is height adjustment controlled by the driver's voice. Manual height adjustment function is height adjustment controlled manually by the driver. Height adjustment with speed function is that the height of the vehicle body follows the speed of the vehicle. The faster the speed, the lower the height of the vehicle body is set, and the slower the speed, the higher the height of the vehicle body is set. Camping leveling function is a function for leveling the posture of the vehicle body when the vehicle is on an uneven road surface. Super-high escape function is a function for raising the height of the vehicle body to the highest level. Welcome function is a function for lowering the height of the vehicle body to facilitate passengers to enter the vehicle. Pick-up function is a function for lowering the height of the vehicle body to facilitate taking items from the trunk. Load balancing function is a function for leveling the posture of the vehicle body caused by load changes when the vehicle is in a stopped state. The height return function is to level the body posture when the vehicle is in motion.

[0109] The function of inhibiting height adjustment refers to a function that can inhibit height adjustment, which may include at least one of the following functions: manual height adjustment inhibition function, automatic height adjustment inhibition function, inhibition function of stopping height adjustment during collision, and inhibition function of stopping height adjustment during maintenance. Among them, the manual height adjustment inhibition function is to inhibit all height adjustment functions by manual triggering. For example, all height adjustment functions are inhibited by manually triggering the "off" key of height adjustment. The automatic height adjustment inhibition function is to inhibit all height adjustment functions when the set conditions are met. For example, when the depth of the brake pedal exceeds the depth threshold, or the depth of the accelerator pedal exceeds the depth threshold, all height adjustment functions are inhibited. The inhibition function of stopping height adjustment during collision refers to inhibiting all height adjustment functions during collision. The inhibition function of stopping height adjustment during maintenance means that all height adjustment functions can be inhibited by this function when the vehicle is in maintenance state.

[0110] In some embodiments, different available suspension functions are determined differently depending on the failure type of the height sensor.

[0111] In this embodiment, when the failure type of the height sensor failure is a type I failure, the available suspension functions may be, for example, roll damping control, pitch damping control, roll stiffness control, pitch stiffness control, and vertical stiffness control. When the failure type of the height sensor failure is a type II failure, the available suspension functions may be, for example, a pickup function, a guest welcome function, and a height return function. Personnel skilled in the art should understand that the available suspension functions corresponding to different types of height sensor failures are not specifically limited here.

[0112] In some embodiments, when the failure type of the current failure parameter is a type of failure and the number of failures is a single height sensor, the available suspension functions include some functions of the height adjustment function, as well as height adjustment suppression function, damping control function and stiffness control function; or,

[0113] When the failure type of the current failure parameter is a type I failure and the number of failures is two height sensors, the available suspension functions include height suppression adjustment functions and damping control functions; or,

[0114] When the failure type of the current failure parameter is a type I failure and the number of failures is three height sensors, the available suspension functions include inhibiting height adjustment functions; or,

[0115] When the failure type of the current failure parameter is a type I failure and the failure quantity corresponds to all height sensors, all suspension functions are disabled.

[0116] In this embodiment, the failure parameter includes the failure type and the failure number. The control device of the vehicle suspension system can determine the suspension function level corresponding to the current failure parameter according to the number of at least one of the hardware failures and the output value exceeding the limit range of the height sensor. In the case where the failure type is a type of failure and the failure number is a single height sensor, the suspension function level is 3. In the case where the failure type is a type of failure and the failure number is two height sensors, the suspension function level is 2. In the case where the failure type is a type of failure and the failure number is three height sensors, the suspension function level is 1. In the case where the failure type is a type of failure and the failure number corresponds to all height sensors, the suspension function level is 0.

[0117] It should be noted that when the failure type is a Class II failure, the number of failures cannot be determined. In this case, it can be flexibly set according to the degree of vehicle driving safety requirements. For example, when the driving safety requirements are high, the suspension function level corresponding to the Class II failure can be set to 3. Alternatively, when the driving safety requirements are low, the suspension function level corresponding to the Class II failure can be set to 1. No specific limitation is made here.

[0118] In some embodiments, when the failure type is a Class II failure, the suspension function level is the same as the suspension function level corresponding to the failure parameter when the failure type is a Class I failure and the failure number is a single height sensor.

[0119] In this embodiment, the failure type is type II failure and the corresponding suspension function level is 3.

[0120] In some embodiments, different suspension function levels correspond to different types of available suspension functions.

[0121] In this embodiment, the available suspension functions corresponding to the suspension function level 3 may include some functions of the height adjustment function, the height adjustment suppression function, the damping control function, and the stiffness control function. The available suspension functions corresponding to the suspension function level 2 include the height adjustment suppression function and the damping control function. The available suspension functions corresponding to the suspension function level 1 include the height adjustment suppression function. The suspension function level 0 corresponds to disabling all suspension functions.

[0122] The suspension functions included in the types of each suspension function have been described in detail above and will not be elaborated here.

[0123] In some embodiments, different suspension function levels correspond to different numbers of available suspension functions.

[0124] For example, the higher the suspension function level, the greater the number of available suspension functions.

[0125] In some examples, the number of available suspension functions may be represented by a ratio of the available suspension functions to the total suspension functions of the suspension system. The higher the suspension function level, the greater the ratio of the available suspension functions to the total suspension functions of the suspension system.

[0126] For example, the correspondence between the suspension function level and the percentage of available suspension functions of the suspension system is as follows:

[0127] Suspension function level 3: 75% to 85% of the suspension functions are available.

[0128] Suspension function level 2: 35% to 50% of the suspension function is available.

[0129] Suspension function level 1: 10% to 15% of the suspension function is available.

[0130] Suspension function level 0: All suspension functions are disabled.

[0131] In some embodiments, different suspension function levels correspond to different types and quantities of available suspension functions.

[0132] For example, the available suspension functions corresponding to suspension function level 3 include: manual height adjustment function, speed-dependent height adjustment function, welcoming function, object picking function, and height return function in the height adjustment type functions; manual height adjustment inhibition function, automatic height adjustment inhibition function, inhibition function for stopping height adjustment during collision, and inhibition function for stopping height adjustment during maintenance in the height adjustment inhibition type functions; pitch damping control, roll damping control, vertical damping control, and speed-dependent damping control in the damping control type functions; and pitch stiffness control, roll stiffness control, and vertical stiffness control in the stiffness control type functions.

[0133] The available suspension functions corresponding to suspension function level 2 include: pitch damping control, roll damping control, vertical damping control and speed-dependent damping control in the damping control type functions; and manual height adjustment inhibition function, automatic height adjustment inhibition function, height adjustment inhibition function when stopping during collision, and height adjustment inhibition function when stopping during maintenance in the height adjustment inhibition type functions.

[0134] The available suspension functions corresponding to suspension function level 1 include: manual height adjustment inhibition function, automatic height adjustment inhibition function, inhibition function of stopping height adjustment during collision, and inhibition function of stopping height adjustment during maintenance.

[0135] Suspension function level 0 corresponds to disabling all suspension functions.

[0136] In some embodiments, the control device of the vehicle suspension system may also determine the suspension function level according to the number and location of at least one of hardware failures occurring in the height sensor and output values ​​exceeding a limit range.

[0137] In this embodiment, the failure parameters include failure type, failure quantity and failure position. The control device of the vehicle suspension system determines the suspension function level according to the current failure parameters. In the case where the failure type is a type of failure and the failure quantity is a single height sensor failure, for example Figure 5 The 10A failure shown determines that the suspension function level is 3. In the case where the failure type is a type 1 failure and two height sensors on the same side fail, for example, Figure 5 The left front height sensor 10A and the left rear height sensor 10C in the embodiment of the present invention, or Figure 5 The right front height sensor 10B and the right rear height sensor 10D determine that the suspension function level is 2.1. In the case where the failure type is a type of failure and two diagonal height sensors fail, for example, Figure 5 The left front height sensor 10A and the right rear height sensor 10D in the embodiment of the present invention, or Figure 5 The left rear height sensor 10C and the right front height sensor 10B determine that the suspension function level is 2.2. When the failure type is a type 1 failure and the number of failures is three height sensor failures, for example, Figure 5 10A, 10B and 10C in the failure, the suspension function level is determined to be 1. When the failure type is a type of failure and the number of failures is all height sensors, that is, Figure 5 Failures of 10A, 10B, 10C and 10D determine the suspension function level to be 0.

[0138] The available suspension functions corresponding to suspension function level 0, suspension function level 1, and suspension function level 3 have been described in detail above and will not be elaborated here.

[0139] In some embodiments, the available suspension functions corresponding to the suspension function level 2.1 and the suspension function level 2.2 may be the same.

[0140] For example, the available suspension functions of suspension function level 2.1 and suspension function level 2.2 are the same as the available suspension functions of suspension function level 2.

[0141] In other embodiments, the available suspension functions corresponding to the suspension function level 2.1 and the suspension function level 2.2 may be different.

[0142] For example, at least one of the type and number of available suspension functions of the suspension functionality level 2.2 is greater than that of the suspension functionality level 2.1.

[0143] In some embodiments, the vehicle suspension system performs vehicle body leveling according to the height data detected by the height sensor.

[0144] In this embodiment, the action may be specifically performed by a control device of the vehicle suspension system.

[0145] Correspondingly, the leveling of the vehicle body according to the height data detected by the height sensor includes: step S4100 and step S4200.

[0146] Step S4100, obtaining a height difference between the height of the shock absorber corresponding to the failed height sensor and a target height based on the height value of the shock absorber detected by the effective height sensor and the posture data reflecting the posture of the vehicle body.

[0147] In this embodiment, the posture data reflecting the posture of the vehicle body is determined by the pitch angle IMU_pitch, the roll angle IMU_roll and the yaw angle IMU_yaw through the IMU six-axis posture data. The three-axis full rotation matrix M can be determined based on the posture data. ZYX ,According to the three-axis full rotation matrix and the target height, the height difference between the shock absorber height corresponding to the failed height sensor and the target height can be obtained.

[0148] When the failure type is a type I failure, the target height may be the height value of the shock absorber detected by the effective height sensor. When the failure type is a type II failure, the target height may be determined by substituting the theoretical height value into the above formula (1) to calculate the theoretical wheel angle value corresponding to the theoretical height value. Then, based on the theoretical angle value, the height sensor closest to the theoretical angle value among the four angle values ​​detected by the four height sensors is determined as the height sensor in the effective state, and the height value of the shock absorber detected by the effective height sensor is used as the target height.

[0149] The three-axis full rotation matrix M ZYX It can be calculated by the following formula:

[0150]

[0151] The following describes step S4100 in detail by taking the failure type as type I failure and the failure number as two height sensors as an example.

[0152] When the failure type is a type I failure and the number of failed height sensors is two, that is, only two height sensors are in a valid state, such as Figure 4 As shown in the figure, the height data detected by the effective height sensor are the position coordinates B (x2, y2, z2) corresponding to point B and the position coordinates D (x4, y4, z4) corresponding to point D. The target height coordinates corresponding to the other two failed height sensors can be determined based on the position coordinates of point B or point D, that is, the position coordinates of A (x1, y1, z1) and C (x3, y3, z3) can be determined, and then the three-axis full rotation matrix M can be determined based on the IMU attitude data. ZYX , and through M ZYX The coordinates of points A and C are transformed to obtain A′ and C′, and then the height difference between the height of the shock absorber corresponding to the other two failed height sensors and the target height is obtained.

[0153] Step S4200: According to the height difference, the active suspension action corresponding to the failed height sensor is controlled to adjust the height of the shock absorber corresponding to the failed height sensor.

[0154] In some embodiments, when the failure type of the current failure parameter is a type I failure and the failure quantity corresponds to some height sensors, or when the failure type of the current failure parameter is a type II failure, the pitch angle and roll angle of the vehicle body are adjusted to their respective corresponding angle ranges.

[0155] In this embodiment, the action can be performed by, for example, a control device of a vehicle suspension system. After executing steps S4100 and S4200, the height of the shock absorber corresponding to the failed height sensor is adjusted, and the pitch angle IMU_pitch and the roll angle IMU_roll determined by the IMU six-axis attitude data are within their respective corresponding angle ranges.

[0156] After adjusting the vehicle body posture, the corresponding steps are performed according to whether the current pitch angle and roll angle of the vehicle body are within the corresponding angle ranges. If the pitch angle and roll angle of the vehicle body are within the corresponding angle ranges, the corresponding failure control mode is determined. For example, the failure control mode corresponding to the failure of a single height sensor is 1, the failure control mode corresponding to the failure of two height sensors is 2, and the failure control mode corresponding to the failure of three height sensors is 3.

[0157] If either the pitch angle or the roll angle of the vehicle body is not within the corresponding angle range, step S5100 and step S5200 are executed.

[0158] Step S5100, the vehicle suspension system can be used to update the height difference according to the height value of the shock absorber detected by the effective height sensor and the posture data reflecting the posture of the vehicle body when either the pitch angle or the roll angle of the vehicle body is not within the corresponding angle range.

[0159] In this embodiment, after the active suspension is controlled to adjust the vehicle's body posture, posture data reflecting the body posture is obtained, and it is determined whether the current body posture is tilted. When any one of the pitch angle and the roll angle in the posture data reflecting the body posture is not within the corresponding angle range, it means that the body posture after the body posture is leveled is still tilted. At this time, according to the height value of the shock absorber detected by the effective height sensor and the posture data reflecting the current body posture, the height difference between the height of the shock absorber corresponding to the failed height sensor and the target height is updated. The method for updating the height difference here is the same as the method recorded in the above step S4100, except for the posture data reflecting the body posture, which will not be repeated here.

[0160] Step S5200, according to the updated height difference and the set compensation amount, controlling the active suspension action corresponding to the failed height sensor to adjust the body posture of the vehicle; wherein the compensation amount is related to the tilt angle of the vehicle body.

[0161] In this embodiment, the compensation amount is an amount related to the pitch angle and roll angle of the vehicle body. For example, after the active suspension is controlled to adjust the vehicle body posture, the pitch angle and roll angle are still greatly different from their respective corresponding angle ranges. At this time, the corresponding compensation amount is determined according to the current pitch angle and roll angle, and the update number is recorded. After the compensation amount is determined, the updated height difference and the set compensation amount are used as the measured height difference. According to the measured height difference, the active suspension action corresponding to the failed height sensor is controlled to adjust the vehicle body posture.

[0162] According to an embodiment of the present application, when either the pitch angle or the roll angle of the vehicle body is not within the corresponding angle range, the height difference is updated according to the height value of the shock absorber detected by the effective height sensor and the posture data reflecting the vehicle body posture, and according to the updated height difference and the set compensation amount, the active suspension action corresponding to the failed height sensor is controlled to adjust the vehicle body posture, thereby realizing automatic control of the vehicle body posture and ensuring the safety of vehicle driving.

[0163] In some embodiments, the vehicle suspension system may be configured to increase the angle ranges corresponding to the pitch angle and the roll angle by a set step size when the number of updates of the height difference is greater than or equal to a first number threshold.

[0164] In this embodiment, the action can be specifically performed by the control device of the vehicle suspension system. In order to improve the efficiency of the vehicle body posture adjustment, a first number threshold is preset. For example, the first number threshold is preset to 5.

[0165] When the number of times the height difference is updated is less than the first number threshold, the pitch angle and the roll angle are within their respective corresponding angle ranges to determine whether the vehicle body posture is leveled. When the number of times the height difference is updated is greater than or equal to the first number threshold, the angle ranges corresponding to the pitch angle and the roll angle are increased by a set step size, so as to determine whether the vehicle body posture is leveled using the increased angle range, thereby improving the efficiency of vehicle body posture leveling.

[0166] In some embodiments, the vehicle suspension system may be configured to stop adjusting the vehicle body posture when the number of updates of the height difference is greater than a second number threshold.

[0167] In this embodiment, the action can be specifically performed by the control device of the vehicle suspension system. A threshold value of the number of vehicle body posture adjustments is preset, that is, a second number threshold value. For example, the second number threshold value is preset to 10.

[0168] When the number of updates of the height difference is greater than the second threshold value, it means that when the number of adjustments of the vehicle body is less than or equal to the second threshold value, either the pitch angle or the roll angle of the vehicle body is not within the corresponding angle range, that is, the vehicle body cannot be leveled, and the adjustment of the vehicle body posture is stopped at this time. Otherwise, it means that the vehicle body can be leveled.

[0169] In some embodiments, the vehicle suspension system can be used to reduce the suspension function level corresponding to the current failure parameter when either the pitch angle or the roll angle of the vehicle body cannot be adjusted to the corresponding angle range, wherein the lower the suspension function level, the less available suspension function.

[0170] For example, in the event that some height sensors fail and the vehicle body cannot be leveled, the number of available suspension functions is less than the number of available suspension functions when the vehicle body can be leveled.

[0171] In this embodiment, the action may be specifically performed by the control device of the vehicle suspension system. When some height sensors fail and any of the pitch angle and roll angle of the vehicle body cannot be adjusted to the corresponding angle range, the control device of the vehicle suspension system enters the failure control mode, and the suspension function level is lower than the suspension function level corresponding to the current failure parameter.

[0172] Continuing with the above example, when the failure type is a type of failure and the failure number is a single height sensor failure, the corresponding suspension function level is 3. If the vehicle body cannot be leveled, failure control mode 2 is determined, and the corresponding suspension function level is 2. When the failure type is a type of failure and the failure number is two height sensor failures, the corresponding suspension function level is 2. If the vehicle body cannot be leveled, failure control mode 3 is determined, and the corresponding suspension function level of failure control mode 3 is 1. When the failure type is a type of failure and the failure number is three height sensor failures, the corresponding suspension function level is 1. If the vehicle body cannot be leveled, failure control mode 4 is determined, and the suspension function level under failure control mode 4 is 0, and all available suspension functions of the suspension system are disabled.

[0173] In some embodiments, the lower the suspension functionality level, the fewer the number of available suspension functions.

[0174] In some embodiments, the lower the suspension functionality level, the fewer types of suspension functions are available.

[0175] In some embodiments, the vehicle suspension system can be used to perform the available suspension function by calculating the height value of the shock absorber corresponding to the failed height sensor after determining the specific control mode. The calculation method can be referred to in conjunction with Figure 4 The description will not be repeated here.

[0176] In some embodiments, a vehicle suspension system may be used to restore a disabled suspension function in a state where the height sensor is failed when a failure recovery time of the vehicle suspension system reaches a second time; wherein the failure recovery time is the time required to recover from a state where the height sensor is failed to a state where the height sensor is valid.

[0177] In this embodiment, the above actions may be executed by, for example, a control device of the vehicle suspension system.

[0178] Correspondingly, when the failure recovery time of the vehicle suspension system reaches a second time, restoring the disabled suspension function in the state where the height sensor fails, includes:

[0179] Step S6100, when the vehicle suspension system returns to normal, record the failure recovery time of the vehicle suspension system.

[0180] Step S6200: When the failure recovery time reaches a second time, the disabled suspension function in the state where the height sensor fails is restored.

[0181] For example, when the failure type is a type I failure and the number of failures is a single height sensor, the disabled suspension functions include the load balancing function, the super-height escape function, the camping leveling function, and the height voice adjustment function. When the failure recovery time reaches the second time, the load balancing function, the super-height escape function, the camping leveling function, and the height voice adjustment function are available.

[0182] In some embodiments, the second duration and the first duration are the same value.

[0183] In some embodiments, the second duration is a different value from the first duration.

[0184] According to an embodiment of the present application, by recording the failure recovery time when the vehicle suspension system returns to normal, and restoring the disabled suspension function when the failure recovery time reaches a second time, it is possible to automatically control the vehicle according to the state of the vehicle suspension system and ensure the driving safety of the vehicle.

[0185] In some embodiments, the vehicle suspension system can be used to adjust the pitch angle and roll angle of the vehicle body to their respective corresponding angle ranges when the height sensor fails and the driving state of the vehicle meets the failure processing conditions. The driving state includes at least one of the driving speed state, the driving acceleration state, the inclination state of the driving road surface, and the inclination state of the driving road surface ahead. Different failure parameters of the height sensor failure correspond to different failure processing conditions.

[0186] In this embodiment, the action may be performed by, for example, a control device of a vehicle suspension system. The action includes step S7100 and step S7200.

[0187] Step S7100, when the height sensor fails, obtain the vehicle's driving status information.

[0188] In some embodiments, the driving state information includes driving acceleration information, which may be IMU_Ax in the IMU six-axis attitude data, or the unsprung acceleration value and the acceleration value of IMU_Ax are obtained by four unsprung acceleration sensors 30 to determine the driving acceleration information of the vehicle.

[0189] In some embodiments, the driving state information includes driving speed information, and the driving speed information is determined by a speedometer of a wheel.

[0190] In some embodiments, the driving state information includes the inclination state of the road surface on which the vehicle is driving and the inclination state of the road surface ahead of the vehicle. The inclination state of the road surface can be determined based on the following information: Figure 2 The road surface image captured by the camera device 10 shown is obtained.

[0191] Those skilled in the art should understand that this is only an example of obtaining driving status information and should not be taken as a limitation to the embodiments of the present application.

[0192] Step S7200, when the driving state information satisfies the failure processing condition corresponding to the current failure parameter, the pitch angle and roll angle of the vehicle body are adjusted to their respective corresponding angle ranges.

[0193] In some embodiments, when the failure type of the current failure parameter is a type I failure and the failure quantity is a single height sensor, the failure processing condition includes that the driving acceleration is within the acceleration range and the driving speed is less than or equal to the first speed; or

[0194] When the failure type of the current failure parameter is a type I failure, the number of failures is two height sensors, and the failure positions are two diagonal height sensors, the failure processing condition includes that the driving acceleration is within the acceleration range, and the driving speed is less than or equal to the second speed; or

[0195] When the failure type of the current failure parameter is a type I failure, the number of failures is two height sensors, and the failure positions are two height sensors on the same side, the failure processing condition includes that the driving acceleration is within the acceleration range, and the driving speed is less than or equal to the third speed; or

[0196] When the failure type of the current failure parameter is a type I failure and the number of failures is three height sensors, the failure processing condition includes the driving acceleration and the driving speed being 0; or

[0197] When the failure type of the current failure parameter is a second-class failure, the failure processing condition includes the driving acceleration being 0, and the driving speed being less than or equal to the fourth speed;

[0198] Among them, the second type of failure includes that any one of the pitch angle and roll angle of the vehicle body after leveling exceeds the corresponding second angle range; the acceleration range includes 0 value, the first speed is greater than the second speed, the second speed is greater than the third speed, and the fourth speed is less than or equal to the first speed.

[0199] In this embodiment, after the driving state information is obtained, the driving state information is compared with the failure processing condition corresponding to the current failure parameter. The failure processing condition includes at least one of a driving speed threshold, a driving acceleration threshold, a slope threshold of the driving road surface, and a slope threshold of the driving road surface ahead.

[0200] For example, the failure type is a type of failure, and the failure number is a failure processing condition corresponding to the failure parameter of a single sensor: the inclination threshold of the road surface ahead of the vehicle, and 0 x ​<a1&&Vehicle speed 0 kpm < V0 < 65 kpm.

[0201] For another example, the failure handling condition corresponding to the failure parameter where the failure type is a type-I failure and two diagonal height sensors fail: 0 < A x <a1&&Vehicle speed 0 kpm < V0 < 50 kpm. The failure handling condition corresponding to the failure parameter where the failure type is a type-I failure and two height sensors on the same side fail: 0 < A x <a1&&Vehicle speed 0 kpm < V0 < 30 kpm. The failure handling condition corresponding to the failure parameter where the failure type is a type-I failure and the number of failed height sensors is three: 0 = A x &&Vehicle speed V0 = 0 kpm.

[0202] For yet another example, the failure handling condition corresponding to the failure parameter where the failure type is a type-II failure: 0 = A x &&Vehicle speed 0 < V0 < 65 kpm.

[0203] In one example, in the case of the failure parameter where the failure type is a type-I failure and the number of failed height sensors is three, if the obtained driving acceleration is equal to 0 and the driving speed V0 is 0, it is determined that the driving state information matches the failure handling condition corresponding to this failure parameter, and the vehicle body is leveled to adjust the pitch angle and roll angle of the vehicle body to their respective corresponding angular ranges.

[0204] According to the embodiments of the present application, by obtaining the driving state information of the vehicle and adjusting the pitch angle and roll angle of the vehicle body to their respective corresponding angular ranges when the driving state information matches the failure handling condition corresponding to the current failure type, the accuracy of vehicle body attitude adjustment can be further improved while ensuring driving safety.

[0205] Based on the vehicle suspension system of the embodiments of the present disclosure, the present disclosure also provides embodiments of a vehicle control method. Figure 6 Illustrates a vehicle control method according to some embodiments. This vehicle control method can be implemented by the control device of the suspension system. As Figure 6 shown, this vehicle control method may include the following steps S100 and step S200:

[0206] Step S100, determine that the height sensor of the suspension system fails.

[0207] In this step S100, for each height sensor of the suspension system, it can be determined whether the height sensor has a type-I failure according to whether it has a hardware failure or its output value exceeds the limit range. In the case where no type-I failure occurs, it is determined whether the height sensor has a type-II failure according to whether the pitch angle and roll angle of the vehicle body after leveling are within their respective corresponding angular ranges.

[0208] Step S200, when the suspension system is in a state of height sensor failure, determining the available suspension function of the vehicle suspension system according to the current failure parameters of the height sensor failure; wherein the height sensor is used to detect the vehicle body height, and the failure parameters include at least one of the failure type, failure number and failure position.

[0209] That is, the suspension function level is determined according to at least one of the failure type, the failure number, and the failure position. For example, when the failure type is a type of failure and the failure number is a single height sensor failure, the suspension function level is 3. When the failure type is a type of failure and the failure number is two height sensor failures, the suspension function level is 2. When the failure type is a type of failure and the failure number is three height sensors, the suspension function level is 1. When the failure type is a type of failure and the failure number is all height sensors, the suspension function level is 0.

[0210] When the failure type is a Category II failure, the suspension function level may be set to 3, for example.

[0211] Figure 7 FIG. 4 shows a vehicle control method according to some other embodiments, which can also be implemented by a control device of a suspension system. Figure 7 As shown, the vehicle control method may include steps S1 to S17.

[0212] Step S1, for each height sensor, determine whether the height sensor has a hardware failure and the output value exceeds the limit range; if so, execute step S3, if not, execute step S2.

[0213] Step S2, determining whether the pitch angle and roll angle of the vehicle body after leveling are within their respective corresponding angle ranges, if so, executing step S1, if not, executing step S3.

[0214] Step S3, record the expiration time.

[0215] Step S4, determine whether the expiration time reaches the first time, if so, execute step S5, if not, execute step S3.

[0216] Step S5, determining whether the height sensor is in a failed state.

[0217] Step S6, setting the suspension function level according to the failure parameter. Then, executing step S7.

[0218] In some examples, when the failure type is a Category II failure, the suspension functional level is 3.

[0219] In some other examples, when the failure type is a type I failure and the number of failures is two height sensors, the suspension function level is 2.

[0220] In some other examples, when the failure type is a type I failure and two height sensors on the same side fail, the suspension function level is 2.1.

[0221] Step S7, obtaining the driving state information of the vehicle, and then executing step S8.

[0222] Step S8, whether the driving status information of the vehicle matches the failure processing condition; if so, execute step S9, if not, execute step S7.

[0223] Step S9, leveling the vehicle body according to the height data detected by the height sensor, and then executing step S10.

[0224] Step S10, whether the pitch angle and the roll angle are within their respective corresponding angle ranges; if so, execute step S11, if not, that is, any one of the pitch angle and the roll angle of the vehicle body is not within the corresponding angle range, execute step S12.

[0225] Step S11, determining the failure control mode and suspension function level.

[0226] In this embodiment, the failure control mode is determined by the height sensor failure parameter. In the case where the pitch angle and the tilt angle can be adjusted within the angle range, the determined suspension function level is the initial suspension function level set in step S6.

[0227] After the failure control mode and the suspension function level are determined, available suspension functions may be executed according to the failure control mode, such as a control mode in which the left front height sensor fails.

[0228] Step S12, updating the height difference according to the height value of the shock absorber detected by the effective height sensor and the posture data reflecting the posture of the vehicle body.

[0229] Step S13, according to the updated height difference and the set compensation amount, controlling the active suspension action corresponding to the failed height sensor to adjust the body posture of the vehicle.

[0230] When executing step S12 and step S13, the number of times the height difference is updated is recorded, and step S14 and step S15 are executed to determine the number of times the height difference is updated.

[0231] Step S14: whether the number of times the height difference is updated is greater than or equal to the first number threshold. If so, execute step S15; otherwise, execute step S10.

[0232] Step S15, whether the number of times the height difference is updated is less than or equal to the second number threshold; if so, execute step S16; if not, execute step S17.

[0233] Step S16, increasing the angle ranges corresponding to the pitch angle and the roll angle respectively by the set step size, and then executing step S10.

[0234] In this embodiment, the angle ranges corresponding to the pitch angle and the roll angle are increased by a set step size for use in the determination in step S10.

[0235] Step S17, stop adjusting the vehicle body posture and lower the suspension function level.

[0236] After step S17, step S11 may be performed to determine the failure control mode and the suspension function level, wherein the determined suspension function level is a downgraded suspension function level.

[0237] When the suspension function level determined according to the failure parameters is 3, the suspension function level is lowered to 2; when the suspension function level determined according to the failure parameters is 2, the suspension function level is lowered to 1; when the suspension function level determined according to the failure parameters is 1, the suspension function level is lowered to 0.

[0238] In some examples, the lower the suspension functionality level, the fewer the number of available suspension functions.

[0239] In some examples, the lower the suspension functionality level, the fewer types of suspension functions are available.

[0240] If the vehicle suspension system returns to normal, that is, the height sensor does not have a type 1 failure or a type 2 failure, the failure recovery time is recorded. When the failure recovery time reaches the second time, the suspension function that was disabled when the height sensor failed is restored.

[0241] According to the method of this embodiment, when the suspension system is in a state of height sensor failure, the available suspension function of the vehicle suspension system is determined according to the current failure parameter of the height sensor failure; wherein the height sensor is used to detect the vehicle height, and the failure parameter includes at least one of the failure type, the failure number and the failure position. The problem of loss of suspension function due to failure of a single height sensor in the related art, which in turn leads to safety risks, can be avoided, thereby improving the driving safety of the driver.

[0242] In some embodiments, Figure 8 As shown, a vehicle control device 800 is also provided. The device 800 includes a memory 801 and a processor 802. The memory 801 is used to store executable instructions, and the instructions are used to control the processor 802 to operate to execute the vehicle control method described in the embodiment of the present application.

[0243] In some embodiments, a vehicle 900 is also provided, such as Fig. 9 As shown, the vehicle 900 includes the vehicle suspension system 100 shown in FIG. 1 .

[0244] In other embodiments, Fig.10 As shown, the vehicle 900 includes Figure 8 Vehicle controls shown.

[0245] The present invention may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present invention.

[0246] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0247] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0248] The computer program instructions for performing the operation of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be personalized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present invention.

[0249] Various aspects of the present invention are described herein with reference to the flow charts and / or block diagrams of the methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each box of the flow chart and / or block diagram and the combination of each box in the flow chart and / or block diagram can be implemented by computer-readable program instructions.

[0250] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0251] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0252] The flow charts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a part of a module, a program segment or an instruction, and a part of the module, a program segment or an instruction contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that it is equivalent to implement it by hardware, implement it by software, and implement it by combining software and hardware.

[0253] Embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements to the technology in the marketplace, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present invention is defined by the appended claims.

Claims

1. A vehicle suspension system, characterized in that: include: A plurality of height sensors, wherein the height sensors are used to detect the height of the vehicle body; In a state where the height sensor fails, an available suspension function of the vehicle suspension system is determined according to current failure parameters of the height sensor failure; wherein the failure parameters include at least one of a failure type, a failure number, and a failure position.

2. The vehicle suspension system according to claim 1, characterized in that: The failure type includes a type of failure, and the type of failure includes at least one of a hardware failure of the height sensor and an output value exceeding a limit range; and / or, The failure type includes a type II failure, and the type II failure includes that any one of a pitch angle and a roll angle of the vehicle body after leveling exceeds a corresponding angle range.

3. The vehicle suspension system according to claim 2, characterized in that: The vehicle suspension system performs vehicle body leveling according to the height data detected by the height sensor.

4. The vehicle suspension system according to claim 2, characterized in that: When the failure type of the current failure parameter is a type II failure, or when the failure type of the current failure parameter is a type I failure and the number of failures is a single height sensor, the available suspension functions include some functions of the height adjustment function, as well as height suppression adjustment functions, damping control functions, and stiffness control functions; or, When the failure type of the current failure parameter is a type I failure and the number of failures is two height sensors, the available suspension functions include height suppression adjustment type functions and damping control type functions; or, When the failure type of the current failure parameter is a type I failure and the number of failures is three height sensors, the available suspension functions include inhibiting height adjustment functions; or, When the failure type of the current failure parameter is a type I failure and the failure quantity corresponds to all height sensors, all suspension functions are disabled.

5. The vehicle suspension system according to claim 2, characterized in that: When the failure type of the current failure parameter is a type I failure and the number of failures corresponds to some height sensors, or when the failure type of the current failure parameter is a type II failure, the pitch angle and roll angle of the vehicle body are adjusted to their respective corresponding angle ranges.

6. The vehicle suspension system according to claim 5, characterized in that: When any one of the pitch angle and the roll angle of the vehicle body cannot be adjusted to the corresponding angle range, the suspension function level corresponding to the current failure parameter is reduced, wherein the lower the suspension function level, the less available suspension function.

7. The vehicle suspension system according to claim 2, characterized in that: In the case where any one of a hardware failure and an output value of the height sensor exceeds a limit range occurs, the height sensor fails, and the failure type of the current failure parameter is a type I failure; In the case where there is no hardware failure in the height sensor and the output value exceeds the limit range, when any one of the pitch angle and the roll angle of the vehicle body after leveling exceeds the corresponding angle range, the height sensor fails, and the failure type of the current failure parameter is the second type of failure.

8. The vehicle suspension system according to claim 7, characterized in that: First, determine whether the height sensor has a hardware failure. If the height sensor has a hardware failure, the height sensor fails. In the case that there is no hardware failure in the height sensor, it is determined whether the output value of the height sensor exceeds the limit range. In the case that the output value of the height sensor exceeds the limit range, the height sensor fails.

9. The vehicle suspension system according to any one of claims 1 to 8, characterized in that: When the duration of height sensor failure of the vehicle suspension system reaches a first duration, the vehicle suspension system is in a state of height sensor failure.

10. The vehicle suspension system according to any one of claims 1 to 8, characterized in that: When the failure recovery time of the vehicle suspension system reaches a second time, the disabled suspension function in the state where the height sensor fails is restored; wherein the failure recovery time is the time taken to recover from the state where the height sensor fails to the state where the height sensor is valid.

11. The vehicle suspension system according to any one of claims 1 to 8, characterized in that: When the height sensor fails, the driving state of the vehicle meets the failure processing conditions, and the pitch angle and roll angle of the vehicle body are adjusted to their respective corresponding angle ranges; Among them, the driving state includes at least one of the driving speed state, the driving acceleration state, the inclination state of the driving road surface and the inclination state of the driving road ahead. The failure parameters of the height sensor failure are different, and the corresponding failure processing conditions are different.

12. The vehicle suspension system according to claim 11, characterized in that When the failure type of the current failure parameter is a type I failure and the failure quantity is a single height sensor, the failure processing condition includes that the driving acceleration is within the acceleration range and the driving speed is less than or equal to the first speed; or When the failure type of the current failure parameter is a type I failure, the number of failures is two height sensors, and the failure positions are two diagonal height sensors, the failure processing condition includes that the driving acceleration is within the acceleration range, and the driving speed is less than or equal to the second speed; or When the failure type of the current failure parameter is a type I failure, the number of failures is two height sensors, and the failure positions are two height sensors on the same side, the failure processing condition includes that the driving acceleration is within the acceleration range, and the driving speed is less than or equal to the third speed; or When the failure type of the current failure parameter is a type 1 failure and the number of failures is three height sensors, the failure processing condition includes the driving acceleration and the driving speed being 0; or When the failure type of the current failure parameter is a second-class failure, the failure processing condition includes the driving acceleration being 0, and the driving speed being less than or equal to the fourth speed; Among them, the second type of failure includes that any one of the pitch angle and roll angle of the vehicle body after leveling exceeds the corresponding second angle range; the acceleration range includes 0 value, the first speed is greater than the second speed, the second speed is greater than the third speed, and the fourth speed is less than or equal to the first speed.

13. A vehicle control method, characterized in that: include: When the suspension system is in a state of height sensor failure, the available suspension function of the vehicle suspension system is determined according to the current failure parameters of the height sensor failure; wherein the height sensor is used to detect the vehicle body height, and the failure parameters include at least one of the failure type, failure number and failure position.

14. A vehicle control device, characterized in that: The invention comprises a memory and a processor, wherein the memory stores executable instructions, and the instructions are used to control the processor to operate so as to execute the vehicle control method according to claim 13.

15. A vehicle, characterized in that: A vehicle suspension system comprising any one of claims 1 to 12, or a vehicle control device comprising claim 14.

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