Vehicle suspension calibration method, device and equipment and storage medium

Abstract

The invention relates to a calibration method, device and equipment for a vehicle suspension and a storage medium, and relates to the technical field of automobiles. The method is applied to a vehicle and comprises the steps that a plurality of height values of the vehicle and a plurality of measured values of a target sensor are obtained, the target sensor is a sensor on any vehicle suspension in the vehicle and used for measuring the angle between a suspension swing arm of the vehicle suspension and a vehicle body, and one height value corresponds to one measured value. According to the multiple height values and the multiple measurement values, a target function relation corresponding to the target sensor is determined, and the target function relation is used for converting the measurement angle of the target sensor into the vehicle height. And calibrating the vehicle suspension according to the target function relationship.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and in particular to a calibration method, device, equipment and storage medium for a vehicle suspension. Background Art

[0002] Vehicles, as a common means of transportation in people's lives, can travel on different road conditions and synchronize changes in road conditions by controlling the vehicle suspension.

[0003] At present, in the process of controlling the vehicle suspension to synchronize with changes in road conditions, the vehicle can convert the angle value between the suspension swing arm and the vehicle body measured by the sensor on the vehicle suspension into a height value based on the unified calibration result of the vehicle suspension, obtain the suspension height of the vehicle suspension, and adjust the height of the vehicle suspension based on the suspension height to synchronize with changes in road conditions.

[0004] However, due to differences in manufacturing processes, the angle changes between the suspension arm and the vehicle body of different vehicles are inconsistent, resulting in differences in the conversion parameters between the angle value and the height value of the suspension of different vehicles. Therefore, how to calibrate the suspension of each vehicle to adapt to the differences in different vehicles has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] The present application provides a vehicle suspension calibration method, device, equipment and storage medium to at least solve the technical problem of how to calibrate each vehicle suspension in the related art to adapt to the differences of different vehicles. The technical solution of the present application is as follows:

[0006] According to the first aspect of the present application, a method for calibrating a vehicle suspension is provided, which is applied to a vehicle, and includes: obtaining multiple height values ​​of the vehicle and multiple measurement values ​​of a target sensor, wherein the target sensor is a sensor on any vehicle suspension in the vehicle, and the target sensor is used to measure the angle between the suspension arm of the vehicle suspension and the vehicle body, and one height value corresponds to one measurement value. According to the multiple height values ​​and the multiple measurement values, a target function relationship corresponding to the target sensor is determined, and the target function relationship is used to convert the measurement angle of the target sensor into the vehicle height. According to the target function relationship, the vehicle suspension is calibrated.

[0007] According to the above technical means, multiple height values ​​of the vehicle and multiple measurement values ​​of the target sensor are obtained, and the height values ​​and the measurement values ​​are matched with each other. Then, according to the multiple height values ​​and the multiple measurement values, the target function relationship corresponding to the target sensor is determined, and the measurement angle of the target sensor is converted into the vehicle height. Finally, according to the target function relationship, the vehicle suspension is calibrated. In this way, the function relationship fitting can be realized according to the vehicle differentiation, and the vehicle suspension of different vehicles can be differentiated, thereby improving the accuracy of the calibration of the vehicle suspension.

[0008] In a possible implementation, before the above method of "calibrating the vehicle suspension according to the objective function relationship", the method further includes: determining whether the objective function relationship matches the preset function template. If the objective function relationship matches the preset function template, the vehicle suspension is calibrated according to the objective function relationship.

[0009] According to the above technical means, by judging whether the objective function relationship matches the preset function template, different measures are taken. When the objective function relationship matches the preset function template, the objective function relationship is stored in the controller of the vehicle suspension. It can be judged whether the calibration of the vehicle suspension is successful so as to take corresponding measures.

[0010] In a possible implementation, the method further includes: generating warning information when the objective function relationship does not match the preset function template, wherein the warning information is used to indicate that the objective function relationship is inaccurate.

[0011] According to the above technical means, when the objective function relationship does not match the preset function template, an alarm message is generated. Appropriate treatment can be taken for vehicles whose suspension calibration is unsuccessful, and offline repairs can be performed.

[0012] In a possible implementation, the multiple height values ​​include a standard value. The above-mentioned method of "determining the target function relationship corresponding to the target sensor based on the multiple height values ​​and the multiple measurement values" includes: determining the initial function relationship corresponding to the target sensor based on the multiple height values ​​and the multiple measurement values, and the initial function relationship is used to convert the measurement angle of the target sensor into the vehicle height. According to the standard value and the measurement value corresponding to the standard value, the initial function relationship is corrected to obtain the target function relationship, and the target function relationship is also used to convert the measurement value corresponding to the standard value into the standard value.

[0013] According to the above technical means, the initial functional relationship corresponding to the target sensor is determined according to the height value and the measured value. Then, the initial functional relationship is corrected according to the standard value and the measured value corresponding to the standard value to obtain the target functional relationship. The error before and after correction can be reduced, and the actual functional relationship can be better fitted to achieve differentiated calibration of vehicle suspensions of different vehicles.

[0014] In a possible implementation, the method includes: being applied to a vehicle management device, where the vehicle management device is used to transfer vehicles between different production lines.

[0015] According to the above technical means, the vehicle management equipment is used to transfer vehicles between different production lines, so that the calibration process can occur during the transfer of the production line lifting platform, reducing the calibration time and calibration rhythm, and improving the production line rhythm.

[0016] In a possible implementation, the vehicle management device includes a plurality of preset lifting columns. The method of "obtaining a plurality of height values ​​of the vehicle and a plurality of measurement values ​​of the target sensor" includes: controlling the height change of the vehicle through the plurality of preset lifting columns, obtaining a plurality of height values, and the measurement value corresponding to the target sensor when the vehicle is at each height value.

[0017] According to the above technical means, the height change of the vehicle is controlled by presetting the lifting column, and then the measurement values ​​of the sensor at different height states are obtained to ensure that the measurement values ​​of the sensor at different height states correspond thereto, which can improve the accuracy of the height value and the measurement value.

[0018] According to a second aspect provided by the present application, a calibration device for a vehicle suspension is provided, which is applied to a vehicle. The device includes: an acquisition module and a processing module.

[0019] The acquisition module is used to acquire multiple height values ​​of the vehicle and multiple measurement values ​​of the target sensor. The target sensor is a sensor on any vehicle suspension in the vehicle. The target sensor is used to measure the angle between the suspension arm of the vehicle suspension and the vehicle body. One height value corresponds to one measurement value. The processing module is used to determine the target function relationship corresponding to the target sensor according to the multiple height values ​​and the multiple measurement values. The target function relationship is used to convert the measurement angle of the target sensor into the vehicle height. The processing module is also used to calibrate the vehicle suspension according to the target function relationship.

[0020] In a possible implementation, the processing module is specifically used to determine whether the objective function relationship matches the preset function template. The processing module is also used to calibrate the vehicle suspension according to the objective function relationship when the objective function relationship matches the preset function template.

[0021] In a possible implementation, the processing module is further configured to generate an alarm message when the objective function relationship does not match the preset function template, wherein the alarm message is used to indicate that the objective function relationship is inaccurate.

[0022] In a possible implementation, the processing module is specifically used to determine an initial functional relationship in the target sensor according to multiple height values ​​and multiple measurement values, and the initial functional relationship is used to convert the measurement angle of the target sensor into the vehicle height. The processing module is also used to correct the initial functional relationship according to the standard value and the measurement value corresponding to the standard value to obtain a target functional relationship, and the target functional relationship is also used to convert the measurement value corresponding to the standard value into the standard value.

[0023] In a possible implementation, the processing module is specifically used in a vehicle management device, and the vehicle management device is used to transfer vehicles between different production lines.

[0024] In a possible implementation, the acquisition module is specifically configured to control the height change of the vehicle through a plurality of preset lifting columns, and acquire a plurality of height values ​​and a measurement value corresponding to the target sensor of the vehicle at each height value.

[0025] According to a third aspect provided by the present application, an electronic device is provided, comprising: a processor and a memory for storing instructions executable by the processor, wherein the processor is configured to execute the instructions to implement a method of any possible implementation of the first aspect above.

[0026] According to the fourth aspect provided by the present application, a computer-readable storage medium is provided. When the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute a method of any possible implementation of the above-mentioned first aspect.

[0027] According to a fifth aspect provided by the present application, a computer program product is provided, the computer program product comprising computer instructions, which, when executed on a vehicle, enable an electronic device to execute a method of any possible implementation of the first aspect described above.

[0028] Therefore, the above technical features of the present application have the following beneficial effects:

[0029] (1) By obtaining multiple height values ​​of the vehicle and multiple measurement values ​​of the target sensor, the height values ​​and the measurement values ​​are matched with each other. Then, based on the multiple height values ​​and the multiple measurement values, the target function relationship corresponding to the target sensor is determined, and the measurement angle of the target sensor is converted into the vehicle height. Finally, the vehicle suspension is calibrated according to the target function relationship. In this way, the function relationship fitting can be realized according to the vehicle differentiation, and the vehicle suspension of different vehicles can be differentiated, thereby improving the accuracy of the vehicle suspension calibration.

[0030] (2) By judging whether the objective function relationship matches the preset function template, different measures are taken. When the objective function relationship matches the preset function template, the objective function relationship is stored in the controller of the vehicle suspension. It can be judged whether the calibration of the vehicle suspension is successful so as to take corresponding measures.

[0031] (3) When the objective function relationship does not match the preset function template, an alarm message is generated. Appropriate treatment can be taken for vehicles whose suspension calibration is unsuccessful, such as offline repair.

[0032] (4) The initial functional relationship corresponding to the target sensor is determined based on the height value and the measured value. Then, the initial functional relationship is corrected based on the standard value and the measured value corresponding to the standard value to obtain the target functional relationship. The error before and after correction can be reduced, and the actual functional relationship can be better fitted to achieve differentiated calibration of vehicle suspensions of different vehicles.

[0033] (5) Vehicle management equipment is used to transfer vehicles between different production lines. The calibration process can be carried out during the transfer of the production line lifting platform, reducing the calibration time and calibration cycle, and improving the production line cycle.

[0034] (6) The height change of the vehicle is controlled by presetting the lifting column, and then the measurement values ​​of the sensor at different height states are obtained to ensure that the measurement values ​​of the sensor at different height states correspond to them, which can improve the accuracy of the height value and the measurement value.

[0035] It should be noted that the technical effects brought about by any implementation method in the second to fifth aspects can refer to the technical effects brought about by the corresponding implementation method in the first aspect, and will not be repeated here.

[0036] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application, and do not constitute an improper limitation on the present application.

[0038] Figure 1 is a schematic diagram of an air suspension structure according to an exemplary embodiment;

[0039] Figure 2 is a structural schematic diagram of a vehicle management device according to an exemplary embodiment;

[0040] Figure 3 is a schematic diagram showing an example of a calibration process according to an exemplary embodiment;

[0041] Figure 4 is a flow chart of a vehicle suspension calibration method according to an exemplary embodiment;

[0042] Figure 5 is a flow chart showing another method for calibrating a vehicle suspension according to an exemplary embodiment;

[0043] Figure 6 is a flow chart showing another method for calibrating a vehicle suspension according to an exemplary embodiment;

[0044] Figure 7 is a schematic diagram showing an example of functional relationship correction according to an exemplary embodiment;

[0045] Figure 8 is an example flow chart of calibration of a vehicle suspension according to an exemplary embodiment;

[0046] Fig. 9 is a block diagram of a vehicle suspension calibration device according to an exemplary embodiment;

[0047] Fig.10 It is a block diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0048] In order to enable ordinary persons in the art to better understand the technical solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0049] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0050] Before introducing the vehicle suspension calibration method of the embodiment of the present application in detail, the implementation environment and application scenarios of the embodiment of the present application are first introduced.

[0051] With the rapid development of the automobile industry, users have put forward more stringent requirements for vehicle design, especially the growing expectations for the flexibility of vehicle height adjustment and ride comfort. In this context, vehicle suspension technology (such as air suspension) stands out with its excellent performance. By cleverly utilizing the compressible and expandable characteristics of gas, it realizes intelligent and active adjustment of vehicle height, effectively alleviates the bumps and impacts caused by uneven roads, and greatly improves the stability and comfort of driving. Therefore, air suspension is gradually becoming a popular choice in the automobile market.

[0052] In the existing technology, the vehicle posture is monitored in real time by a camera, and the captured data is analyzed and processed to adjust the height of the vehicle suspension. However, the promotion and application of this technology faces two major challenges: one is the cost issue. The camera and its supporting processing system are expensive, which may increase the production cost of the vehicle. The second is the accuracy issue. Although camera technology is becoming increasingly mature, the measurement is not direct, but is obtained through secondary analysis and processing of the captured data, which is not as accurate as direct measurement.

[0053] Based on this, it is necessary to innovate existing technologies, improve process accuracy and reduce production costs. Since air suspension uses sensors to identify the body posture to adjust the height of the vehicle, it provides an effective solution to this problem.

[0054] like Figure 1 As shown, the air suspension includes: at least one air suspension (such as a left front air suspension 101, a right front air suspension 102, a left rear air suspension 103, and a right rear air suspension 104), at least one sensor (such as a left front sensor 105, a right front sensor 106, a left rear sensor 107, and a right rear sensor 108), an air suspension controller (such as a suspension control unit (SCU)) 109 and an air supply unit assembly 110.

[0055] The air suspension controller 105 can monitor the height of the air suspension through sensors (such as the left front sensor 105, the right front sensor 106, the left rear sensor 107, and the right rear sensor 108) on the air suspension (such as the left front air suspension 101, the right front air suspension 102, the left rear air suspension 103, and the right rear air suspension 104). The air suspension controller 105 can also obtain other status information of the vehicle. Then, the air supply unit assembly 110 provides compressed air to the vehicle air spring according to the monitored information to adjust the height of the air suspension.

[0056] That is to say, the current method of identifying height is to connect the sensor between the suspension arm and the vehicle body. However, the sensor is an angle sensor, and the air suspension controller needs to convert the angle value measured by it to obtain the height. Therefore, the calculation method directly affects the accuracy of height recognition.

[0057] At present, when dealing with the problem of air suspension height recognition, most methods are to set a function relationship in the control software, and adjust a parameter in the function relationship by a specific height and corresponding angle value actually measured on the production line. For example, the Δx of the linear function y=k(x+Δx)+b is corrected, and the cubic function y=a(x+Δx) is corrected. 3 +b(x+Δx)2 +c(x+Δx)+d to correct Δx. However, the other parameters in these functional relationships are unified for all vehicles and do not have the ability to be adjusted differently for each vehicle. In view of the inevitable errors in the manufacturing and assembly of automotive parts, except for specific heights, the fitting accuracy of an established functional relationship is always unsatisfactory by changing only one parameter. In addition, some calibration processes are also subject to specific pressure conditions. If the conditions are not met, additional operations are required, which not only increases the complexity, but may also affect the efficiency and beat of the production line.

[0058] In summary, due to differences in manufacturing processes, the angle changes between the suspension arm and the vehicle body of different vehicles are inconsistent, resulting in differences in the conversion parameters between the angle value and the height value of the suspension of different vehicles. Therefore, how to calibrate the suspension of each vehicle to adapt to the differences in different vehicles is a technical problem that needs to be solved urgently.

[0059] In order to solve the above problems, an embodiment of the present application provides a calibration method for a vehicle suspension. By obtaining multiple height values ​​of the vehicle and multiple measurement values ​​of the target sensor, and making the height values ​​and the measurement values ​​correspond to each other. Then, based on the multiple height values ​​and the multiple measurement values, the target function relationship corresponding to the target sensor is determined, and the target function relationship is used to convert the measurement angle of the target sensor into the vehicle height. In this way, the error of the sensor in the parameter conversion process of different vehicle suspensions can be reduced, and the parameters of the sensors on the vehicle suspension can be better managed to adapt to the differences in different vehicles.

[0060] The implementation environment of the embodiments of the present application is introduced below.

[0061] Figure 2 FIG. 1 is a schematic diagram showing a structure of a vehicle management device according to an exemplary embodiment. Figure 2 As shown, the device includes: a support plate 200, a ground 201, at least one vehicle lifting column (such as vehicle lifting column 202, vehicle lifting column 203, vehicle lifting column 204, vehicle lifting column 205), at least one support plate lifting guide rail (such as support plate lifting guide rail 206, support plate lifting guide rail 207, support plate lifting guide rail 208, support plate lifting guide rail 209), at least one vehicle lifting column control line (such as vehicle lifting column control line 210, vehicle lifting column control line 211, vehicle lifting column control line 212, vehicle lifting column control line 213), support plate control line 214, control cabinet control line 215, vehicle control line 216, control cabinet 217, and host computer 218.

[0062] The control cabinet 217 can communicate with the host computer 218 via the control cabinet control line 215. The host computer 218 can send instructions to the control cabinet 217 via the control cabinet control line 215, and the control cabinet 217 controls other devices. For example, the host computer 218 can send instructions to the control cabinet 217 via the control cabinet control line 215, and the control cabinet 217 controls the vehicle lifting column to move up and down through the vehicle lifting column control line (such as the vehicle lifting column control line 210, the vehicle lifting column control line 211, the vehicle lifting column control line 212, and the vehicle lifting column control line 213).

[0063] The vehicle lifting column can communicate with the control cabinet 217 via the vehicle lifting column control line. For example, the vehicle lifting column 202 can communicate with the control cabinet 217 via the vehicle lifting column control line 210, and for another example, the vehicle lifting column 203 can communicate with the control cabinet 217 via the vehicle lifting column control line 211, and for another example, the vehicle lifting column 204 can communicate with the control cabinet 217 via the vehicle lifting column control line 212, and for another example, the vehicle lifting column 205 can communicate with the control cabinet 217 via the vehicle lifting column control line 213.

[0064] The support plate 200 can communicate with the control cabinet 217 via the support plate control line 214. The control cabinet 217 can control the support plate 200 to move up and down along the support plate lifting rails (such as the support plate lifting rails 206, the support plate lifting rails 207, the support plate lifting rails 208, and the support plate lifting rails 209) via the support plate control line 214 to simulate the scene of the calibration process, that is, the transfer of the vehicle between different production lines.

[0065] Specifically, the vehicle management equipment can be implemented based on the production line transfer lift station. During the calibration process of the vehicle management equipment, the production line transfer lift can communicate with the vehicle suspension controller in the vehicle (such as the above-mentioned air suspension controller) and send corresponding diagnostic instructions. Subsequently, the production line transfer lift station can control the change of vehicle height and obtain height information. Then, the vehicle height is sent to the vehicle suspension controller in a specific order according to specific instructions.

[0066] When the vehicle suspension controller receives the height, it immediately reads the original value of the sensor, and combines the actual height value of the vehicle suspension and the corresponding original value of the sensor to obtain an array. Each vehicle suspension will have multiple arrays. Next, the multiple arrays belonging to the same air suspension will be fitted according to the established function law to determine the coefficients in the function and finally form a specific function relationship. And each array of the air suspension contains an array of standard height. The standard height refers to the height of the vehicle's curb weight state. When the vehicle body height is the standard height, the body is in the design state. The standard height can be defined as 0 in this application. Finally, after confirming the functional relationship, the array of standard height is substituted into the functional relationship. Each parameter in the functional relationship can be corrected so that it can be configured differently according to different vehicles, reducing the impact of errors such as manufacturing and assembly.

[0067] It should be noted that the embodiment of the present application does not limit the type of vehicle suspension in the vehicle. For example, the type of vehicle suspension may be an air suspension, or a hydraulic suspension, or a leaf spring suspension.

[0068] Exemplarily, the process of calibrating a vehicle by a vehicle management device is as follows: Figure 3 As shown, during calibration, the tires of the vehicle 300 are always in close contact with the support plate 200, and the four load-bearing blocks of the vehicle lifting column 202, the vehicle lifting column 203, the vehicle lifting column 204, and the vehicle lifting column 205 are respectively supported at four positions of the vehicle body. The upper computer 218 can send instructions to the control cabinet 217 through the control cabinet control line 215, and the control cabinet 217 controls the up and down movements of the vehicle lifting column 202, the vehicle lifting column 203, the vehicle lifting column 204, and the vehicle lifting column 205.

[0069] The vehicle 300 is affected by its own gravity and moves up and down synchronously with the lifting actions of the vehicle lifting column 202, the vehicle lifting column 203, the vehicle lifting column 204, and the vehicle lifting column 205, thereby causing the height of the vehicle 300 to change accordingly. In other words, the height change of the vehicle 300 is the same as the displacement change of the vehicle lifting column 202, the vehicle lifting column 203, the vehicle lifting column 204, and the vehicle lifting column 205. And the displacement change will be detected by the displacement sensors of the vehicle lifting column 202, the vehicle lifting column 203, the vehicle lifting column 204, and the vehicle lifting column 205, and transmitted to the control cabinet 217 through the corresponding control lines (such as the vehicle lifting column control line 210, the vehicle lifting column control line 211, the vehicle lifting column control line 212, and the vehicle lifting column control line 213), and the control cabinet 217 will convert this displacement into the height value of the vehicle. Then, this height value is sent to the vehicle 300 in the form of a diagnostic command through the vehicle control line 216, and the vehicle 300 will synchronously transmit the diagnostic command to the vehicle suspension controller (such as the air suspension controller 109); after receiving the diagnostic command, the vehicle suspension controller will immediately read the values ​​of each sensor (such as the left front sensor 105, the right front sensor 106, the left rear sensor 107, and the right rear sensor 108), and combine the sensor value with the vehicle height value into an array according to the established rules. The vehicle lifting column (such as the vehicle lifting column 202, the vehicle lifting column 203, the vehicle lifting column 204, and the vehicle lifting column 205) will move multiple times, and after each movement is completed, it will wait for the vehicle suspension controller to reply with a positive response, so as to complete the height measurement, transmission, and the vehicle suspension controller to complete the sensor data reading, combination, and fitting.

[0070] After the data fitting is completed, the array under the standard height is substituted into the fitted function, and the functional relationship is corrected to obtain the final functional relationship. At this time, the calibration is completed. In order to achieve better calibration, the sensors of the vehicle lifting columns (such as vehicle lifting columns 202, vehicle lifting columns 203, vehicle lifting columns 204, and vehicle lifting columns 205) need to be zeroed in advance, that is, when the vehicle body height is the standard height, the sensor measurement value is 0.

[0071] The control cabinet 217 can perform wired communication with the vehicle 300 through the vehicle control line 216. The control cabinet 217 can perform diagnostic communication with the vehicle 300 through the vehicle control line 216 to obtain the data, and send the data to the vehicle 300 in the form of diagnostic instructions.

[0072] It should be noted that the embodiment of the present application does not limit the form of the instruction. For example, the form of the diagnostic instruction sent by the control cabinet 217 to the vehicle 300 through the vehicle control line 216 and synchronously transmitted to the vehicle suspension controller can be 31 011001hsc, and for another example, the form of the affirmative response instruction of the vehicle suspension controller to combine two sets of data and store them internally can be 71 01 10 01, and for another example, the control cabinet sends a diagnostic instruction query result to the vehicle suspension controller, and the diagnostic instruction is 31 03 10 01, and for another example, the positive response of the vehicle suspension controller to the fitting and correction results is 7103 10 01, and for another example, the negative response of the vehicle suspension controller to the fitting and correction results is 7F 31 03.

[0073] For ease of understanding, the vehicle suspension calibration method provided in the present application is specifically introduced below with reference to the accompanying drawings. Figure 4 is a flow chart of a method for calibrating a vehicle suspension according to an exemplary embodiment. Figure 4 As shown, the method comprises the following steps:

[0074] S401. Acquire multiple height values ​​of the vehicle and multiple measurement values ​​of the target sensor.

[0075] The embodiment of the present application does not limit the height value of the vehicle. For example, the height value of the vehicle may be the difference between the height of the vehicle chassis and the ground relative to the standard height. For another example, the height value of the vehicle may be the difference between the height of the vehicle top and the ground relative to the standard height. For another example, the height value of the vehicle may be the difference between the height of the wheel arch and the wheel core relative to the standard height.

[0076] For example, taking the height value of a vehicle as the difference between the height of the fender and the wheel core relative to the standard height as an example, the multiple height values ​​of the vehicle may include: -30 millimeters (mm), -15 mm, 0 mm, 15 mm, and 30 mm. Among them, -30 mm is used to indicate that the difference between the height of the fender and the wheel core relative to the standard height is 30 mm, -15 mm is used to indicate that the difference between the height of the fender and the wheel core relative to the standard height is 15 mm, 0 mm is used to indicate that the difference between the height of the fender and the wheel core relative to the standard height is 0 mm, 15 mm is used to indicate that the difference between the height of the fender and the wheel core relative to the standard height is 15 mm, and 30 mm is used to indicate that the difference between the height of the fender and the wheel core relative to the standard height is 30 mm.

[0077] In an embodiment of the present application, the target sensor is used to measure the angle between the suspension swing arm of the vehicle suspension and the vehicle body, that is, the measurement value of the target sensor can be the angle value between the suspension swing arm of the vehicle suspension where the target sensor is located and the vehicle body.

[0078] The target sensor is a sensor on any vehicle suspension in the vehicle. For example, the target sensor can be the above Figure 1 Any one of the left front sensor 105, right front sensor 106, left rear sensor 107, and right rear sensor 108 shown.

[0079] It should be noted that the embodiment of the present application does not limit the type of vehicle suspension in the vehicle. For example, the type of vehicle suspension may be an air suspension, or a hydraulic suspension, or a leaf spring suspension.

[0080] In the embodiment of the present application, one height value corresponds to one measurement value, that is, the measurement value of the target sensor can be the angle between the suspension swing arm of the vehicle suspension where the target sensor is located and the vehicle body at any height value of the vehicle.

[0081] For example, if the height value of the vehicle is -30mm, and the corresponding measurement value of -30mm is 20°, it means that when the height difference between the wheel arch and the wheel center in the vehicle relative to the standard height is -30mm, the angle between the suspension swing arm of the vehicle suspension where the target sensor is located and the vehicle body is 20°.

[0082] It should be noted that the vehicle management device can obtain multiple height values ​​of the vehicle by controlling the lifting and lowering of the vehicle, and monitor the measurement values ​​of the target sensor at different height values ​​in real time to obtain multiple measurement values.

[0083] The vehicle management device may include a plurality of preset lifting columns, each of which may drive the vehicle chassis to move up and down to collect a plurality of height values ​​of the vehicle.

[0084] As a possible implementation method, in the above process of obtaining multiple height values ​​of the vehicle and multiple measurement values ​​of the target sensor, the vehicle management device can control the height change of the vehicle through multiple preset lifting columns, obtain multiple height values, and the measurement values ​​corresponding to the target sensor of the vehicle at each height value.

[0085] Optionally, the vehicle management device can control the lifting of each preset lifting column based on multiple preset height values ​​so that the vehicle height reaches the corresponding preset height value (i.e., the height value of the vehicle), and monitor the measurement values ​​of the target sensor at different height values ​​in real time.

[0086] Among them, each vehicle suspension can be set with 5 preset height values, and the 5 preset height values ​​can be an arithmetic progression with a tolerance of 15 mm. The embodiment of the present application does not limit the numerical relationship between the 5 preset height values.

[0087] It should be noted that in the embodiment of the present application, the vehicle management equipment is used to transfer vehicles between different production lines.

[0088] That is to say, the embodiments of the present application can use vehicle management equipment to calibrate the vehicle suspension during the transfer between vehicle production lines, so as to simplify the vehicle calibration method, reduce the calibration cycle and calibration time, and improve the production line cycle.

[0089] S402: Determine a target function relationship corresponding to the target sensor according to the multiple height values ​​and the multiple measurement values.

[0090] The objective function relationship is used to convert the measurement angle (ie, the measurement value) of the target sensor into the vehicle height (ie, the height value).

[0091] It should be noted that, in the embodiment of the present application, the functional relationship between the measurement angle and the vehicle height may be a linear functional relationship, or the functional relationship between the measurement angle and the vehicle height may be a nonlinear functional relationship.

[0092] As a possible implementation method, taking the nonlinear functional relationship between the measurement angle and the vehicle height as an example, the function template of the objective function relationship can be expressed by Formula 1:

[0093]

[0094] Where x is the measurement angle of the target sensor, y is the height of the vehicle, n is the highest order of the polynomial (e.g. n is 3). i is the polynomial order of the target sensor's measurement value (i.e. x), i ranges from 0 to n, all of which are positive integers, a i are the polynomial coefficients, represents the sum from i=0 to n, Δx is the increment of the measurement value of the target sensor, which is used to indicate the change of the variable x.

[0095] For example, if the highest order term in the polynomial is n=1, the functional relationship between the measurement angle of the target sensor and the vehicle height is expressed as If the highest order term in the polynomial is n = 2, the functional relationship between the target sensor's measurement angle and the vehicle height is expressed as If the highest order term in the polynomial is n=3, the functional relationship between the target sensor's measurement angle and the vehicle height is expressed as

[0096] As a possible implementation method, the vehicle management device can combine multiple height values ​​and multiple measurement values ​​into multiple groups of data, and perform functional relationship fitting on the multiple groups of data to obtain the target functional relationship.

[0097] It should be noted that the embodiment of the present application does not limit the fitting method of the objective function relationship. For example, the fitting method of the objective function relationship can be the least square method. For another example, the fitting method of the objective function relationship can also be Bayesian regression, maximum likelihood estimation, etc. in the probability model method. For another example, the fitting method of the objective function relationship can also be a decision tree, a neural network, etc. in a machine learning algorithm.

[0098] For example, for one of the multiple vehicle suspensions (such as the left front air suspension 101), the five arrays are respectively the measurement angles x and 11 Corresponding vehicle height y 11 , the measurement angle x of the target sensor 12 Corresponding vehicle height y 12 , the measurement angle x of the target sensor 13 Corresponding vehicle height y 13 , the measurement angle x of the target sensor 14 Corresponding vehicle height y 14 , the measurement angle x of the target sensor 15 Corresponding vehicle height y 15 The five arrays are fitted according to the established fitting method of the objective function relationship to determine the objective function relationship corresponding to the target sensor.

[0099] Similarly, for the right front air suspension 102, the five arrays are respectively the measurement angles x 21 Corresponding vehicle height y 21 , measure the angle x 22 Corresponding vehicle height y 22 , measure the angle x 23 Corresponding vehicle height y 23 , measure the angle x 24 Corresponding vehicle height y 24 , measure the angle x 25 Corresponding vehicle height y 25 .

[0100] For the left rear air suspension 103, the five arrays are respectively the measured angles x 31 Corresponding vehicle height y 31 , measure the angle x 32 Corresponding vehicle height y 32 , measure the angle x 33 Corresponding vehicle height y 33 , measure the angle x 34 Corresponding vehicle height y 34 , measure the angle x 35 Corresponding vehicle height y 35 .

[0101] For the right rear air suspension 104, the five arrays are respectively the measured angles x 41 Corresponding vehicle height y 41 , measure the angle x 42 Corresponding vehicle height y 42 , measure the angle x 43 Corresponding vehicle height y 43 , measure the angle x 44 Corresponding vehicle height y 44 , measure the angle x 45 Corresponding vehicle height y 45 .

[0102] S403: Calibrate the vehicle suspension according to the objective function relationship.

[0103] As a possible implementation method, the vehicle management device can store (or write) the objective function relationship into a vehicle suspension controller in the vehicle, so that the vehicle suspension controller can convert the measurement value of the target sensor into the height value of the vehicle based on the objective function relationship, thereby realizing calibration of the vehicle suspension.

[0104] The technical solution provided by the above embodiment brings at least the following beneficial effects: by obtaining multiple height values ​​of the vehicle and multiple measurement values ​​of the target sensor, and making the height values ​​and the measurement values ​​correspond to each other. Then, according to the multiple height values ​​and the multiple measurement values, the target function relationship corresponding to the target sensor is determined, and the measurement angle of the target sensor is converted into the vehicle height. Finally, according to the target function relationship, the vehicle suspension is calibrated. In this way, the function relationship fitting can be realized according to the vehicle differentiation, and the vehicle suspension of different vehicles can be differentiated, thereby improving the accuracy of the calibration of the vehicle suspension.

[0105] In some embodiments, Figure 5 As shown, before calibrating the vehicle suspension according to the objective function relationship (i.e., S403), the following steps may be included:

[0106] S501: Determine whether the target function relationship matches a preset function template.

[0107] As a possible implementation method, the vehicle management device stores a preset function template. After determining the objective function relationship, the vehicle management device can manage the calibration of the vehicle suspension by comparing whether the objective function relationship matches the preset function template.

[0108] It should be noted that the preset function template can be the function template shown in the above formula 1. The judgment process of whether the objective function relationship matches the preset function template can be determined by determining whether the polynomial coefficients correspond (that is, whether the number of polynomial coefficients is the same, or whether the order of the independent variables corresponding to the polynomial coefficients is the same).

[0109] For example, if the preset function template can be y=a 0 +a 1 ·x 1 +a 2 ·x 2 +a 3 ·x 3 , and the objective function relationship is y = a 0 +a 1 ·x 1 +a 2 ·x 2 , it means that there is no polynomial coefficient with an independent variable order of 3 in the objective function relationship, and the objective function relationship does not match the preset function template.

[0110] In some embodiments, when the objective function relationship matches the preset function template, the vehicle management device may execute S403.

[0111] Optionally, when the objective function relationship matches the preset function template, the vehicle management device may also generate confirmation information, wherein the confirmation information is used to indicate that the objective function relationship is accurate.

[0112] In other embodiments, when the objective function relationship does not match the preset function template, the vehicle management device may execute S502.

[0113] S502: Generate warning information.

[0114] The warning information is used to indicate that the objective function relationship is inaccurate.

[0115] As a possible implementation manner, the warning information (and / or confirmation information) may be represented in the form of instructions.

[0116] It should be noted that the embodiments of the present application do not limit the form of the instruction. For example, the form of the diagnostic instruction sent by the control cabinet to the vehicle through the vehicle control line and synchronously transmitted to the vehicle suspension controller can be 31 01 10 01hsc, and for another example, the form of the affirmative response instruction of the vehicle suspension controller to combine two sets of data and store them internally can be 7101 10 01, and for another example, the control cabinet sends a diagnostic instruction query result to the vehicle suspension controller, and the diagnostic instruction is 3103 1001, and for another example, the positive response of the vehicle suspension controller to the fitting and correction results is 71 03 10 01, and for another example, the negative response of the vehicle suspension controller to the fitting and correction results is 7F 31 03.

[0117] The diagnostic instruction is 31 01 10 01hsc, where 31 indicates routine control service, 01 indicates starting a routine, 1001 indicates a subservice, hsc indicates the data to be transferred, and the length is 11 bytes, 02 indicates terminating the routine, and 03 indicates returning the routine result.

[0118] For the data hsc passed, the routine time limit of hsc is explained as follows: hsc(2bytes fix security+measured distances in[mm]+num) means that the data hsc receives two bytes of security fixed value, measured distance in millimeters and an additional numerical parameter, Byte 0=0x4D (the value of the first byte (Byte 0) is 0x4D), which is the low byte of the security fixed constant (low byte fix security constant), Byte 1=0x6B (the value of the second byte (Byte 1) is 0x6B), which is the high byte of the security fixed constant (high byte fixsecurity constant), Byte 2, 3=distance corner FL (data type uint16) means that the third and fourth bytes (Byte 2 and Byte 3) store the distance value (distance corner) of the front left corner (FL), and the data type is an unsigned 16-bit integer (uint16), Byte 4, 5=distance corner FR (data type uint16) means that the fifth and sixth bytes (Byte 4 and Byte 5) The distance value (distance corner) of the front right corner (FR) is stored, and the data type is an unsigned 16-bit integer (uint16). Byte 6, 7 = distance corner RL (data type uint16) indicates that the seventh and eighth bytes (Byte 6 and Byte 7) store the distance value (distance corner) of the rear left corner (RL), and the data type is an unsigned 16-bit integer (uint16). Byte 8, 9 = distance corner RR (data type uint16) indicates that the ninth and tenth bytes (Byte 8 and Byte 9) store the distance value (distance corner) of the rear right corner (RR), and the data type is an unsigned 16-bit integer (uint16). Byte10 = num (data type uint16) indicates that the eleventh byte (Byte10) stores a value (num), and the data type is an unsigned 16-bit integer (uint16). The specific requirements are shown in Table 1.

[0119] Table 1 Calibration instruction table of vehicle suspension

[0120]

[0121]

[0122] It is understandable that different measures are taken by judging whether the objective function relationship matches the preset function template. When the objective function relationship matches the preset function template, the objective function relationship is stored in the controller of the vehicle suspension, and when the objective function relationship does not match the preset function template, an alarm message is generated. It can be judged whether the calibration of the vehicle suspension is successful so as to take corresponding measures.

[0123] Optionally, in the above-mentioned process of verifying the objective function relationship, the vehicle management device can also determine whether the multiple height values ​​referenced by the objective function relationship are preset height values, and use the objective function relationship to calibrate the vehicle suspension when the multiple height values ​​referenced by the objective function relationship are preset height values.

[0124] Similarly, when the multiple height values ​​referenced by the objective function relationship are not preset height values, the vehicle management device can generate an alarm message.

[0125] In some embodiments, Figure 6 As shown, the above-mentioned determination of the target function relationship corresponding to the target sensor according to the multiple height values ​​and the multiple measurement values ​​(ie, S402) may include the following steps:

[0126] S601: Determine an initial function relationship corresponding to a target sensor according to a plurality of height values ​​and a plurality of measurement values.

[0127] As a possible implementation method, the vehicle management device can set the correction value Δx of the independent variable in the preset function simulation (ie, the above formula 1) to zero, and perform function fitting based on multiple height values ​​and multiple measurement values ​​to obtain an initial function relationship.

[0128] The new preset function simulation after setting the correction value of the independent variable in the preset function simulation to zero can be expressed by the following formula 2:

[0129]

[0130] Exemplarily, referring to the embodiment of S402 above, the five arrays of the left front air suspension 101 are fitted according to the fitting method of the objective function relationship of Formula 2 to determine the initial function relationship corresponding to the target sensor.

[0131] It should be noted that, in the embodiment of the present application, the multiple height values ​​may include a standard value. When the vehicle body height is the standard height, the height value of the vehicle is the standard value.

[0132] Among them, the height in the third set of data (i.e., the standard value) corresponds to the standard height (i.e., the measurement angle x of the target sensor). 13 Corresponding vehicle height y 13 ), the standard value can be 0.

[0133] After determining the initial functional relationship corresponding to the target sensor, the vehicle management device may correct the initial functional relationship based on the standard value and the measurement value corresponding to the standard value through the following S602 to obtain the target functional relationship including the corrected value of the independent variable.

[0134] S602: According to the standard value and the measured value corresponding to the standard value, the initial functional relationship is corrected to obtain the target functional relationship.

[0135] The objective function relationship is also used to convert the measured values ​​corresponding to the standard values ​​into the standard values.

[0136] As a possible implementation method, the vehicle management device can bring the measurement value corresponding to the standard value into the initial functional relationship obtained by fitting the functional relationship of multiple sets of formulas 2, and correct Δx in the initial functional relationship and the target functional relationship.

[0137] For example, Figure 7 As shown, it shows a schematic diagram of the functional relationship correction of the sensor on the left front air suspension 101. Among them, the x-axis represents the measurement angle of the target sensor, the y-axis represents the vehicle height, and the 5 groups of arrays are respectively (x 11 ,y 11 )、(x 12 ,y 12 )、(x 13 ,y 13 )、(x 14 ,y 14 )、(x 15 ,y 15 ). 11 30mm, y 12 15mm, y 13 is 0mm, y 14 -15mm, y 11 It is -30mm.

[0138] It can be understood that the initial functional relationship corresponding to the target sensor is determined based on the height value and the measured value. Then, the initial functional relationship is corrected based on the standard value and the measured value corresponding to the standard value to obtain the target functional relationship. The error before and after correction can be reduced, and the actual functional relationship can be better fitted to achieve differentiated calibration of vehicle suspensions of different vehicles.

[0139] In some embodiments, the vehicle management device may send multiple height values ​​and multiple measurement values ​​to a vehicle suspension controller (such as the air suspension controller 109) in the vehicle, and the vehicle suspension controller generates an objective function relationship, and the objective function relationship is submitted to the vehicle management device for verification.

[0140] The following describes the vehicle suspension calibration method provided by the embodiment of the present application in conjunction with a specific example. Figure 8 As shown, the steps include steps 1 to 21.

[0141] Step 1: The vehicle enters the lifting transfer platform (ie, the support plate 200).

[0142] Step 2, the control cabinet 217 controls the vehicle lifting column (such as vehicle lifting column 202, vehicle lifting column 203, vehicle lifting column 204, vehicle lifting column 205) to adjust the height to +30mm (ie, the vehicle lifting column is lowered to a height of +30mm).

[0143] Step 3: The control cabinet 217 sends the height information to the vehicle 300 (i.e., the control cabinet obtains the height and sends it to the vehicle). The information is as follows: 31 01 10 01 4D 6B 00 1E 00 1E 00 1E 00 1E 01.

[0144] Step 4. When the air suspension controller 105 receives the height information, it immediately obtains the sensor data, combines the two sets of data and stores them internally (i.e., the air suspension controller obtains the sensor data and combines it with the height value). The data format is [(xx11, yy11), (xx21, yy21), (xx31, yy31), (xx41, yy41)]. Then the air suspension controller 105 replies with an affirmative response 71 01 10 01.

[0145] Step 5, the control cabinet 217 controls the vehicle lifting column to adjust the height to +15 mm (ie, the vehicle lifting column is lowered to a height of +15 mm).

[0146] Step 6: The control cabinet 217 sends the height information to the vehicle 300 (i.e., the control cabinet obtains the height and sends it to the vehicle). The information is as follows: 31 01 10 01 4D 6B 00 0F 00 0F 00 0F 00 0F 02.

[0147] Step 7. When the air suspension controller 105 receives the height information, it immediately obtains the sensor data, combines the two sets of data and stores them internally (i.e., the air suspension controller obtains the sensor data and combines it with the height value). The data format is [(xx12, yy12), (xx22, yy22), (xx32, yy32), (xx42, yy42)]. Then the air suspension controller 105 replies with an affirmative response 71 01 10 01.

[0148] Step 8: The control cabinet 217 controls the vehicle lifting column to adjust the height to 0 mm (ie, the vehicle lifting column is lowered to a height of 0 mm).

[0149] Step 9: The control cabinet 217 sends the height information to the vehicle 300 (i.e., the control cabinet obtains the height and sends it to the vehicle). The information is as follows: 31 01 10 01 4D 6B 00 00 00 00 00 00 00 00 03.

[0150] Step 10. When receiving the height information, the air suspension controller 105 immediately obtains the sensor data, combines the two sets of data and stores them internally (i.e., the air suspension controller obtains the sensor data and combines it with the height value). The data format is [(xx13, yy13), (xx23, yy23), (xx33, yy33), (xx43, yy43)]. Then the air suspension controller 105 resumes the affirmative response 71 01 10 01.

[0151] Step 11, the control cabinet 217 controls the vehicle lifting column to adjust the height to -15 mm (ie, the vehicle lifting column is lowered to a height of -15 mm).

[0152] Step 12: The control cabinet 217 sends the height information to the vehicle 300 (i.e., the control cabinet obtains the height and sends it to the vehicle). The information is as follows: 31 01 10 01 4D 6B FF F1 FF F1 FF F1 FF F1 04.

[0153] Step 13. When the air suspension controller 105 receives the height information, it immediately obtains the sensor data, combines the two sets of data and stores them internally (i.e., the air suspension controller obtains the sensor data and combines it with the height value). The data format is [(xx14, yy14), (xx24, yy24), (xx34, yy34), (xx44, yy44)]. Then the air suspension controller 105 replies with an affirmative response 71 01 10 01.

[0154] Step 14, the control cabinet 217 controls the vehicle lifting column to adjust the height to -30 mm (ie, the vehicle lifting column is lowered to a height of -30 mm).

[0155] Step 15: The control cabinet 217 sends the height information to the vehicle 300 (i.e., the control cabinet obtains the height and sends it to the vehicle). The information is as follows: 31 01 10 01 4D 6B FF E2 FF E2 FF E2 FF E2 05.

[0156] Step 16. When the air suspension controller 105 receives the height information, it immediately obtains the sensor data, combines the two sets of data and stores them internally (i.e., the air suspension controller obtains the sensor data and combines it with the height value). The data format is [(xx15, yy15), (xx25, yy25), (xx35, yy35), (xx45, yy45)]. Then the air suspension controller 105 replies with an affirmative response 71 01 10 01.

[0157] Step 17, the air suspension controller 105 fits the five sets of stored data according to a cubic function relationship to obtain the functional relationship corresponding to each air suspension, and then substitutes the third set of data [(xx13, yy13), (xx23, yy23), (xx33, yy33), (xx43, yy43)] into the functional relationship, corrects Δx, and obtains the final functional relationship (i.e., the air suspension controller fits and corrects the functional relationship).

[0158] Step 18: The control cabinet 217 sends a diagnostic instruction inquiry result to the air suspension controller 105 (ie, the control cabinet inquires about the fitting and correction results). The diagnostic instruction is 31 03 10 01.

[0159] Step 19, the air suspension controller 105 replies with the fitting and correction results. The positive response is 71 03 10 01, and the negative response is 7F 31 03. The control cabinet 217 judges the reply. If it is a positive response, it goes to step 20, otherwise it goes to step 21.

[0160] Step 20: After the calibration is completed, the vehicle leaves the lifting transfer platform (ie, the support plate 200).

[0161] Step 21: Calibration failed, and the vehicle is returned for repair offline.

[0162] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the method. In order to achieve the above functions, the calibration device or equipment of the vehicle suspension includes a hardware structure and / or software module corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0163] The embodiment of the present application can divide the functional modules of the calibration device or equipment of the vehicle suspension according to the above method. For example, the calibration device or equipment of the vehicle suspension can include various functional modules corresponding to the various functional divisions, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0164] Fig. 9 is a block diagram of a vehicle suspension calibration device according to an exemplary embodiment, wherein the vehicle suspension calibration device is applied to a vehicle and is used to perform Figure 4 , Figure 5 or Figure 6 The vehicle suspension calibration device 900 includes: an acquisition module 901 and a processing module 902 .

[0165] The acquisition module 901 is used to acquire multiple height values ​​of the vehicle and multiple measurement values ​​of the target sensor. The target sensor is a sensor on any vehicle suspension in the vehicle. The target sensor is used to measure the angle between the suspension arm of the vehicle suspension and the vehicle body. One height value corresponds to one measurement value. The processing module 902 is used to determine the target function relationship corresponding to the target sensor according to the multiple height values ​​and the multiple measurement values. The target function relationship is used to convert the measurement angle of the target sensor into the vehicle height. The processing module 902 is also used to calibrate the vehicle suspension according to the target function relationship.

[0166] In a possible implementation, the processing module 902 is specifically used to determine whether the objective function relationship matches the preset function template. The processing module 902 is also used to calibrate the vehicle suspension according to the objective function relationship when the objective function relationship matches the preset function template.

[0167] In a possible implementation, the processing module 902 is specifically configured to generate warning information when the objective function relationship does not match the preset function template, where the warning information is used to indicate that the objective function relationship is inaccurate.

[0168] In a possible implementation, the processing module 902 is specifically used to determine an initial functional relationship corresponding to the target sensor according to multiple height values ​​and multiple measurement values, and the initial functional relationship is used to convert the measurement angle of the target sensor into the vehicle height. The processing module 902 is also used to modify the initial functional relationship according to the standard value and the measurement value corresponding to the standard value to obtain a target functional relationship, and the target functional relationship is also used to convert the measurement value corresponding to the standard value into the standard value.

[0169] In a possible implementation, the processing module 902 is specifically used for a vehicle management device, and the vehicle management device is used to transfer vehicles between different production lines.

[0170] In a possible implementation, the acquisition module 901 is specifically configured to control the height change of the vehicle through a plurality of preset lifting columns, and acquire a plurality of height values ​​and a measurement value corresponding to a target sensor of the vehicle at each height value.

[0171] Regarding the device in the above embodiment, the specific manner in which each unit performs the operation has been described in detail in the embodiment of the method, and will not be elaborated here.

[0172] Fig.10 FIG. 1 is a block diagram of an electronic device according to an exemplary embodiment. Fig.10 As shown, the electronic device 1000 includes but is not limited to: a processor 1001 and a memory 1002 .

[0173] The memory 1002 is used to store executable instructions of the processor 1001. It can be understood that the processor 1001 is configured to execute instructions to implement the vehicle suspension calibration method in the above embodiment.

[0174] It should be noted that those skilled in the art can understand that Fig.10 The electronic device structure shown in the figure does not constitute a limitation on the electronic device, and the electronic device may include Fig.10 More or fewer components may be shown, or certain components may be combined, or the components may be arranged differently.

[0175] The processor 1001 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. By running or executing software programs and / or modules stored in the memory 1002, and calling data stored in the memory 1002, it performs various functions of the electronic device and processes data, thereby monitoring the electronic device as a whole. The processor 1001 may include one or more processing units. Optionally, the processor 1001 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 1001.

[0176] The memory 1002 may be used to store software programs and various data. The memory 1002 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one functional module (such as a processing unit), etc. In addition, the memory 1002 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0177] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 1002 including instructions. The above instructions can be executed by the processor 1001 of the electronic device 1000 to implement the vehicle suspension calibration method in the above embodiment.

[0178] In actual implementation, Fig. 9 The functions of the acquisition module 901 and the processing module 902 can be obtained by Fig.10 The processor 1001 in the embodiment calls the computer program stored in the memory 1002. The specific execution process can refer to the description of the vehicle suspension calibration method in the above embodiment, which will not be repeated here.

[0179] Optionally, the computer-readable storage medium may be a non-temporary computer-readable storage medium, for example, the non-temporary computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0180] In an exemplary embodiment, the present application also provides a computer program product including one or more instructions, and the one or more instructions can be executed by a processor of an electronic device to complete the vehicle suspension calibration method in the above embodiment.

[0181] It should be noted that when the instructions in the above-mentioned computer-readable storage medium or one or more instructions in the computer program product are executed by the processor of the electronic device, the various processes of the above-mentioned vehicle suspension calibration method embodiment are implemented, and the same technical effect as the above-mentioned vehicle suspension calibration method can be achieved. In order to avoid repetition, they will not be repeated here.

[0182] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0183] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0184] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0185] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0186] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks or optical disks.

[0187] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for calibrating a vehicle suspension, characterized in that: The method comprises: Acquire multiple height values ​​of the vehicle and multiple measurement values ​​of a target sensor, wherein the target sensor is a sensor on any vehicle suspension of the vehicle, and the target sensor is used to measure the angle between the suspension arm of the vehicle suspension and the vehicle body, and one of the height values ​​corresponds to one of the measurement values; Determining an objective function relationship corresponding to the target sensor according to the multiple height values ​​and the multiple measurement values, wherein the objective function relationship is used to convert the measurement angle of the target sensor into the vehicle height; The vehicle suspension is calibrated according to the objective function relationship.

2. The method according to claim 1, characterized in that Before calibrating the vehicle suspension according to the objective function relationship, the method further includes: Determining whether the objective function relationship matches a preset function template; When the objective function relationship matches the preset function template, the vehicle suspension is calibrated according to the objective function relationship.

3. The method according to claim 2, characterized in that The method further comprises: In the case where the objective function relationship does not match the preset function template, an alarm message is generated, where the alarm message is used to indicate that the objective function relationship is inaccurate.

4. The method according to any one of claims 1 to 3, characterized in that The multiple height values ​​include a standard value; and determining the target function relationship corresponding to the target sensor according to the multiple height values ​​and the multiple measurement values ​​includes: Determining an initial functional relationship corresponding to the target sensor according to the multiple height values ​​and the multiple measurement values, wherein the initial functional relationship is used to convert a measurement angle of the target sensor into a vehicle height; The initial functional relationship is modified according to the standard value and the measured value corresponding to the standard value to obtain the target functional relationship, and the target functional relationship is also used to convert the measured value corresponding to the standard value into the standard value.

5. The method according to any one of claims 1 to 3, characterized in that: The method is applied to a vehicle management device, which is used to transfer vehicles between different production lines.

6. The method according to claim 5, characterized in that The vehicle management device includes a plurality of preset lifting columns; The obtaining of multiple height values ​​of the vehicle and multiple measurement values ​​of the target sensor includes: The height change of the vehicle is controlled by the plurality of preset lifting columns, and the plurality of height values ​​and the measurement value corresponding to the target sensor when the vehicle is in a state of each of the height values ​​are obtained.

7. A vehicle suspension calibration device, characterized in that: Applied to a vehicle, the device comprises: an acquisition module, used for acquiring a plurality of height values ​​of the vehicle and a plurality of measurement values ​​of a target sensor, wherein the target sensor is a sensor on any vehicle suspension of the vehicle, and the target sensor is used for measuring an angle between a suspension arm of the vehicle suspension and a vehicle body, and one of the height values ​​corresponds to one of the measurement values; a processing module, configured to determine an objective function relationship corresponding to the target sensor according to the plurality of height values ​​and the plurality of measurement values, wherein the objective function relationship is used to convert a measurement angle of the target sensor into a vehicle height; The processing module is also used to calibrate the vehicle suspension according to the objective function relationship.

8. An electronic device, characterized in that: include: processor; A memory for storing the processor executable instructions; wherein the processor is configured to execute the instructions to implement the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: When the computer-executable instructions stored in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device can perform the method as claimed in any one of claims 1 to 6.

10. A computer program product, characterized in that The computer program product comprises computer program instructions which, when executed, implement the method according to any one of claims 1 to 6.

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