Failure processing method, device and system for height sensor and vehicle

Abstract

The invention relates to a failure processing method, device and system for a height sensor and a vehicle, and the method comprises the steps: determining a height estimation value of a first height sensor according to the actually measured height value of each second height sensor under the condition that there is a single first height sensor in a plurality of height sensors of the vehicle; wherein the first height sensor is a failure height sensor, and the second height sensor is an effective height sensor; and adjusting the active suspension corresponding to the first height sensor based on the height estimated value of the first height sensor.

Description

Technical Field

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

[0002] The vehicle's active suspension can raise or lower the height of the vehicle. In order to achieve closed-loop control of the active suspension and perform precise vehicle height adjustment, the vehicle will be equipped with multiple height sensors to detect the height between the vehicle body action point and the corresponding wheel. Normally, 4 height sensors are required to collect the height between each wheel and the vehicle body action point. However, in some cases, a height sensor may fail or be damaged. In this case, the value of the height sensor cannot truly reflect the vehicle body height, so it cannot be used for the lifting and lowering control of the active suspension, resulting in the inability to adjust the vehicle body height normally, seriously affecting the safety of vehicle driving. Summary of the invention

[0003] An object of an embodiment of the present disclosure is to provide a failure handling method in the presence of a failed height sensor.

[0004] According to a first aspect of the present disclosure, an embodiment of a method for handling failure of a height sensor is provided, the method comprising:

[0005] In the case where there is a single first height sensor among the multiple height sensors of the vehicle, determining a height estimate of the first height sensor according to the actual measured height value of each second height sensor; wherein the first height sensor is a failed height sensor and the second height sensor is a valid height sensor;

[0006] An active suspension corresponding to the first height sensor is adjusted based on the estimated height of the first height sensor.

[0007] Optionally, determining the estimated value of the height of the first height sensor according to the measured height value of each second height sensor includes:

[0008] Determining the chassis surface of the vehicle according to the measured height value of each second height sensor;

[0009] An estimated height value of the first height sensor is determined according to a planar geometric relationship between a plurality of mapping points of the plurality of height sensors on the chassis surface.

[0010] Optionally, determining the chassis surface of the vehicle according to the measured height value of each second height sensor includes:

[0011] Determine an ideal height value of each second height sensor according to the measured height value of each second height sensor and the corresponding error coefficient;

[0012] The chassis surface of the vehicle is determined according to the ideal height value of each second height sensor.

[0013] Optionally, determining the estimated value of the height of the first height sensor according to the planar geometric relationship between multiple mapping points of the multiple height sensors on the chassis surface includes:

[0014] Determine the first mapping point of the first height sensor on the chassis surface according to the second mapping point of each second height sensor on the chassis surface and the plane geometric relationship; wherein the second mapping point of the second height sensor on the chassis surface is determined according to the measured height value of the second height sensor and the error coefficient corresponding to the second height sensor;

[0015] An estimated value of a height of the first height sensor is determined according to a first mapping point of the first height sensor on the chassis surface and an error coefficient corresponding to the first height sensor.

[0016] Optionally, the error coefficient includes an installation error coefficient and a correction error coefficient, the installation error coefficient being the distance of the position of the height sensor relative to the chassis surface of the vehicle when the height of the vehicle is not adjusted, and the correction error coefficient being the height measurement error of the height sensor.

[0017] Optionally, the method further comprises:

[0018] Determine whether there is a first height sensor among the plurality of height sensors according to a plurality of measured height values ​​and a total error coefficient corresponding to the plurality of height sensors; wherein the total error coefficient is the sum of the error coefficients corresponding to each of the height sensors.

[0019] Optionally, determining whether there is a first height sensor among the plurality of height sensors according to the plurality of measured height values ​​and the total error coefficient of the plurality of height sensors comprises:

[0020] Determining reference height values ​​of other height sensors according to the measured height values ​​corresponding to any three height sensors among the plurality of height sensors and the total error coefficient;

[0021] When the measured height value of the other height sensor is inconsistent with the reference height value, it is determined that the other height sensor is the first height sensor.

[0022] Optionally, determining the total error coefficient includes:

[0023] In the case that the first height sensor does not exist in the plurality of height sensors, a plurality of groups of test height data are acquired; wherein each group of test height data includes a test height value corresponding to each height sensor;

[0024] For each set of test height data, determining a sub-error coefficient according to a plane geometric relationship between a plurality of test height values ​​of a plurality of height sensors in the test height data and a plurality of mapping points of the plurality of height sensors on a corresponding chassis surface;

[0025] The total error coefficient is determined according to a plurality of sub-error coefficients corresponding to the plurality of groups of test height data.

[0026] According to a second aspect of the present disclosure, an embodiment of a failure handling device for a height sensor 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 failure handling method for the height sensor as described in the first aspect.

[0027] According to a third aspect of the present disclosure, there is provided an embodiment of a vehicle suspension system, the system comprising:

[0028] Active suspension; 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;

[0029] A plurality of height sensors, wherein the height sensors are used to detect the height between the body action point and the corresponding wheel, and different height sensors correspond to different body action points;

[0030] A failure processing device for a height sensor, wherein the failure processing device for a height sensor is the failure processing device for a height sensor as described in the second aspect.

[0031] According to a fourth aspect of the present disclosure, a vehicle is also provided, comprising the vehicle suspension system according to the third aspect of the present disclosure.

[0032] One beneficial effect of the embodiments of the present disclosure is that, according to the embodiments of the present application, by determining an estimated height value of the first height sensor according to the actual measured height value of each second height sensor when there is a single first height sensor among multiple height sensors of the vehicle, wherein the first height sensor is a failed height sensor and the second height sensor is a valid height sensor, and adjusting the active suspension corresponding to the first height sensor based on the estimated height value of the first height sensor, it is possible to achieve, in the event of failure of a single height sensor, determining the estimated height value of the failed height sensor through the other three valid height sensors, and then adjusting the active suspension based on the estimated height value, thereby improving the stability of the suspension system and ensuring the driving safety of the vehicle.

[0033] 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

[0034] 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.

[0035] Figure 1 is a flow chart of a method for handling failure of a height sensor according to some embodiments;

[0036] Figure 2 is a schematic diagram of the distribution of height sensors of a vehicle according to some embodiments;

[0037] Figure 3 is a schematic diagram of a vehicle chassis surface according to some embodiments;

[0038] Figure 4 is a schematic diagram of a vehicle chassis surface according to other embodiments;

[0039] Figure 5 is a schematic diagram of a vehicle chassis surface according to still other embodiments;

[0040] Figure 6 is a schematic structural diagram of a failure processing device for a height sensor according to some embodiments;

[0041] Figure 7 is a schematic diagram of a vehicle suspension system according to some embodiments;

[0042] Figure 8 is a schematic diagram of the structure of a vehicle according to some embodiments. DETAILED DESCRIPTION

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] The disclosed embodiments relate to a failure handling solution when a height sensor fails. Figure 1 A flow chart of a method for handling failure of a height sensor according to some embodiments is shown. The method may be executed by a device for handling failure of a height sensor.

[0049] like Figure 1 As shown, the failure processing method of the height sensor according to the embodiment of the present application includes steps S110 to S120.

[0050] Step S110: when there is only one first height sensor among the plurality of height sensors of the vehicle, determine a height estimation value of the first height sensor according to the actual measured height values ​​of each second height sensor.

[0051] In this embodiment, Figure 2 As shown, the suspension system of the vehicle is provided with a plurality of height sensors, for example, a left front height sensor FL, a right front height sensor FR, a left rear height sensor RL, and a right rear height sensor RR.

[0052] The suspension system also includes a plurality of active suspensions, which are arranged one by one with a plurality of height sensors. Each height sensor is used to detect the height between its corresponding vehicle body action point and the corresponding wheel.

[0053] In an embodiment in which the vehicle is provided with four active suspensions, the left front height sensor FL corresponds to the left front suspension of the vehicle, the right front height sensor FR corresponds to the right front suspension of the vehicle, the left rear height sensor RL corresponds to the left rear suspension of the vehicle, and the right rear height sensor RR corresponds to the right rear suspension of the vehicle.

[0054] In some examples, the active suspension may be a double wishbone active suspension, one end of which is connected to a swing arm of a corresponding wheel, and the other end of which is connected to a corresponding vehicle body action point.

[0055] The suspension system can be used to adjust the vehicle body height, posture, etc. according to the measured height values ​​detected by the multiple height sensors. Specifically, for example, the failure processing device of the height sensor in the suspension system can perform the action.

[0056] In some embodiments, the height sensor can be an angle sensor, the bracket end of the height sensor is connected and fixed to the vehicle body, and the other end is fixed to the swing arm of its corresponding wheel. The measured height value of the height sensor is obtained according to the angle of the height sensor and the height-angle conversion relationship.

[0057] In this embodiment, the height-angle conversion relationship of the height sensor can reflect the corresponding relationship between the angle and height of the height sensor. The corresponding relationship can be expressed as h=f(θ), and the corresponding relationship can be obtained through numerical simulation.

[0058] The first height sensor is a failed height sensor, for example, a height sensor having a hardware failure or a height value measured exceeding a limit range, etc. The second height sensor is a valid height sensor.

[0059] In the case that one of the four height sensors of the vehicle fails, the estimated height value of the first height sensor may be determined based on the measured height values ​​of the other three height sensors.

[0060] For example, the average of the measured height values ​​of the other three second height sensors can be used as the estimated height value of the first height sensor. For another example, any measured height value of the measured height values ​​of the other three second height sensors can be used as the estimated height value of the first height sensor.

[0061] In some embodiments, determining the estimated height value of the first height sensor according to the measured height value of each second height sensor in step S110 includes: step S1100 and step S1200.

[0062] Step S1100, determining the chassis surface of the vehicle according to the actual measured height value of each second height sensor.

[0063] In this embodiment, the chassis of the vehicle can be regarded as a rigid body, which has little deformation when the vehicle is moving, so it can be considered that it is always a plane during the vehicle's driving, that is, the chassis surface of the vehicle.

[0064] In one example, for the convenience of calculation, when the height of the vehicle is not adjusted, the zero point of the chassis corresponding to the right front wheel is used as the origin of the coordinate system, the direction of the right front wheel and the right rear wheel of the vehicle is used as the y-axis, and the direction of the left front wheel and the right front wheel of the vehicle is used as the x-axis. Figure 3 The spatial rectangular coordinate system shown in Figure 1. Figure 3 The plane shown is the chassis surface of the vehicle when the height is not adjusted, L is the wheelbase between the left front wheel and the right front wheel, and b is the track between the left front wheel and the right front wheel.

[0065] When the height of the vehicle is adjusted normally, for example, when the height position H / N / L is adjusted, the chassis surface of the vehicle will also change accordingly.

[0066] It should be noted that there are many methods for determining the chassis surface of the vehicle according to the measured height value of each second height sensor, which are not limited here.

[0067] In one example, the measured height values ​​of the three second height sensors may be plotted on a graph such as Figure 3 The coordinate system shown is then used to determine a plane based on the three points, which is the chassis surface of the vehicle.

[0068] In another example, the measured height values ​​of the three second height sensors can be calculated by using the corresponding error coefficients to obtain three ideal height values, and then the three ideal height values ​​can be plotted on a graph such as Figure 3 The chassis surface of the vehicle is determined on the coordinate system shown and based on the points corresponding to the three ideal height values.

[0069] In some embodiments, determining the chassis surface of the vehicle according to the measured height value of each second height sensor in step S1100 includes: step S1101 and step S1102.

[0070] Step S1101, determining an ideal height value of each second height sensor according to the measured height value of each second height sensor and the corresponding error coefficient.

[0071] For example, if the height sensor FL fails, that is, the first height sensor is the height sensor FL, as Figure 4 As shown, the measured height values ​​h of the height sensors FR, RR, and RL can be FR 、h RR 、h RL, determine the actual position FR'(0,0,h FR ),RR'(0,L,h RR ) and RL'(b, L, h RL ). Then according to the error coefficient corresponding to the height sensor FR, it is e FR , the error coefficient corresponding to the height sensor RR is e RR , the error coefficient corresponding to the height sensor RL is e RL , determine the ideal position of the height sensor FR as FR (0, 0, h FR +e FR ), the ideal position of the height sensor RR is RR(0, L, h RR +e RR ), the ideal position of the height sensor RL is RL(b, L, h RL +e RL ). Among them, the ideal height value of the height sensor FR is h FR +e FR , the ideal height value corresponding to the height sensor RR is h RR +e RR , the ideal height value corresponding to the height sensor RL is h RL +e RL .

[0072] Step S1102, determining the chassis surface of the vehicle according to the ideal height value of each second height sensor.

[0073] Continuing with the above example, the chassis surface of the vehicle is determined according to the ideal positions of the three height sensors, that is, Figure 4 As shown, the chassis surface of the vehicle is a plane formed by points FR, RR and RL.

[0074] In some embodiments, the error coefficient includes an installation error coefficient and a correction error coefficient. The installation error coefficient is the installation error of the height sensor relative to the chassis surface of the vehicle when the vehicle is not height adjusted, and the correction error coefficient is the height measurement error of the height sensor.

[0075] In this embodiment, the error coefficient e=E p +E r , where E p is the installation error coefficient, E r is the correction error coefficient.

[0076] like Figure 3As shown in the figure, under ideal design conditions, if the height of the vehicle is not adjusted, the four height sensors should be located on the chassis surface of the vehicle, that is, on the ideal plane of the vehicle. However, due to the installation error of the height sensors, the four sensors are not located on the ideal plane when the height of the vehicle is not adjusted. At this time, the positions of the four height sensors are FR′(0, 0, Ep FR )、FL′(b,0,Ep FL ),RR′(0,L,Ep RR ), RL′(b,L,Ep RL ).

[0077] The correction error coefficient may be a height measurement error of the height sensor, which may be determined by the actual height value measured by the height sensor when the vehicle is not height-adjusted, that is, when the height of the vehicle is in an initial state.

[0078] For example, when the vehicle is not height-adjusted, that is, the chassis of the vehicle is in a position such as Figure 3 The ideal chassis surface shown in the figure, at this time, the height value detected by the height sensor should be 0, but due to the existence of the correction error coefficient, the actual height value measured by the height sensor is not 0. In this case, the actual height value measured by the height sensor is Er FR , Er FL , Er RR , Er RL .

[0079] Step S1200: determining an estimated value of a height of the first height sensor according to a planar geometric relationship between a plurality of mapping points of the plurality of height sensors on the chassis surface.

[0080] In some embodiments, determining the estimated height value of the first height sensor according to the planar geometric relationship between the plurality of mapping points of the plurality of height sensors on the chassis surface in step S1200 includes: steps S1201 to S1202.

[0081] Step S1201 : determining a first mapping point of the first height sensor on the chassis surface according to each second mapping point of the second height sensor on the chassis surface and the plane geometric relationship.

[0082] In this embodiment, the second mapping point of the second height sensor on the chassis surface of the vehicle is determined according to the actual measured height value of the second height sensor and the error coefficient corresponding to the second height sensor.

[0083] For example, Figure 4 As shown, if the height sensor FL fails, the height estimate of the first height sensor is h FL, the mapping point of the height sensor FR on the chassis surface is FR(0,0,h FR +e FR ), the mapping point of the height sensor RR on the chassis surface is RR(0,L,h RR +e RR ), the mapping point of the height sensor RL on the chassis surface is RL(b,L,h RL +e RL ), the mapping point of the height sensor FL on the chassis surface is FL(b, 0, z). The plane geometric relationship between the multiple mapping points can be:

[0084]

[0085] Among them, the vector from the mapping point RR to the mapping point FR The vector from the mapping point RR to the mapping point RL The vector from the mapping point RR to the mapping point FL Thus, the z value in the mapping point FL can be calculated, that is, the first mapping point of the first height sensor on the chassis surface can be determined.

[0086] Step S1202: determining an estimated value of a height of the first height sensor according to a first mapping point of the first height sensor on the chassis surface and an error coefficient corresponding to the first height sensor.

[0087] Continuing with the above example, after determining the first mapping point FL, according to the error coefficient e of the height sensor FL FL Get h FL The value of .

[0088] Step S120: adjusting the active suspension corresponding to the first height sensor based on the estimated height of the first height sensor.

[0089] In some embodiments, when there is a single first height sensor among the multiple height sensors of the vehicle in step S110, before determining the estimated height of the first height sensor according to the measured height value of each second height sensor, the method further includes step S210.

[0090] Step S210: determining whether there is a first height sensor among the plurality of height sensors according to a plurality of measured height values ​​and a total error coefficient corresponding to the plurality of height sensors.

[0091] In this embodiment, the total error coefficient is the sum of the error coefficients corresponding to each height sensor.

[0092] In one example, the total error coefficient E can be expressed as: E = e RL+e FR -e FL -e RR .

[0093] In some embodiments, determining the total error coefficient includes: steps S3100 to S3300.

[0094] Step S3100: acquiring multiple groups of test height data when the first height sensor does not exist among the multiple height sensors.

[0095] In this embodiment, all four height sensors are valid height sensors. Each set of test height data includes a test height value corresponding to each of the height sensors.

[0096] Step S3200: for each set of test height data, determine a sub-error coefficient according to a planar geometric relationship between a plurality of test height values ​​of a plurality of height sensors in the test height data and a plurality of mapping points of the plurality of height sensors on a corresponding chassis surface.

[0097] For example, Figure 5 As shown, taking a set of test height data as an example, the test height value corresponding to the height sensor FR is h FR , the test height value corresponding to the height sensor FL is h FL , the test height value corresponding to the height sensor RR is h RR , the test height value corresponding to the height sensor RL is h RL The corresponding vehicle chassis surface is determined according to the set of test height data. The mapping point FR (0,0,h FR +e FR ), the mapping point of the height sensor FL on the chassis surface is FL(b,0,h FL +e FL ), the mapping point RR (0, L, h) of the height sensor RR on the chassis surface RR +e RR ), the mapping point RL of the height sensor RL on the chassis surface (b, L, h RL +e RL ).

[0098] When the first height sensor does not exist among the multiple height sensors, the following planar geometric relationship exists between the four mapping points:

[0099]

[0100] in, All four vectors can be found using two sides.

[0101] For example, For example.

[0102]

[0103] Then we get formula (1).

[0104]

[0105] And the vector It can also be obtained according to the mapping point FL and the mapping point RR, that is, formula (2):

[0106]

[0107] Combining the above formula (1) and formula (2), we get formula (3).

[0108] h FL +h RR -h RL -h FR =e RL +e FR -e FL -e RR (3)

[0109] The error coefficient E = e RL +e FR -e FL -e RR , then we can use h in this set of test height data FL 、h RR 、h RL 、h FR value, determine the sub-error coefficient corresponding to this group of test height data.

[0110] Step S3300, determining the total error coefficient according to the multiple sub-error coefficients corresponding to the multiple groups of test height data.

[0111] In this embodiment, the total error coefficient is an average value of multiple sub-error coefficients.

[0112] In one example, the calculation formula (4) of the total error coefficient can be obtained according to the calculation formula (3) of the sub-error coefficient:

[0113]

[0114] It should be noted that the meanings of the sub-error coefficient and the total error coefficient mentioned here are actually the same. The difference is that the sub-error coefficient is obtained based on a set of test height data, and the total error coefficient is the average value of multiple sub-error coefficients obtained based on multiple sets of test height data. On this basis, the sub-error coefficient E in formula (3) can also be replaced by the total error coefficient We get formula (5):

[0115]

[0116] In some embodiments, determining whether there is a first height sensor among the plurality of height sensors according to a plurality of measured height values ​​and a total error coefficient of the plurality of height sensors in step S210 includes: steps S4100 to S4200.

[0117] Step S4100: Determine reference height values ​​of other height sensors according to the measured height values ​​corresponding to any three height sensors among the multiple height sensors and the total error coefficient.

[0118] In this embodiment, when determining the total error coefficient Then, according to the variation of formula (5), the relationship between the measured height values ​​of any three height sensors among the four height sensors and the reference height values ​​of the remaining height sensors can be obtained, that is, the reference height value of the fourth height sensor can be determined by the measured height values ​​of any three height sensors, as follows:

[0119]

[0120] in, is the reference height value of the height sensor FL, is the reference height value of the height sensor FR, is the reference height value of the height sensor RL, is the reference height value of the height sensor RR.

[0121] Step S4200: When the actual measured height value of the other height sensor is inconsistent with the reference height value, determine that the other height sensor is the first height sensor.

[0122] Continuing with the above example, for example, the measured height value h of the height sensor FL is FL and By comparison, when the two are inconsistent, it is determined that the height sensor FL is the first height sensor.

[0123] According to an embodiment of the present application, when there is a single first height sensor among multiple height sensors of a vehicle, an estimated height value of the first height sensor is determined according to the actual measured height value of each second height sensor, wherein the first height sensor is a failed height sensor and the second height sensor is a valid height sensor, and the active suspension corresponding to the first height sensor is adjusted based on the estimated height value of the first height sensor. In the event of failure of a single height sensor, the estimated height value of the failed height sensor can be determined by the other three valid height sensors, and the active suspension can be adjusted based on the estimated height value, thereby improving the stability of the suspension system and ensuring the driving safety of the vehicle.

[0124] In some embodiments, Figure 6 As shown, a failure processing device 600 for a height sensor is also provided. The device 600 includes a memory 601 and a processor 602. The memory 601 is used to store executable instructions, and the instructions are used to control the processor 602 to operate to execute the failure processing method for the height sensor described in the embodiment of the present application.

[0125] In some embodiments, Figure 7 As shown, a vehicle suspension system 700 is also provided, which is characterized by comprising: an active suspension 701, a plurality of height sensors 702 and a failure processing device 703 for the height sensors.

[0126] Active suspension 701; 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 vehicle body action point;

[0127] A plurality of height sensors 702, wherein the height sensors are used to detect the height between the body action point and the corresponding wheel, and different height sensors correspond to different body action points;

[0128] The failure processing device 703 of the height sensor is as follows: Figure 6 The failure handling device of the height sensor is shown.

[0129] In some embodiments, Figure 8 As shown, a vehicle 800 is also provided, including Figure 7 The vehicle suspension system.

[0130] 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.

[0131] 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.

[0132] 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.

[0133] 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.

[0134] 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.

[0135] 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.

[0136] 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.

[0137] 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.

[0138] 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 method for handling failure of a height sensor, characterized in that: The method comprises: In the case where there is a single first height sensor among the multiple height sensors of the vehicle, determining a height estimate of the first height sensor according to the actual measured height value of each second height sensor; wherein the first height sensor is a failed height sensor and the second height sensor is a valid height sensor; An active suspension corresponding to the first height sensor is adjusted based on the estimated height of the first height sensor.

2. The method according to claim 1, characterized in that: The step of determining the estimated value of the height of the first height sensor according to the measured height value of each second height sensor comprises: Determining the chassis surface of the vehicle according to the measured height value of each second height sensor; An estimated height value of the first height sensor is determined according to a planar geometric relationship between a plurality of mapping points of the plurality of height sensors on the chassis surface.

3. The method according to claim 2, characterized in that The step of determining the chassis surface of the vehicle according to the measured height value of each second height sensor comprises: Determine an ideal height value of each second height sensor according to the measured height value of each second height sensor and the corresponding error coefficient; The chassis surface of the vehicle is determined according to the ideal height value of each second height sensor.

4. The method according to claim 2, characterized in that: Determining the estimated value of the height of the first height sensor according to the planar geometric relationship between the plurality of mapping points of the plurality of height sensors on the chassis surface comprises: Determine the first mapping point of the first height sensor on the chassis surface according to the second mapping point of each second height sensor on the chassis surface and the plane geometric relationship; wherein the second mapping point of the second height sensor on the chassis surface is determined according to the measured height value of the second height sensor and the error coefficient corresponding to the second height sensor; An estimated value of a height of the first height sensor is determined according to a first mapping point of the first height sensor on the chassis surface and an error coefficient corresponding to the first height sensor.

5. The method according to claim 3 or 4, characterized in that: The error coefficient includes an installation error coefficient and a correction error coefficient. The installation error coefficient is the distance between the position of the height sensor and the chassis surface of the vehicle when the height of the vehicle is not adjusted, and the correction error coefficient is the height measurement error of the height sensor.

6. The method according to claim 1, characterized in that The method further comprises: Determine whether there is a first height sensor among the plurality of height sensors according to a plurality of measured height values ​​and a total error coefficient corresponding to the plurality of height sensors; wherein the total error coefficient is the sum of the error coefficients corresponding to each of the height sensors.

7. The method according to claim 6, characterized in that The step of determining whether there is a first height sensor among the plurality of height sensors according to the plurality of measured height values ​​and the total error coefficient of the plurality of height sensors comprises: Determining reference height values ​​of other height sensors according to the measured height values ​​corresponding to any three height sensors among the plurality of height sensors and the total error coefficient; When the measured height value of the other height sensor is inconsistent with the reference height value, it is determined that the other height sensor is the first height sensor.

8. The method according to claim 6, characterized in that Determining the total error coefficient includes: In the case that the first height sensor does not exist in the plurality of height sensors, a plurality of groups of test height data are acquired; wherein each group of test height data includes a test height value corresponding to each height sensor; For each set of test height data, determining a sub-error coefficient according to a plane geometric relationship between a plurality of test height values ​​of a plurality of height sensors in the test height data and a plurality of mapping points of the plurality of height sensors on a corresponding chassis surface; The total error coefficient is determined according to a plurality of sub-error coefficients corresponding to the plurality of groups of test height data.

9. A failure processing device for a height sensor, characterized in that: The method 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 failure processing method of the height sensor according to any one of claims 1 to 8.

10. A vehicle suspension system, characterized in that: include: Active suspension; 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 vehicle body action point; A plurality of height sensors, wherein the height sensors are used to detect the height between the body action point and the corresponding wheel, and different height sensors correspond to different body action points; A failure processing device for a height sensor, wherein the failure processing device for a height sensor is the failure processing device for a height sensor according to claim 9.

11. A vehicle, characterized in that: A vehicle suspension system comprising the vehicle suspension system of claim 10.

Images