A vehicle airbag posture management system and method based on air pressure sensor

Abstract

The present application relates to the field of vehicle posture control, and discloses a vehicle airbag posture management system and method based on an air pressure sensor. The system includes a signal acquisition module, a data processing module, a control algorithm module, an actuator module, and a fault detection and alarm module; the signal acquisition module is used to collect the air pressure value and voltage signal in the vehicle airbag in real time; the data processing module performs filtering processing on the collected air pressure data, and calculates state quantities such as air pressure error and air pressure change rate; the control algorithm module generates the optimal control input based on the linear quadratic regulator control algorithm; the actuator module controls the air pump and valve according to the optimal control input to realize the inflation or deflation adjustment of the airbag; the fault detection and alarm module monitors the system operation status in real time. The present invention can realize high-precision dynamic adjustment of airbag pressure, adapt to the vehicle posture management requirements under different working conditions, and has high real-time performance, stability and reliability.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle posture control, and in particular to a vehicle airbag posture management system and method based on an air pressure sensor. Background Art

[0002] With the rapid development of the automobile industry, the driving safety, stability and comfort of vehicles are receiving more and more attention, especially for vehicles equipped with airbag suspension systems. Controlling the vehicle body posture by adjusting the internal air pressure of the airbag has become one of the important technical means. Body posture management can not only improve the stability of the vehicle under different working conditions, but also dynamically adjust according to road conditions and load changes, improving the vehicle's handling performance and ride comfort.

[0003] However, the existing airbag posture management system still has some technical defects in the process of air pressure regulation, mainly manifested in insufficient regulation accuracy and response speed, and it is difficult to adapt to complex and changeable actual working conditions. Specifically, due to external interference, sensor accuracy limitations, and insufficient optimization of control algorithms during the air pressure regulation process, the system is prone to overshoot, oscillation, and other phenomena, resulting in insufficient stability in the vehicle posture adjustment. In addition, the existing system has a lag in the control of actuators (such as air pumps and valves), and cannot achieve rapid dynamic regulation of air pressure, which affects the real-time performance of the system and the stability of the vehicle posture.

[0004] At the same time, the existing technology is relatively simple in monitoring the system operation status and fault diagnosis, lacking a comprehensive fault detection and alarm mechanism, and it is difficult to timely identify problems such as air pressure sensor failure, actuator abnormality or unstable power supply, which may cause the system to lose control and affect the safe operation of the vehicle. In addition, some technologies are also insufficient in the control coordination of multi-airbag systems, and it is difficult to meet the requirements for independent control of multiple airbags under complex working conditions. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a vehicle airbag posture management system and method based on an air pressure sensor, which solves the deficiencies in the existing airbag posture management systems in terms of air pressure adjustment accuracy, real-time performance, stability and fault diagnosis capability, and realizes high-precision dynamic adjustment of vehicle airbag pressure and real-time monitoring and fault protection of system operation status.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: A vehicle airbag posture management system based on an air pressure sensor, comprising: Signal acquisition module, used to collect air pressure data and voltage signals in the airbag in real time; A data processing module, used to filter the air pressure data acquired by the signal acquisition module and calculate system state quantities, including air pressure error and air pressure change rate; The control algorithm module is used to determine the control input of the valve based on the optimal control theory and adjust the airbag pressure through feedback control; An actuator module, used to execute the inflation or deflation operation of the airbag according to the control instruction of the control algorithm module; The fault detection and alarm module is used to monitor the system operation status in real time and send out a fault alarm signal when an abnormality occurs.

[0007] Preferably, the signal acquisition module includes an air pressure sensor, the sampling period of the air pressure sensor is 1 ms, and is used to collect the current air pressure value in the airbag in real time.

[0008] Preferably, the data processing module filters the air pressure data by using a median average filtering method to remove noise and interference in the air pressure data.

[0009] Preferably, the data processing module is used to process the air pressure data collected by the signal acquisition module, specifically including: Calculate the system state, including the pressure error and the pressure change rate, where: The pressure error x1 is the target pressure P target The difference from the current air pressure P; The air pressure change rate x2 is the rate of change between the current air pressure and the previous air pressure, and the calculation formula is: Among them, P k is the current air pressure, P k-1 is the air pressure at the previous moment, T s is the sampling time interval; The calculated air pressure error and air pressure change rate constitute the system state vector As the input of the control algorithm module.

[0010] Preferably, the control algorithm module adopts a linear quadratic regulator control algorithm to achieve optimal control through a feedback control law, and the feedback control law includes: A control input is calculated based on a system state vector and a feedback gain matrix, which is determined according to system state weights and control weights.

[0011] Preferably, in the control algorithm module, the feedback gain matrix is ​​obtained by solving the Riccati equation, which specifically includes: the control algorithm module calculates the feedback gain matrix according to the system state equation x k+1 =Ax k +Bu k And the performance index function of the linear quadratic regulator: Among them, Q is the system state weight matrix, which is used to penalize the pressure error and the pressure change rate, R is the control weight matrix, which is used to penalize the control input energy, and x k is the system state vector, u k is the control input; The feedback gain matrix K is obtained by solving the discrete Riccati equation, which is: A T SA-SA T SB(R+B T SB) -1 B T SA+Q=0 Where S is the solution of the Riccati equation, A and B are the system state matrix and input matrix respectively; The feedback gain matrix K is expressed as: K=(R+B T SB) -1 B T SA The control algorithm module is based on the feedback control law u k =-Kx k Calculate the control input u k , achieving optimal control of the airbag pressure.

[0012] Preferably, the actuator module includes an air pump and a valve controller: The air pump is used to inflate the airbag; The valve controller is used to adjust the air flow rate to achieve the deflation operation of the airbag.

[0013] Preferably, the fault detection and alarm module is used to monitor the fault conditions of abnormal air pressure sensor data and abnormal valve execution, and trigger an alarm signal when a fault occurs.

[0014] The present invention also provides a vehicle airbag posture management method based on an air pressure sensor, comprising the following steps: The current air pressure value in the vehicle airbag is collected in real time through the air pressure sensor; Filter the collected air pressure data and calculate the system state quantity, including air pressure error and air pressure change rate; Calculate the optimal control input of the airbag based on the linear quadratic regulator control algorithm; According to the optimal control input, the air pump or valve is controlled to inflate or deflate the airbag and adjust the airbag pressure; Monitor the system operation status in real time and trigger the alarm mechanism if any abnormality is detected.

[0015] Preferably, the step of calculating the optimal control input of the airbag based on the linear quadratic regulator control algorithm comprises: Based on the dynamic model of the vehicle airbag, obtain the current system state, including air pressure error and air pressure change rate; Setting a system state weight matrix and a control weight matrix, wherein the system state weight is used to penalize air pressure error and air pressure change rate, and the control weight is used to penalize control input energy; Solving a feedback gain matrix by discrete Riccati equation, wherein the feedback gain matrix is ​​used to realize an optimal control law; Based on the feedback control law, the current control input is calculated, and the control input is used to adjust the opening of the airbag inflation valve or deflation valve to achieve dynamic adjustment of the air pressure.

[0016] The present invention provides a vehicle airbag posture management system and method based on an air pressure sensor. It has the following beneficial effects: 1. The present invention collects air pressure sensor data in real time, adopts a linear quadratic regulator (LQR) control algorithm, dynamically calculates the optimal control input, and accurately controls the air pump and valve actuator to achieve rapid and precise adjustment of the airbag pressure. The system can adjust the air pressure to the target value in a short time and control the error within the range of ±3PSI, effectively preventing overshoot and oscillation, and ensuring the smoothness and stability of vehicle posture adjustment.

[0017] 2. The present invention sets multi-cycle task scheduling, including 1ms, 10ms, 20ms and 50ms timing tasks, to process signal acquisition, data processing, control calculation and execution feedback in stages. 1ms high-frequency data acquisition and real-time filtering processing, combined with a fast actuator response mechanism, enable the system to adapt to changes in working conditions during dynamic driving of the vehicle, and achieve high real-time posture adjustment and fast response capabilities.

[0018] 3. The present invention integrates a fault detection and alarm module to monitor the air pressure sensor data, power supply voltage, actuator operation status and system communication signals in real time. Once a sensor abnormality, power supply voltage overrun or actuator failure is detected, the system immediately triggers the alarm mechanism, shuts down the air pump and valve, ensures that the system is shut down in time for protection in an abnormal state, prevents the fault from expanding, and ensures the safety and reliability of the system.

[0019] 4. In the process of data collection and processing, the present invention adopts median average filtering and weighted average filtering algorithms to effectively filter out noise and interference in the air pressure data, ensuring the smoothness and accuracy of the air pressure data. At the same time, the actuator feedback loop and sensor data are double-verified, further enhancing the system's robustness to external interference and improving the stability of system operation.

[0020] 5. The fault detection module of the present invention can monitor the sensors, actuators and power supply voltage of the system in an all-round way, and quickly identify and locate the source of the fault through preset thresholds and judgment logic. Once a fault occurs, the system triggers an audible and visual alarm or CAN bus communication, and transmits the fault information to the user interface or stores the record, which is convenient for users to troubleshoot and maintain the fault, and improves the maintainability and safety of the system.

[0021] 6. The present invention can dynamically adjust control parameters according to different working conditions of the vehicle (such as fast turning, acceleration, deceleration, etc.), and ensure that the system can flexibly adapt to different posture management requirements by calculating the air pressure error and the air pressure change rate. In addition, the system supports independent control of multiple airbags, and is suitable for vehicle posture management scenarios with single and multiple airbag configurations, with strong versatility and adaptability.

[0022] 7. The present invention can effectively prevent the problem of over-inflation or over-pressure relief of the airbag by real-time monitoring of the dynamic change of air pressure and combining the control algorithm to realize precise control of the air pump and valve. When the air pressure approaches the target value, the system gradually reduces the inflation or deflation rate to ensure that the air pressure adjustment process is smooth and impact-free, prolonging the service life of the airbag and improving the comfort and stability of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the system architecture of the present invention; Figure 2 It is a schematic diagram of the method flow of the present invention; Figure 3 A schematic diagram of the system software flow of an embodiment of the present invention; Figure 4 Schematic diagram of the gear shift control algorithm flow chart of an embodiment of the present invention. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the specification of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] Please see attached Figure 1 The present invention provides a vehicle airbag posture management system based on an air pressure sensor, which can realize accurate management of vehicle posture and ensure stability and comfort during driving by real-time acquisition, processing and adjustment of air pressure in the airbag. The various modules of the system of the present invention are described in detail below in conjunction with the accompanying drawings.

[0026] like Figure 1As shown, the vehicle airbag posture management system based on the air pressure sensor may include a signal acquisition module, a data processing module, a control algorithm module, an actuator module, and a fault detection and alarm module.

[0027] In this embodiment, the signal acquisition module is used to collect the air pressure data and voltage signal in the vehicle airbag in real time, and provide accurate original input for the subsequent data processing and control algorithm module.

[0028] As an option, the signal acquisition module includes an air pressure sensor and a voltage sensor, wherein the air pressure sensor is used to measure the air pressure in the airbag in real time, and the voltage sensor is used to monitor the power supply status of the system and the operation status of the actuator.

[0029] Specifically, the air pressure sensor can convert the air pressure value P inside the airbag into an electrical signal, and the air pressure value collection period is set to 1ms to ensure the real-time and accuracy of the data. The voltage sensor is used to detect whether the power supply voltage is stable and provide the system with operating environment monitoring data.

[0030] It should be noted that the output signal of the air pressure sensor is converted into a digital signal after being processed by the analog-to-digital converter for further use by the data processing module. Exemplarily, the resolution of the analog-to-digital conversion can be selected to be 12 bits or higher to meet the needs of high-precision acquisition.

[0031] In some embodiments, the signal acquisition module may further include an anti-interference circuit for suppressing the influence of environmental noise on the signal. The anti-interference circuit includes a filter and a shielded wire design, wherein the filter can filter high-frequency noise, and the shielded wire is used to prevent the introduction of electromagnetic interference.

[0032] As an implementation, the air pressure sensor can work based on the piezoelectric effect or the capacitive effect. For example, the air pressure sensor based on the piezoelectric effect generates a charge signal through the crystal deformation caused by the pressure in the airbag, and the charge signal is proportional to the air pressure. Another possible implementation is to use a capacitive air pressure sensor, which measures pressure through the change in capacitance caused by the change in air pressure, and has high sensitivity and accuracy.

[0033] It is understandable that in order to ensure the accuracy and consistency of the collected data, the signal acquisition module needs to be calibrated during initialization. Specifically, the calibration process includes zero drift compensation and sensitivity adjustment of the air pressure sensor. For example, when the system is initially started, the actual air pressure in the airbag is adjusted to the standard value, and then the sensor output is calibrated through the software algorithm.

[0034] As an extension, the signal acquisition module may also include a temperature compensation circuit for correcting the measurement error of the pressure sensor caused by changes in ambient temperature. Specifically, the temperature compensation circuit may monitor the ambient temperature in real time through a temperature sensor and correct the collected data according to a preset compensation algorithm. For example, for a piezoelectric pressure sensor, the temperature compensation algorithm may be expressed as: P corrected =P measured +K T (T-T0) Among them, P corrected is the compensated air pressure value, P measured is the uncompensated air pressure value, K T is the temperature compensation coefficient, T is the current temperature, and T0 is the standard temperature.

[0035] In a possible implementation, the voltage signal monitoring function of the signal acquisition module is not only used to detect the power supply status, but also to monitor the working status of the actuator. Specifically, by monitoring the working current of the air pump and the actuation voltage of the valve, the signal acquisition module can determine whether the actuator is operating normally, such as whether the air pump reaches the expected power output and whether the valve is fully open or closed.

[0036] It should be noted that the design of the signal acquisition module can be extended to collect data from multiple air pressure sensors to support the operation of a multi-airbag system. In this case, the signal acquisition module will collect data from each sensor in turn, generate multi-channel pressure signals, and integrate and analyze them through the data processing module. For example, for a four-airbag system, the real-time acquisition of the air pressure of each airbag can be achieved through time division multiplexing technology to ensure the real-time performance and accuracy of the overall system.

[0037] As a specific implementation, the signal acquisition module can also use a differential amplifier circuit in the air pressure data acquisition to improve the signal's anti-interference ability and measurement accuracy. The differential amplifier circuit can amplify the weak signal output by the sensor and suppress common mode noise.

[0038] In this embodiment, the data processing module is used to process the original air pressure data obtained by the signal acquisition module, including data filtering and state quantity calculation, to provide accurate and smooth input data for the subsequent control algorithm module.

[0039] As an option, the data processing module first performs noise suppression processing on the collected air pressure data. Specifically, a median average filtering method is used to remove outliers and random noise, thereby improving the stability and reliability of the data. Exemplarily, the processing process of the median average filtering includes the following steps: Collect N consecutive sampling points (for example, N=5); Sort the sampling points by size and take the median value as the filter output value; The filtered output value is used as the current air pressure data P k , passed to the subsequent calculation module.

[0040] It should be noted that this filtering method can effectively remove sudden deviations in air pressure data caused by environmental noise or sampling errors, and is suitable for application scenarios with small fluctuations in air pressure signals and high real-time requirements.

[0041] In some embodiments, the filtering process can be combined with time-weighted average filtering to further smooth the signal changes. For example, when combined with time-weighted average filtering, the filtered air pressure value can be calculated by the following formula: P k =α·P raw +(1-α)·P k-1 Among them, P raw is the original air pressure value at the current sampling point, P k-1 is the filter output at the last moment, and α is the weighting coefficient (e.g. 0.6 or 0.8). By adjusting the α value, a balance can be achieved between response speed and filtering effect.

[0042] Specifically, after obtaining the filtered air pressure value, the data processing module further calculates the state quantity of the system, including the air pressure error and the air pressure change rate. The air pressure error x1 is the current air pressure P k With target pressure P target The difference between them is expressed as: x1=P target -P k This error reflects the deviation between the airbag pressure and the target state and is an important reference parameter for subsequent control input.

[0043] In a possible implementation, the data processing module obtains the air pressure change rate x2 through differential calculation. The air pressure change rate represents the dynamic change of air pressure over time, and its calculation formula is: Among them, P k and P k-1 are the air pressure values ​​at the current moment and the previous moment respectively, T s is the sampling time interval (e.g. 1ms). This rate quantifies the speed of pressure change and can directly reflect the dynamic characteristics of the inflation or deflation process.

[0044] It should be noted that in order to enhance the real-time and accuracy of the state quantity, the data processing module can dynamically adjust the calculation frequency according to the actual needs of the system. For example, when the vehicle posture is adjusted greatly or during a turn, the module can increase the sampling frequency to capture the rapidly changing air pressure signal.

[0045] In some embodiments, the data processing module further constructs a system state vector x k , which is used to describe the current operating state of the system. The state vector includes the air pressure error and the air pressure change rate, and the expression is: Among them, x k It is a two-dimensional column vector containing air pressure error and air pressure dynamic information. This vector is directly passed to the control algorithm module for optimal control calculation.

[0046] As a specific implementation, the data processing module can also limit the air pressure state to prevent abnormal data from affecting the stability of the system. For example, setting the limit value of error and rate and When the calculation result exceeds the limit value, it is adjusted to the maximum allowable value. The limit processing formula is as follows: Among them, the limit value and It can be set according to actual needs, for example

[0047] It can be understood that, in this embodiment, the design of the data processing module not only focuses on the real-time and stability of signal processing, but also pays attention to the comprehensive description of the dynamic characteristics of the system in the calculation of state quantities, providing complete and high-quality input data for the subsequent control algorithm module.

[0048] As an extension, in a multi-airbag vehicle posture management system, the data processing module can also support independent calculation of the state quantities of multiple airbags. For example, for a four-airbag system, the module can calculate the pressure error x of each airbag separately. 1,i and the rate of change of air pressure x 2,i (i=1,2,3,4), and then merge the state quantities of each airbag into an extended state vector for subsequent control optimization.

[0049] It should be noted that during operation, the data processing module can also dynamically adjust the filtering parameters, sampling period and key coefficients in the calculation formula according to different vehicle models and airbag configurations to adapt to the requirements of various scenarios and further improve the versatility and reliability of the vehicle airbag posture management system.

[0050] In this embodiment, the control algorithm module is used to perform optimal control calculations and generate valve control instructions based on the data collected by the air pressure sensor and the system state quantity calculated by the data processing module, so as to achieve precise adjustment of the vehicle airbag pressure, thereby ensuring the stability and comfort of the vehicle posture.

[0051] As an option, the control algorithm module adopts a linear quadratic regulator (LQR) control method, which calculates the optimal control input uku_kuk of the system by minimizing a performance indicator function. Specifically, the performance indicator function is defined as: Where J represents the cumulative cost of the system, Q is the system state weight matrix, which is used to penalize the pressure error and change rate; R is the control weight matrix, which is used to penalize the control input energy; x k is the current system state vector, u k is the current control input.

[0052] It should be noted that the selection of matrices Q and R has a direct impact on the control performance. For example, the matrix Q can be set as a diagonal matrix: Among them, q1 and q2 represent the weight coefficients for pressure error and change rate respectively. Usually q1>q2, and the pressure deviation is punished with a higher weight. R is generally a scalar used to control the weight of input energy.

[0053] In one possible implementation, the control algorithm module obtains the feedback gain matrix K by solving the discrete Riccati equation. The discrete Riccati equation is expressed as: A T SA-SA T SB(R+B T SB) -1 B T SA+Q=0 Among them, S is the solution of the Riccati equation, A and B are the system state matrix and input matrix, respectively, which are determined by the dynamic model of the vehicle airbag.

[0054] As an implementation, the feedback gain matrix K is calculated as: K=(R+B T SB) -1 B T S It should be noted that the matrix K is a key parameter for feedback control, which can be used according to the current system state x k Generate optimal control input u k The calculation expression of the control input is: u k =-Kxk Among them, the negative feedback control law combines the air pressure error with the air pressure change rate to ensure that the system can quickly converge to the target air pressure value while avoiding over-control and overshoot.

[0055] Specifically, the control algorithm module calculates the control input u k It is converted into the opening instructions of the air pump and valve to adjust the air flow Q. The size of the flow Q directly affects the rate of change of the air pressure of the airbag, and thus determines the adjustment speed of the body posture.

[0056] In some embodiments, in order to improve the robustness of the control algorithm, the module can dynamically adjust the values ​​of the state weight matrix Q and the control weight matrix R. For example, when the system detects a rapid turn or bumpy state of the vehicle, the value of q2 can be temporarily increased to increase the penalty for the rate of change of the air pressure, thereby reducing the fluctuation of the vehicle's posture.

[0057] It should be noted that the control algorithm module can also be combined with the predictive control method (MPC) to further optimize the control input at the current moment by predicting the evolution of the system state and control input in the future. In this extended implementation, the performance indicator function can add prediction items in the time domain: Among them, N represents the prediction time step. By predicting the system state changes in the next N steps, the control strategy can be adjusted in advance to improve the smoothness and efficiency of control.

[0058] In an extended implementation, the control algorithm module can also support the coordinated control of multiple airbag systems. For example, in a four-airbag vehicle posture management system, the module can extend the state vector x k And the feedback gain matrix K, to achieve the joint control of multiple airbag pressures. Specifically, the state vector can be expanded to: Among them, x i,k Represents the state quantity of the i-th airbag, and the feedback control law needs to calculate the multi-dimensional feedback gain matrix.

[0059] It can be understood that the control algorithm module of this embodiment realizes high-precision and high-stability control of air pressure regulation by combining the dynamic model of vehicle airbags with the optimal control theory, thus providing a guarantee for the reliability and comfort of the overall operation of the system. At the same time, the module has strong scalability and can adapt to different types of vehicle airbag systems and various dynamic working conditions.

[0060] In this embodiment, the actuator module is used to receive the control instructions calculated by the control algorithm module, and to increase or reduce the air pressure in the vehicle airbag by adjusting the working state of the air pump and the valve, thereby achieving precise adjustment of the vehicle posture.

[0061] As an option, the actuator module includes an air pump and a valve controller. The air pump is used to inflate the airbag to increase the air pressure and drive the vehicle body to rise; the valve controller is used to control the opening of the deflation valve to release the gas in the airbag, reduce the air pressure and drive the vehicle body to fall.

[0062] Specifically, the operation of the air pump is determined by the control input u output by the control algorithm module. k The instruction is triggered directly. k >0, the air pump is turned on, air flows into the airbag, and the air pressure rises; when u k When the pressure is ≥0, the air pump is turned off to avoid overcharging and pressure overshoot. The selection of the air pump is usually based on an efficient electric compressor, and its performance parameters need to meet the needs of rapid pressure increase, such as a maximum output pressure of 150PSI and a flow rate of about 30-50L / min.

[0063] It should be noted that the design of the valve controller allows precise adjustment of the deflation volume. The valve controller is based on the control input u k Adjust the opening of the vent valve to control the gas outflow rate Q out For example, the relationship between the valve opening θ and the air flow rate can be expressed as: Among them, C d is the flow coefficient, A valve is the flow area corresponding to the valve opening, ΔP is the pressure difference inside and outside the airbag, and ρ is the gas density. valve , the deflation speed can be precisely controlled.

[0064] In one possible implementation, the actuator module also includes a pressure feedback loop to ensure that the operation of the air pump and the valve can meet the dynamic requirements of the system. Specifically, the pressure feedback loop monitors the actual air pressure P of the airbag in real time through a built-in pressure sensor and compares it with the target air pressure P. target By comparison, when it is found that the air pressure deviates from the expected value of the control algorithm module, the operating status of the air pump and the valve is automatically adjusted.

[0065] As an extension, the actuator module can control the output of the air pump and valve through a PWM (pulse width modulation) signal. Specifically, by adjusting the duty cycle of the PWM signal, the power regulation of the air pump and the opening adjustment of the valve can be achieved, thereby achieving precise control of the air flow rate. For example, when rapid pressure increase is required, the PWM duty cycle of the air pump can be set to 80%-100%; when slow pressure reduction is required, the PWM duty cycle of the valve can be set to 10%-30%.

[0066] In some embodiments, the actuator module also includes a protection mechanism to prevent the system from being damaged by excessively high or low air pressure. For example, by integrating a pressure limit switch on the air pump and valve, when the air pressure exceeds a set safety upper limit (such as 120PSI), the air pump will automatically shut down; when the air pressure is lower than a set safety lower limit (such as 10PSI), the air release valve will automatically close.

[0067] It is understandable that the actuator module needs to have a fast response capability to adapt to the real-time requirements of the vehicle's dynamic changes for posture adjustment. For example, when turning or driving on a slope, the change in the center of gravity of the vehicle requires the actuator to complete the dynamic adjustment of the air pressure in a short time. To this end, the response time of the air pump in the module can be designed to be less than 100ms, and the switch response time of the valve can be designed to be less than 50ms.

[0068] In some embodiments, in order to meet the needs of a multi-airbag system, the actuator module can adopt a multi-channel control architecture. Specifically, each airbag is equipped with an independent air pump and valve controller, and communicates with the control algorithm module through a shared control bus. For example, in a four-airbag system, the module can independently control the front left, front right, rear left, and rear right airbags to achieve dynamic balance of the vehicle posture.

[0069] It should be noted that the actuator module of this embodiment realizes precise regulation and dynamic response capability of air pressure by combining an air pump, a valve controller and a pressure feedback loop, providing a high-reliability and high-precision execution basis for the vehicle airbag posture management system.

[0070] In this embodiment, the fault detection and alarm module is used to monitor the operating status of the vehicle airbag posture management system in real time. When abnormal air pressure, sensor failure, actuator failure or power supply problem is detected, a fault alarm signal is triggered to ensure the stable operation of the system and the safety of users.

[0071] As an option, the fault detection and alarm module includes a data monitoring unit, a fault judgment unit and an alarm unit. The data monitoring unit collects key parameters from the signal acquisition module and the actuator module in real time, including air pressure values, voltage signals, and operating status signals of valves and air pumps. The fault judgment unit analyzes and judges the collected data according to the preset threshold range and logical rules, and issues a fault prompt through the alarm unit when an abnormal situation is detected.

[0072] Specifically, the air pressure value is monitored through the real-time comparison function in the data monitoring unit. The logical rules for air pressure anomaly detection include: Current air pressure P k Whether the target pressure P is exceeded target The allowable deviation range is, for example: |P k -P target |>ΔP allowed Among them, the allowable deviation range ΔP allowed Can be set to ±3PSI.

[0073] Whether the air pressure change rate x2 exceeds the reasonable dynamic adjustment range, for example: in, Indicates the maximum rate of change of air pressure, for example 10PSI / s.

[0074] In one possible implementation, the fault detection of the voltage signal is based on the voltage monitoring range. supply If it exceeds the preset range (e.g. 11V to 15V), it is determined to be a power supply abnormality and triggers an alarm signal. Specifically, the voltage fault logic can be expressed as: V supply <V min or V supply >V max Among them, V min and V max Represent the minimum and maximum voltage thresholds respectively.

[0075] As an implementation method, the fault detection and alarm module can also monitor the operating status of the actuator, including failure of the air pump to start, slow valve movement or inability to close completely. For example, by comparing the valve execution time t valve The preset maximum allowed time t max , to determine whether the valve is stuck. The exemplary fault judgment logic is: t valve >t max It should be noted that the fault judgment unit can be implemented using a logic gate circuit or an embedded software algorithm. For example, when using an embedded algorithm, the module can judge the health status of the system based on an abnormality counting method. When a certain type of fault signal continues to appear for more than a certain number of times (such as detecting an over-limit of air pressure for 5 consecutive times), the corresponding alarm mechanism is triggered.

[0076] In some embodiments, the alarm unit prompts the user of fault information in the form of sound and light alarms. Specifically, the sound alarm can emit continuous or intermittent alarm sounds through a buzzer, and the light alarm displays the fault type through an LED indicator. For example, a single flash indicates abnormal air pressure, a double flash indicates a power supply failure, and a triple flash indicates an actuator failure.

[0077] It is understandable that in order to facilitate users to troubleshoot problems, the alarm unit can be integrated with the vehicle information system to display fault information on the central control screen in the form of a graphical interface or text. For example, when an abnormal air pressure is detected, the screen will display a prompt "The front left airbag pressure is low, please check".

[0078] As an extended function, the fault detection and alarm module can also record historical fault information for maintenance personnel to analyze. For example, the module can record the time, type and related parameters of each fault through the built-in memory, and support data transmission to external diagnostic equipment through the CAN bus.

[0079] In an extended implementation, the fault detection and alarm module can also verify the consistency of sensor data. For example, by comparing the output data of multiple air pressure sensors, it can be determined whether there is a sensor failure. The specific implementation method can use a weighted average or voting algorithm, for example: Among them, P i is the air pressure value of the i-th sensor, w i If the output of a sensor deviates from P avg If the value exceeds a certain threshold, the sensor is judged to be abnormal.

[0080] It should be noted that the fault detection and alarm module of this embodiment can not only monitor the key operating status of the system in real time, but also provide comprehensive guarantee for the reliable operation of the system through various alarm forms and extended functions.

[0081] The present invention obtains the air pressure and voltage signals in the airbag in real time through the signal acquisition module, uses the data processing module to perform filtering and state quantity calculation, and combines the optimal control method based on the linear quadratic regulator (LQR) of the control algorithm module to accurately calculate the control input of the valve and the air pump, thereby realizing the dynamic adjustment of the air pressure of the airbag. The actuator module adjusts the state of the air pump and the valve according to the control instruction, controls the increase and decrease of the air pressure, and finally optimizes the stability and response speed of the vehicle posture management. At the same time, the system operation status is monitored in real time through the fault detection and alarm module, and the fault is identified and prompted in time to ensure the safety and reliability of the system. The present invention is suitable for the airbag posture management needs of various models, and has the characteristics of high precision, high real-time performance and strong robustness.

[0082] Please see attached Figure 2 In combination with the workflow of the aforementioned system, the present invention also provides a vehicle airbag posture management method based on an air pressure sensor. The method collects air pressure data in real time, performs data processing and optimal control calculations, and combines an actuator to complete the pressure adjustment of the vehicle airbag, thereby ensuring the stability of the vehicle posture and the safety of the system operation.

[0083] Step S1: Real-time acquisition of the current air pressure value in the vehicle airbag In this step, the signal acquisition module collects the current air pressure in the vehicle airbag in real time through the air pressure sensor. The air pressure sensor collects pressure data at a high frequency (for example, a 1ms sampling period) to ensure high real-time and accuracy of the data.

[0084] As an option, the system can also synchronously collect the supply voltage and the operating status of the sensor to provide auxiliary information for subsequent status monitoring.

[0085] Step S2: Filter the collected air pressure data and calculate the system state quantity In this step, the data processing module filters the collected air pressure data to remove noise and interference to ensure the smoothness and effectiveness of the data. The filtered data is used to calculate the system state quantity, including the air pressure error and the air pressure change rate.

[0086] Specifically: Air pressure error: indicates the deviation between the current air pressure value and the target air pressure value; Air pressure change rate: Indicates the rate of change of air pressure per unit time, reflecting the dynamic change trend of the current air pressure.

[0087] The data processing module combines the above state quantities to form a system state vector, and uses it as an input parameter of the control algorithm module.

[0088] Step S3: Calculate the optimal control input of the airbag based on the linear quadratic regulator control algorithm. In this step, the control algorithm module calculates the optimal control input of the airbag at the current moment based on the state vector of the system using the linear quadratic regulator (LQR) control algorithm.

[0089] Specifically, the control algorithm module outputs control instructions through the optimal feedback control law. The size of the control input is related to the current air pressure deviation and its rate of change, ensuring that the airbag pressure can be adjusted to the target value quickly and stably.

[0090] As a possible implementation method, the control algorithm module can dynamically adjust the control parameters according to the actual operating conditions to further improve the robustness and responsiveness of the system in different scenarios.

[0091] Step S4: According to the optimal control input, the air pump or valve is controlled to realize the inflation or deflation operation of the airbag. In this step, the actuator module controls the operation state of the air pump or valve according to the optimal control input output by the control algorithm module to complete the adjustment of the airbag pressure: When the control input is positive, the air pump is turned on to direct the airflow into the airbag to achieve the pressurization operation of the airbag; When the control input is a negative value, the deflation valve opens according to the command to release the gas in the airbag, thereby achieving the decompression operation of the airbag.

[0092] The actuator module uses a fast-response air pump and a high-precision valve controller to ensure a smooth air pressure regulation process without overshoot, meeting the real-time requirements of vehicle posture control.

[0093] Step S5: Real-time monitoring of system operation status, if an abnormality is detected, triggering an alarm mechanism In this step, the fault detection and alarm module monitors the system operation status in real time, mainly including: Continuity and validity of sensor data; Abnormal conditions during air pressure regulation, such as air pressure exceeding the set range or excessive rate of change; The working status of the actuator (air pump, valve), including failure to respond or slow movement; Is the system power supply voltage within the normal range?

[0094] When any of the above anomalies is detected, the fault detection and alarm module triggers the alarm mechanism, sends fault prompt information to the user through the sound and light alarm device or the vehicle communication system, and records and stores the abnormal status for subsequent maintenance and fault diagnosis.

[0095] In this embodiment, through real-time data collection, data filtering and state calculation, dynamic generation of optimal control input and precise action of the actuator, the dynamic adjustment of the vehicle airbag pressure is achieved, and the stability and comfort of the vehicle posture are finally guaranteed. At the same time, the system has fault self-diagnosis and alarm functions, which can respond in time under abnormal conditions to ensure the reliability and safety of system operation.

[0096] Example: Please see attached Figure 3 -Attached Figure 4 In this embodiment, the system software flow and the implementation process of the gear lifting control algorithm are described in detail in combination with the aforementioned vehicle airbag posture management system based on the air pressure sensor. The system achieves precise control of the vehicle airbag posture through the coordination of multiple modules, using real-time air pressure collection, state calculation and control algorithm execution, while ensuring the reliability and safety of the system operation.

[0097] like Figure 3 As shown, the specific implementation of the system software process is as follows: 1. System initialization After the system is powered on, IO initialization and FLASH data recovery are first performed to restore the stored system parameters and status. System initialization includes: Hardware interface initialization: configure the communication interface with the air pressure sensor, actuator (air pump, valve controller) and fault detection module; Target parameter recovery: read key parameters such as target air pressure value and fault threshold from FLASH.

[0098] 2. Scheduled task scheduling During the operation of the system, tasks are assigned to each module based on the time period: 1) 1ms scheduled task The signal acquisition module collects the air pressure data in the current airbag in real time. k And transmit the data to the data processing module for filtering.

[0099] At the same time, the collected voltage data is monitored to ensure a stable power supply status.

[0100] 2) 10ms scheduled task Detect the system power supply voltage status and determine whether there is a power supply abnormality.

[0101] If the power supply is normal, it is further determined whether the current air pressure state meets the requirements and transmitted to the control algorithm module.

[0102] If the power supply or data is abnormal, the system triggers the fault alarm module and enters the fault handling process.

[0103] 3) 20ms scheduled task The vehicle status data is sent via the CAN bus, including current air pressure, target air pressure and system status information.

[0104] Record the current system status data and store it in the FLASH memory for subsequent analysis and maintenance.

[0105] 4) 50ms scheduled task Check the IO pins and actuator feedback signals to ensure the normal operation of the actuator (air pump, valve).

[0106] If a hardware anomaly is detected, the system shuts down the actuator, triggers the alarm mechanism, and records the fault information.

[0107] 3. Sensor data verification and control logic The data processing module filters the collected air pressure data and calculates the current state vector: Air pressure error x1 = P target -P filtered Air pressure change rate The system transmits the above state vector to the control algorithm module and calculates the optimal control input u based on the LQR control algorithm. k , to achieve precise control of the air pump and valve, and adjust the air pressure to the target value.

[0108] like Figure 4 As shown, the specific implementation of the gear lifting control algorithm is as follows: 1. Gear control logic When receiving the gear execution instruction, the system enters the gear up and down control process, which specifically includes the following steps: 1) Determine whether the air pressure needs to be adjusted Determine whether the current gear requires air pressure boosting or decompression operation; If no adjustment is required, the system returns to standby mode; If adjustment is required, proceed to the pressure adjustment process.

[0109] 2) Pressure detection and data judgment Execute 10 seconds timing, monitor the real-time air pressure value in the current airbag, and determine: Whether the current air pressure of the two airbags is less than the target value; Check whether the airbag pressure difference exceeds the set allowable range (e.g. 10PSI).

[0110] If the above conditions are met, the system opens the corresponding regulating valve and performs air pressure boosting operation.

[0111] 3) Boosting execution and target determination If the pressurization operation is performed, the system monitors whether the air pressure of both airbags reaches the target value; If the air pressure reaches the target value, the system closes the corresponding regulating valve and stops pressurization.

[0112] If the air pressure does not reach the target value, the system continues to perform the boost operation until the air pressure meets the target requirement or an abnormality occurs.

[0113] 4) Decompression process Determine whether an air pressure reduction operation is required, for example, if the current air pressure is higher than the target value or the vehicle load is reduced; Execute 10 seconds of timing, monitor the real-time air pressure data of the two airbags, and determine: Whether the current air pressure of the two airbags is greater than the target value.

[0114] If the conditions are met, open the corresponding air vent valve and perform the decompression operation.

[0115] The system monitors the air pressure value in real time. When the air pressure drops to the target value, the corresponding regulating valve is closed and the pressure reduction operation is stopped.

[0116] 5) Fault detection and protection During the pressure regulation process, the fault detection module monitors the system operation status in real time: If faults such as abnormal sensor data, stuck valves or unresponsive actuators are detected, all valves and air pumps will be closed immediately; the alarm mechanism will be triggered to prompt the user with fault information and record the fault data.

[0117] 6) Exit process When the airbag pressure meets the target value and the system operates normally, the system closes all valves and actuators and exits the gear control process; If the system fails, it enters fault handling mode, stops the current operation and maintains a safe state.

[0118] Specific process example description Example scenario: Pressure boost control when the vehicle is shifting up S1: The vehicle sends an upshift command, and the system determines whether the air pressure needs to be adjusted at present, and the result is "pressurization is required".

[0119] S2: Execute 10 seconds timing and monitor the air pressure values ​​of the two airbags in real time. It is found that the current air pressure is less than the target value and the pressure difference is less than 10PSI.

[0120] S3: The system calculates the optimal control input through the control algorithm module, instructs the air pump to start and open the corresponding regulating valve to perform the boost operation.

[0121] S4: The system continuously monitors the airbag pressure. When the pressure of both airbags reaches the target value, the system closes the regulating valve and stops pressurization.

[0122] S5: The system enters normal operation, maintains the current pressure, and monitors the status of the actuator and sensor to ensure system stability.

[0123] Example scenario: Pressure reduction control when the vehicle downshifts S1: The vehicle sends a downshift command, and the system determines whether the air pressure needs to be adjusted at present, and the result is "pressure reduction is required".

[0124] S2: Execute 10 seconds of timing and monitor the air pressure values ​​of the two airbags in real time. It is found that the current air pressure is higher than the target value.

[0125] S3: The system instructs the vent valve to open and perform the decompression operation.

[0126] S4: The system continuously monitors the air pressure value. When the air pressure of the two airbags drops to the target value, the deflation valve is closed and the decompression operation stops.

[0127] S5: The system returns to standby mode and records the current air pressure status.

[0128] In this embodiment, the dynamic adjustment and fault protection of the vehicle airbag posture are realized by combining the system software process and the gear lifting control algorithm. The system completes the precise inflation and deflation of the airbag through timed task scheduling, real-time air pressure monitoring, state quantity calculation and LQR control algorithm execution, ensuring the stability, real-time and reliability of vehicle posture adjustment. The gear control algorithm has a clear process, taking into account the dynamic adjustment of the pressurization and decompression process, and realizes the system's safety protection and fault alarm function through the fault detection module.

[0129] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A vehicle airbag posture management system based on air pressure sensor, characterized in that: include: Signal acquisition module, used to collect air pressure data and voltage signals in the airbag in real time; A data processing module, used to filter the air pressure data acquired by the signal acquisition module and calculate system state quantities, including air pressure error and air pressure change rate; The control algorithm module is used to determine the control input of the valve based on the optimal control theory and adjust the airbag pressure through feedback control; An actuator module, used to execute the inflation or deflation operation of the airbag according to the control instruction of the control algorithm module; The fault detection and alarm module is used to monitor the system operation status in real time and send out a fault alarm signal when an abnormality occurs.

2. A vehicle airbag posture management system based on an air pressure sensor according to claim 1, characterized in that: The signal acquisition module includes an air pressure sensor, the sampling period of which is 1 ms, and is used to collect the current air pressure value in the airbag in real time.

3. The vehicle airbag posture management system based on air pressure sensor according to claim 1 is characterized in that: The data processing module performs filtering processing on the air pressure data by using the median average filtering method to remove noise and interference in the air pressure data.

4. The vehicle airbag posture management system based on air pressure sensor according to claim 1 is characterized in that: The data processing module is used to process the air pressure data collected by the signal acquisition module, specifically including: Calculate the system state, including the pressure error and the pressure change rate, where: The air pressure error x1 is the target air pressure P target The difference from the current air pressure P; The air pressure change rate x2 is the rate of change between the current air pressure and the previous air pressure, and the calculation formula is: Among them, P k is the current air pressure, P k-1 is the air pressure at the previous moment, T s is the sampling time interval; The calculated air pressure error and air pressure change rate constitute the system state vector As the input of the control algorithm module.

5. The vehicle airbag posture management system based on air pressure sensor according to claim 1, characterized in that: The control algorithm module adopts a linear quadratic regulator control algorithm to achieve optimal control through a feedback control law, which includes: A control input is calculated based on a system state vector and a feedback gain matrix, which is determined according to system state weights and control weights.

6. The vehicle airbag posture management system based on air pressure sensor according to claim 5, characterized in that: In the control algorithm module, the feedback gain matrix is ​​obtained by solving the Riccati equation, which specifically includes: The control algorithm module is based on the system state equation x k+1 =Ax k +Bu k And the performance index function of the linear quadratic regulator: Among them, Q is the system state weight matrix, which is used to penalize the pressure error and the pressure change rate, R is the control weight matrix, which is used to penalize the control input energy, and x k is the system state vector, u k is the control input; The feedback gain matrix K is obtained by solving the discrete Riccati equation, which is: A T USA-USA T SB(R+B T SB) -1 B T SA+Q=0 Where S is the solution of the Riccati equation, A and B are the system state matrix and input matrix respectively; The feedback gain matrix K is expressed as: K=(R+B T SB) -1 B T IN The control algorithm module is based on the feedback control law u k =-Kx k Calculate the control input u k , achieving optimal control of the airbag pressure.

7. The vehicle airbag posture management system based on air pressure sensor according to claim 1, characterized in that: The actuator module includes an air pump and a valve controller: The air pump is used to inflate the airbag; The valve controller is used to adjust the air flow rate to achieve the deflation operation of the airbag.

8. The vehicle airbag posture management system based on air pressure sensor according to claim 1, characterized in that: The fault detection and alarm module is used to monitor the fault conditions of abnormal air pressure sensor data and abnormal valve execution, and trigger an alarm signal when a fault occurs.

9. A vehicle airbag posture management method based on an air pressure sensor, applied to the system according to any one of claims 1 to 8, characterized in that: The following steps are involved: The current air pressure value in the vehicle airbag is collected in real time through the air pressure sensor; Filter the collected air pressure data and calculate the system state quantity, including air pressure error and air pressure change rate; Calculate the optimal control input of the airbag based on the linear quadratic regulator control algorithm; According to the optimal control input, the air pump or valve is controlled to inflate or deflate the airbag and adjust the airbag pressure; Monitor the system operation status in real time and trigger the alarm mechanism if any abnormality is detected.

10. A vehicle airbag posture management method based on an air pressure sensor according to claim 9, characterized in that: The step of calculating the optimal control input of the airbag based on the linear quadratic regulator control algorithm includes: Based on the dynamic model of the vehicle airbag, obtain the current system state, including air pressure error and air pressure change rate; Setting a system state weight matrix and a control weight matrix, wherein the system state weight is used to penalize air pressure error and air pressure change rate, and the control weight is used to penalize control input energy; Solving a feedback gain matrix by discrete Riccati equation, wherein the feedback gain matrix is ​​used to realize an optimal control law; Based on the feedback control law, the current control input is calculated, and the control input is used to adjust the opening of the airbag inflation valve or deflation valve to achieve dynamic adjustment of the air pressure.

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