Program control method of control system and control system

Abstract

The embodiment of the invention discloses a program control method of a control system and the control system, and belongs to the field of software. The program control method of the control system comprises the steps that after a program of a controller is updated from a first program to a second program, instruction data and a reference signal are obtained; the second program is operated according to the instruction data to control the execution module to act, and an actual signal representing the action condition of the execution module is obtained; and determining a program updating result according to the matching condition of the actual signal and the reference signal. The embodiment of the invention has the technical effects that the integrity of the second program can be favorably verified, so that the use of the control system is not easily influenced by the defect of the second program in the later running process of the second program, and the reliability of program upgrading is improved.

Description

Technical Field

[0001] The present application relates to the field of software, and in particular to a program control method of a control system and a control system. Background Art

[0002] With the development of technology, most traditional manually controlled devices have added intelligent functions. By setting up a controller inside the device and using the controller's calculation and analysis functions to automatically control the various moving parts of the device, the user experience of the device is improved.

[0003] The program inside the controller needs to be updated regularly. The current update method requires sending the device to a site that can upgrade the program, and the staff at the site will update the program inside the controller. This update method is not only time-consuming, but also the upgraded program may have problems after the user leaves the site. For example, for a car, if there is a problem with the program after the control system of the car is upgraded, it will cause the car to lose control, posing a safety hazard. Summary of the invention

[0004] The embodiments of the present application provide a program control method and a control system for a control system, so as to at least solve the technical problem of poor reliability of control program upgrade.

[0005] According to a first aspect of an embodiment of the present application, a program control method of a control system is provided, wherein the control system includes a controller and an execution module controlled by the controller, and the method is applied to the controller, and the method includes:

[0006] After the program of the controller is updated from the first program to the second program, obtaining instruction data and a reference signal, wherein the second program is obtained by wireless transmission, and the reference signal includes an expected signal generated by the execution module according to the instruction data when the second program is running;

[0007] Running the instruction data according to the second program to control the action of the execution module and obtain an actual signal representing the action of the execution module;

[0008] A program update result is determined according to a matching condition between the actual signal and the reference signal.

[0009] With this embodiment, the second program is obtained through wireless transmission, so that when the program in the controller needs to be updated, the user does not need to carry the controller to a designated location, which improves the convenience of program update and the user's experience of the control system. At the same time, after the first program is updated to the second program, the instruction data and reference signal will be obtained, and the execution module action will be controlled by the instruction data, and the reference signal will be used for verification to obtain the program update result, which is helpful to verify the integrity of the second program, so that in the process of running the second program later, it is not easy to affect the use of the control system due to defects in the second program, and the reliability of program upgrade is improved.

[0010] In combination with the first aspect, in an optional implementation of the embodiment of the present application, the instruction data includes action instructions that meet preset safety instruction conditions.

[0011] With this implementation, since the action instruction meets the safety instruction condition, safety problems are less likely to occur when the action instruction is executed according to the second program, thereby improving the safety of the control system during the program verification process.

[0012] In combination with the first aspect, in an optional implementation of the embodiment of the present application, the action instruction includes a target action module and an action parameter, and the target action module belongs to the execution module;

[0013] The step of running the instruction data according to the second program to control the action of the execution module includes:

[0014] The target action module action is controlled according to the action parameters.

[0015] With this implementation, both the target action module and the action parameters rely on the operation of the second program, so that the program update result can have a strong correlation with the second program, thereby better reflecting the defects of the second program and ensuring the reliability of the verification of the second program.

[0016] In combination with the first aspect, in an optional implementation of the embodiment of the present application, determining the program update result according to the matching condition between the actual signal and the reference signal includes:

[0017] If the actual signal is the same as the reference signal, the update is completed;

[0018] If the actual signal is different from the reference signal, the update is incorrect and the program of the controller is restored to the first program before the update;

[0019] The matching situation includes the sameness and the difference, and the program update result includes the update completion and the update error.

[0020] By adopting this implementation method, when an update is erroneous, the program of the controller is directly restored, so that when the user uses the control system, it is not easy to be in danger due to defects in the second program, thereby improving the reliability of program upgrades.

[0021] In combination with the first aspect, in an optional implementation manner of the embodiment of the present application, the method further includes:

[0022] If the program update result is that the update is incorrect, a first log and fault information are generated, and the fault information is uploaded to a pre-connected host computer.

[0023] By adopting this implementation, after uploading the first log and the fault information to the host computer, it is convenient for the program maintenance personnel and the user themselves to view the first log and the fault information, so as to conveniently know the cause of the update error.

[0024] In combination with the first aspect, in an optional implementation manner of the embodiment of the present application, before acquiring the instruction data and the reference signal, the method further includes:

[0025] The target version number corresponding to the second program is verified and / or a cyclic redundancy check is performed on the second program.

[0026] By adopting this implementation, the target version number is first verified and / or the second program itself is first subjected to a cyclic redundancy check, which helps to promptly discover problems that are easy to find and reduce subsequent verification costs.

[0027] In combination with the first aspect, in an optional implementation manner of the embodiment of the present application, the method further includes:

[0028] In the process of updating the first program to the second program and / or in the process of controlling the action of the execution module, a second log is generated and uploaded to a pre-connected host computer.

[0029] With this implementation, a related second log is generated during the program update process and / or verification process, allowing program maintainers and users to understand the program update status in real time, thereby promptly identifying the cause of the problem and performing maintenance when a problem occurs.

[0030] According to a second aspect of an embodiment of the present application, a control system is provided, which includes a controller and an execution module controlled by the controller, the controller includes a program update process, and the controller adopts the above-mentioned program control method when executing the program update process.

[0031] In conjunction with the second aspect, in an optional implementation of the embodiment of the present application, the control system includes a control system of a vehicle;

[0032] The controller includes at least one of an air suspension controller, a chassis controller, and an instrument controller of the vehicle.

[0033] According to a third aspect of an embodiment of the present application, a control system is provided, the control system comprising a cloud server, a communication module and the control system described above;

[0034] The cloud server is used to send the second program to the control system through the communication module;

[0035] The control system executes a program update process after obtaining the second program.

[0036] In combination with the third aspect, in an optional implementation method of the embodiment of the present application, the control system also includes a host computer, which is used to receive logs and / or fault information uploaded by the control system through the communication module and can be controlled to display the logs and / or fault information.

[0037] According to a fourth aspect of an embodiment of the present application, there is provided an air suspension mechanism for a vehicle, comprising:

[0038] The frame, which forms the chassis of the vehicle;

[0039] A wheel bracket, used for connecting the wheel;

[0040] A height adjusting member, disposed between the vehicle frame and the wheel bracket and connected to the vehicle frame and the wheel bracket respectively, for changing the distance between the vehicle frame and the wheel bracket;

[0041] an execution module connected to the controlled end of the height adjustment member, and used for controlling the height adjustment member to change the distance between the vehicle frame and the wheel bracket;

[0042] an angular displacement sensor, arranged between the vehicle frame and the wheel bracket and connected to the vehicle frame and the wheel bracket respectively, wherein when the distance between the vehicle frame and the wheel bracket changes, the angular displacement sensor undergoes angular displacement, and when the angular displacement sensor undergoes angular displacement, a target parameter value associated with the angular displacement changes, wherein the target parameter value is used to characterize an angle value of the angular displacement sensor;

[0043] The controller is preset with a program update process, and the controller adopts the above-mentioned program control method when executing the program update process, wherein the actual signal includes the target parameter value.

[0044] In conjunction with the fourth aspect, in an optional implementation of the embodiment of the present application, the height adjustment member includes an air spring, the air spring can be controllably extended or compressed, one end of the air spring is fixedly connected to the frame, and the other end is fixedly connected to the wheel bracket;

[0045] The air suspension mechanism further includes a gas storage tank for storing gas for the air spring;

[0046] An air circuit, connecting the air storage tank and the air inlet end of the air spring;

[0047] The solenoid valve is arranged on the air circuit and is used to control the on-off of the air circuit to control the inflation and deflation of the air spring, wherein the air spring is extended or compressed when inflated and deflated, and the execution module includes the solenoid valve.

[0048] The technical effects obtained in the above-mentioned second to fourth aspects are similar to the technical effects obtained by the corresponding technical means in the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 is a flow chart of a program control method of a control system provided in an embodiment of the present application;

[0050] Figure 2 It is a structural schematic diagram of a control system provided in an embodiment of the present application;

[0051] Figure 3 It is a structural block diagram of a control system provided by an embodiment of the present application;

[0052] Figure 4 It is a flow chart of a program control method of a control system provided by an embodiment of the present application in a specific application.

[0053] Marking instructions: 1. Frame; 2. Wheel bracket; 3. Wheel; 4. Air spring; 5. Shock absorber; 6. Inductive angular displacement sensor; 7. Connecting rod; 8. Solenoid valve; 9. Air tank; 10. Controller; 11. Air circuit; 12. Signal line; 13. Crossbar; 14. Bluetooth module; 15. Host computer. DETAILED DESCRIPTION

[0054] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0055] It should be understood that the "plurality" mentioned in this article refers to two or more. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first", "second" and so on are used to distinguish between the same items or similar items with basically the same functions and effects. Those skilled in the art can understand that the words "first", "second" and so on do not limit the quantity and execution order, and the words "first", "second" and so on do not limit certain different

[0056] In addition, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus that includes a series of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to such process, method, product, or apparatus.

[0057] First, the terms involved in the embodiments of the present application are introduced.

[0058] ECU (Electronic Control Unit) is a key component in a car, also known as the car's "on-board computer". The main function of ECU is to collect vehicle operation data through various sensors, and after calculation and processing, send control instructions to the actuator to achieve precise control of various functions of the car. The working principle of ECU includes steps such as signal acquisition, calculation and processing, analysis and judgment, and issuing control instructions.

[0059] CRC (Cyclic Redundancy Check) is a fast algorithm that generates a short fixed-bit check code based on network data packets or computer files. It is mainly used to detect or check errors that may occur after data transmission or storage. CRC uses the principle of division and remainder to realize the function of error detection. It has the advantages of clear principle and simple implementation.

[0060] Electronic control units (ECUs) are increasingly used in vehicles, and their functions are becoming more complex. Especially in suspension control, regular software updates are required to optimize control performance and improve safety. Traditional upgrade methods often require the vehicle to be driven to a repair station, which is not only time-consuming but also increases costs. Therefore, OTA-based remote upgrade technology has emerged to effectively solve this problem. During the OTA remote upgrade process of the vehicle suspension controller, it is very critical to ensure the reliability of the upgrade. If any problems occur during the upgrade process, the suspension controller may not work properly or even cause safety hazards. Existing OTA upgrade technologies usually lack an effective reliability verification mechanism, making it difficult to ensure that every link in the upgrade process can proceed smoothly.

[0061] Based on this, an embodiment of the present application provides a program control method for a control system and a control system. Taking the application of the program control method of the control system to an automobile as an example, upgrade instructions are obtained through a 4G module, and a method for downloading programs based on the vehicle-mounted standard UDS service protocol is used. Verification of program reliability is achieved through a method based on functional verification.

[0062] Specifically, solve at least one of the following problems:

[0063] 1. The vehicle suspension controller needs to upgrade the program, maintain the control logic and system parameters, etc. It is necessary to disassemble the ECU on site and burn a new program, which is troublesome and reduces the efficiency of program upgrade;

[0064] 2. Regarding the unreliability problem during the OTA upgrade process. Even if the upgrade process seems to be successful, the suspension controller may still have abnormal functions, affecting the normal operation of the vehicle. At the same time, if serious errors occur during the upgrade process, the suspension controller may not work properly, affecting the safety of the vehicle. The current OTA upgrade system mostly proofreads the program itself, lacking a comparison of the software version and the correctness of the software function;

[0065] 3. It is often difficult for users to find and solve problems in time during the upgrade. This not only affects the success rate of the upgrade, but may also cause the suspension controller to not work properly, affecting the performance and safety of the vehicle. Traditional OTA upgrade interfaces usually lack effective troubleshooting and logging functions, making it difficult for technicians to quickly locate and solve these problems. At the same time, the version number cannot be effectively managed.

[0066] At least the following beneficial effects are achieved:

[0067] The present invention proposes a remote upgrade method for ECU function upgrade or after-sales maintenance of automobile electronic air suspension, which can realize program update and maintenance of suspension controller without disassembling control panel. Users can also timely discover and repair potential problems through log records, enhance system reliability and security, and software version processing module facilitates the management of updated versions. Finally, the system is equipped with an automatic function verification module, which can realize program and function verification after upgrade.

[0068] Have at least one of the following characteristics:

[0069] 1. A web-based user interface is designed, which allows users to access and perform OTA upgrades of the suspension controller through a browser. This avoids the tedious steps of disassembling the vehicle suspension system program burning and can achieve remote program upgrades and maintenance. In the case of program confidentiality, remote ECU program upgrades and maintenance can also be performed through the 4G module;

[0070] 2. A closed-loop functional verification module based on the electronically controlled suspension actuator and sensor is designed, which can automatically verify the reliability of the software function version after the OTA upgrade is completed. The vehicle side automatically runs the functional test of the suspension controller to ensure that all functions of the controller are normal. The test results are fed back to the user through the user interface;

[0071] 3. Integrate troubleshooting and logging functions in the user interface, which can display errors and troubleshoot in real time, manage software versions, and finally draw conclusions on program updates and record logs based on program verification and function verification.

[0072] Reference Figure 1 The flowchart of the program control method of the control system shown is as follows. The control system includes a controller and an execution module controlled by the controller. The method is applied to the controller and includes the following processing procedures.

[0073] S100 , after the program of the controller is updated from the first program to the second program, obtaining instruction data and a reference signal.

[0074] The second program is obtained through wireless transmission, and the reference signal includes an expected signal generated by the execution module when the second program is running according to the instruction data.

[0075] In one embodiment, when the controller program is updated from the first program to the second program, a signal is generated or a flag is changed, thereby determining that the controller program has been updated to the second program. At this time, subsequent steps can be executed to specifically obtain instruction data and reference signals.

[0076] In one embodiment, the controller updates the first program to the second program after receiving the second program. It should be noted that the controller will update the program when appropriate, and this embodiment does not specifically limit this. For example, for a car, it is considered appropriate when it does not affect the normal use of the car.

[0077] In one embodiment, the instruction data and the reference signal may be transmitted from a host computer to the controller, or may be transmitted from a server responsible for software update to the controller, which is not specifically limited in this embodiment.

[0078] S102: Run the instruction data according to the second program to control the action of the execution module and obtain an actual signal representing the action status of the execution module.

[0079] In one embodiment, after the instruction data is obtained, the execution module is controlled according to the logic of the second program so that the execution module generates an action. For example, the instruction data indicates that a valve in the control system needs to be opened. According to the logic of the second program, the process of opening the valve is determined, and the valve is finally opened. If the second program is defective, the valve opening fails or the wrong valve is opened.

[0080] In one embodiment, the actual signal represents the action status of the execution module, specifically, for example, the duration of the execution module action, the time node of the action, the result after the action, etc. This embodiment does not make specific limitations on this.

[0081] S104: Determine a program update result according to a matching condition between the actual signal and the reference signal.

[0082] In one embodiment, the actual signal is compared with the reference signal to obtain a matching condition, which includes a matching condition and a mismatch. For example, when the actual signal is the same as the reference signal, it is a match, and when they are different, it is a mismatch. Thus, a program update result is generated to indicate whether the update is successful or completed.

[0083] With this embodiment, the second program is obtained through wireless transmission, so that when the program in the controller needs to be updated, the user does not need to carry the controller to a designated location, which improves the convenience of program update and the user's experience of the control system. At the same time, after the first program is updated to the second program, the instruction data and reference signal will be obtained, and the execution module action will be controlled by the instruction data, and the reference signal will be used for verification to obtain the program update result, which is helpful to verify the integrity of the second program, so that in the process of running the second program later, it is not easy to affect the use of the control system due to defects in the second program, and the reliability of program upgrade is improved.

[0084] In a possible embodiment of the present application, the instruction data includes action instructions that meet preset safety instruction conditions.

[0085] In one embodiment, the safety instruction condition can be set according to the actual situation. For example, when the control system is a mechanism in a car, the safety instruction condition can be that the car is not moving or the action instruction will not affect the safety of the car's driving.

[0086] With this implementation, since the action instruction meets the safety instruction condition, safety problems are less likely to occur when the action instruction is executed according to the second program, thereby improving the safety of the control system during the program verification process.

[0087] Optionally, in an implementation of this embodiment, the action instruction includes a target action module and an action parameter, and the target action module belongs to the execution module;

[0088] The step of running the instruction data according to the second program to control the action of the execution module includes:

[0089] The target action module action is controlled according to the action parameters.

[0090] In one embodiment, the target action module refers to a device that needs to perform an action, such as a valve, etc. The action parameters include action duration, action time node, action number, etc.

[0091] By adopting this implementation method, the target action module and action parameters are obtained by relying on the operation of the second program, so that the program update result can have a strong correlation with the second program, thereby better reflecting the defects of the second program and ensuring the reliability of the verification of the second program.

[0092] Optionally, in an implementation of this embodiment, determining a program update result according to a matching condition between the actual signal and the reference signal includes:

[0093] If the actual signal is the same as the reference signal, the update is completed;

[0094] If the actual signal is different from the reference signal, the update is incorrect and the program of the controller is restored to the first program before the update;

[0095] The matching situation includes the sameness and the difference, and the program update result includes the update completion and the update error.

[0096] By adopting this implementation method, when an update is erroneous, the program of the controller is directly restored, so that when the user uses the control system, it is not easy to be in danger due to defects in the second program, thereby improving the reliability of program upgrades.

[0097] Optionally, in an implementation of this embodiment, the method further includes:

[0098] If the program update result is that the update is incorrect, a first log and fault information are generated, and the fault information is uploaded to a pre-connected host computer.

[0099] In one embodiment, the host computer may be a user's smart phone, so that the user can view the first log and fault information through the smart phone, view the specific details of the update error, and thus know the specific cause of the update error.

[0100] By adopting this implementation, after uploading the first log and the fault information to the host computer, it is convenient for the program maintenance personnel and the user themselves to view the first log and the fault information, so as to conveniently know the cause of the update error.

[0101] Optionally, in an implementation of this embodiment, before acquiring the instruction data and the reference signal, the method further includes:

[0102] The target version number corresponding to the second program is verified and / or a cyclic redundancy check is performed on the second program.

[0103] In one embodiment, the cyclic redundancy check includes a CRC verification.

[0104] By adopting this implementation, the target version number is first verified and / or the second program itself is first subjected to a cyclic redundancy check, which helps to promptly discover problems that are easy to find and reduce subsequent verification costs.

[0105] Optionally, in an implementation of this embodiment, the method further includes:

[0106] In the process of updating the first program to the second program and / or in the process of controlling the action of the execution module, a second log is generated and uploaded to a pre-connected host computer.

[0107] With this implementation, a related second log is generated during the program update process and / or verification process, allowing program maintainers and users to understand the program update status in real time, thereby promptly identifying the cause of the problem and performing maintenance when a problem occurs.

[0108] An embodiment of the present application provides a control system, which includes a controller and an execution module controlled by the controller. The controller includes a program update process. When executing the program update process, the controller adopts the program control method described above.

[0109] Optionally, in an implementation of this embodiment, the control system includes a control system of a vehicle;

[0110] The controller includes at least one of an air suspension controller, a chassis controller, and an instrument controller of the vehicle.

[0111] An embodiment of the present application provides a control system, the control system comprising a cloud server, a communication module and the control system described above;

[0112] The cloud server is used to send the second program to the control system through the communication module;

[0113] The control system executes a program update process after obtaining the second program.

[0114] Optionally, in an implementation of this embodiment, the control system also includes a host computer, which is used to receive logs and / or fault information uploaded by the control system through the communication module and can be controlled to display the logs and / or fault information.

[0115] The present application provides an air suspension mechanism for a vehicle, such as Figure 2 As shown, including:

[0116] A vehicle frame 1, used to form a chassis of the vehicle;

[0117] The wheel 3 bracket 2 is used to connect the wheel 3;

[0118] A height adjustment member, disposed between the frame 1 and the wheel 3 bracket 2 and connected to the frame 1 and the wheel 3 bracket 2 respectively, for changing the distance between the frame 1 and the wheel 3 bracket 2;

[0119] An execution module, connected to the controlled end of the height adjustment member, and used to control the height adjustment member to change the distance between the vehicle frame 1 and the wheel 3 bracket 2;

[0120] an angular displacement sensor, arranged between the vehicle frame 1 and the wheel 3 bracket 2 and connected to the vehicle frame 1 and the wheel 3 bracket 2 respectively; when the distance between the vehicle frame 1 and the wheel 3 bracket 2 changes, the angular displacement sensor undergoes angular displacement; when the angular displacement sensor undergoes angular displacement, a target parameter value associated with the angular displacement changes, wherein the target parameter value is used to characterize an angle value of the angular displacement sensor;

[0121] The controller 10 is preset with a program update process. When the controller 10 executes the program update process, the program control method described above is adopted, wherein the actual signal includes the target parameter value.

[0122] In one embodiment, the vehicle suspension is a general term for all force transmission connection devices between the vehicle frame 1 (or load-bearing body) and the axle (or wheel 3) of the vehicle, and its function is to transmit the force and torque acting between the wheel 3 and the frame 1, and to buffer the impact force transmitted to the frame 1 or the vehicle body by the uneven road surface, and reduce the vibration caused thereby, so as to ensure that the vehicle can run smoothly.

[0123] In one embodiment, the frame 1 refers to a part of the chassis of the vehicle, that is, the chassis of the vehicle includes the frame 1, and the frame 1 mainly serves to connect and fix, that is, to connect parts such as the height adjustment member and the angular displacement sensor, and this embodiment does not specifically limit the shape and structure of the frame 1. In one embodiment, the frame 1 refers to the entire chassis of the vehicle, that is, the chassis of the vehicle is the frame 1 in this embodiment.

[0124] In one embodiment, the wheel 3 bracket 2 is used to install the wheel 3, and the wheel 3 may include a hub and a tire, which is not specifically limited in this embodiment.

[0125] In one embodiment, the height adjustment member can adjust the distance between the frame 1 and the wheel 3 bracket 2. Specifically, the height adjustment member is used to adjust the distance between the frame 1 and the wheel 3 in the vertical direction. This embodiment does not specifically limit the height adjustment member, as long as it can adjust the distance, such as an electrically controllable telescopic bracket, an air spring 4, etc.

[0126] In one embodiment, the angular displacement sensor is used to detect the distance between the frame 1 and the wheel 3 bracket 2 and output a target parameter value when the distance changes. The target parameter value may be a value related to an electrical signal or other values ​​(such as a digital signal). This embodiment does not specifically limit this, and it is specifically determined according to the type of the angular displacement sensor. It should be noted that the target parameter value generated by the angular displacement sensor can reflect the angle value, that is, the angle value detected by the angular displacement sensor. This angle value may be output after calculation by a calculator inside the angular displacement sensor, or it may be output after calculation by other chips or devices with calculation functions. This embodiment does not specifically limit this. Preferably, the angular displacement sensor adopts an inductive angular displacement sensor 6.

[0127] Optionally, in an implementation of this embodiment, the height adjustment member includes an air spring 4, the air spring 4 can be controllably extended or compressed, one end of the air spring 4 is fixedly connected to the frame 1, and the other end is fixedly connected to the wheel 3 bracket 2;

[0128] The air suspension mechanism further comprises an air storage tank 9 for storing gas for the air spring 4;

[0129] An air circuit 11, connecting the air storage tank 9 with the air inlet end of the air spring 4;

[0130] The solenoid valve 8 is arranged on the air circuit 11 and is used to control the on-off of the air circuit 11 to control the inflation and deflation of the air spring 4 , wherein the air spring 4 is extended or compressed when inflating and deflation, and the execution module includes the solenoid valve 8 .

[0131] Specifically, the solenoid valve 8 has a power-on time and a power-off time. For example, when it is in the power-on time, the solenoid valve 8 opens the air path 11, and the compressed air in the air tank 9 enters the air spring 4 through the air path 11, so that the air spring 4 extends; when the solenoid valve 8 is in the power-off time, the solenoid valve 8 blocks the air path 11, and the compressed air in the air tank 9 cannot enter the air spring 4, and the air spring 4 is compressed.

[0132] Preferably, when the air spring 4 is extended, the distance between the frame 1 and the wheel 3 bracket 2 increases, and when the air spring 4 is compressed, the distance between the frame 1 and the wheel 3 bracket 2 decreases. This embodiment does not specifically limit the specific control process.

[0133] Optionally, in an implementation of this embodiment, the angular displacement sensor includes an iron core, a coil corresponding to the iron core, a crossbar 13 connected to the iron core, and a signal output terminal;

[0134] One end of the cross bar 13 away from the iron core is hinged with a connecting rod 7, and one end of the connecting rod 7 away from the cross bar 13 is hinged with the wheel 3 bracket 2;

[0135] When the distance between the frame 1 and the wheel 3 bracket 2 changes, the connecting rod 7 drives the cross bar 13 to swing, and the cross bar 13 drives the iron core to rotate, so that the electrical signal in the coil changes, wherein different electrical signals correspond to different target parameter values;

[0136] The signal output terminal is electrically connected to the controller 10 and is used to transmit the target parameter value to the controller 10;

[0137] Among them, the rotation of the iron core represents the angular displacement of the angular displacement sensor.

[0138] That is, the controller 10 can obtain the target parameter value in real time, and then use the target parameter value to calculate the angle value, so that the controller 10 can calculate the height and vertical acceleration of the frame 1 according to the angle value.

[0139] By adopting this implementation, through the arrangement of the cross bar 13 and the connecting rod 7, when the distance between the frame 1 and the wheel 3 bracket 2 changes, the angular displacement sensor can definitely undergo angular displacement, which helps to improve the monitoring effect of the vehicle.

[0140] Optionally, in an implementation of this embodiment, when the cross bar 13 is located at the initial position, the cross bar 13 is horizontally arranged, and when the connecting rod 7 is located at the initial position, the connecting rod 7 is vertically arranged.

[0141] It should be noted that the angle value that the angular displacement sensor can detect is limited. Therefore, the installation position and installation angle of the cross bar 13 and the connecting rod 7 are different, and the angle range that the angular displacement sensor can detect is also different. For example, in an application scenario, the angular displacement sensor is affected by the installation angle of the cross bar 13 and the connecting rod 7, and the detected angle range is between - degrees. In the process of the connecting rod 7 following the movement of the wheel 3 bracket 2, it may move to a certain position or a certain area, so that the angle value of the angular displacement sensor is not between - degrees. At this time, the angle value cannot be obtained or an invalid angle value is obtained. Based on this feature, the initial position of the cross bar 13 is determined according to the specific use of the angular displacement sensor. In this embodiment, the initial position is the position when the cross bar 13 is in a horizontal state. When the cross bar 13 is in a horizontal state, the connecting rod 7 is in a vertical state, that is, the connecting rod 7 is also in its initial position.

[0142] The implementation method is adopted to help maximize the angular displacement of the angular displacement sensor when the distance between the frame 1 and the wheel 3 bracket 2 changes, which helps to improve the monitoring effect of the vehicle.

[0143] Optionally, in an implementation of this embodiment, the angular displacement sensor includes an inductive angular displacement sensor 6;

[0144] When the angular displacement sensor is an inductive angular displacement sensor 6, the electrical signal is inductance, and when the inductance changes, the charge and discharge time of the angular displacement sensor changes accordingly;

[0145] The charging time and / or discharging time in the charging and discharging time are used as target parameter values;

[0146] The controller 10 is configured to:

[0147] The angle value of the angular displacement sensor is determined according to a preset corresponding relationship between the charging time and / or the discharging time and the angle value.

[0148] In one embodiment, the controller 10 is configured to determine the angle value of the angular displacement sensor according to the target parameter value. Preferably, the target parameter value includes charging time and / or discharging time.

[0149] By adopting this implementation, the angle value is obtained by utilizing the operating principle of the inductive angular displacement sensor 6, so that the angle value is easy to calculate, which helps to reduce the amount of calculation and save computing resources.

[0150] Optionally, in an implementation of this embodiment, at least one wheel 3 bracket 2 is provided, and each wheel 3 bracket 2 is connected to at least one wheel 3;

[0151] A height adjustment member and an angular displacement sensor are provided on the wheel 3 bracket 2 corresponding to each wheel 3;

[0152] The controller 10 is configured to:

[0153] Determine the angle value of the corresponding angular displacement sensor according to the target parameter value of each angular displacement sensor;

[0154] The frame 1 height and the vertical acceleration of the frame 1 are calculated according to each angle value, or the corresponding frame 1 height and the corresponding vertical acceleration are calculated according to each angle value.

[0155] For example, four angular displacement sensors are provided, one for each wheel 3. The four angular displacement sensors transmit the target parameter values ​​detected by themselves to the controller 10, so that the controller 10 can receive the target parameter values ​​transmitted by the four angular displacement sensors, and determine the angle value of the corresponding angular displacement sensor according to the obtained target parameter value, that is, each detection node has four angle values. Then the controller 10 calculates the frame 1 height and vertical acceleration of the frame 1 of the detection node according to the four angle values ​​of the same detection node.

[0156] By adopting this implementation method, the number of angular displacement sensors is the same as the number of wheels 3, which not only controls the number of sensors used to monitor the height and vertical acceleration of the frame 1 in the vehicle, but also ensures the influence of the corresponding position of each wheel 3 on the height and vertical acceleration of the frame 1, thereby controlling the cost of the vehicle while ensuring the effect of vehicle monitoring.

[0157] Optionally, in an implementation of this embodiment, the controller 10 is configured as follows:

[0158] The angle value is used to calculate the height of the frame 1 and the vertical acceleration of the frame 1 by using differential and trigonometric functions.

[0159] Preferably, the angle value is differentiated with time to obtain the angular velocity, the angular velocity is differentiated with time to obtain the angular acceleration, and finally the sine value of the angular acceleration is calculated to obtain the vertical acceleration.

[0160] Preferably, the height of the frame 1 is obtained by calculating the sine value of the angle value, and then the height of the frame 1 is differentiated with time to obtain the vertical velocity, and the vertical velocity is differentiated with time to obtain the vertical acceleration.

[0161] This implementation method simplifies the calculation method, helps to improve the calculation efficiency, and reduces the occupation of calculation resources.

[0162] Optionally, in an implementation of this embodiment, the controller 10 is configured as follows:

[0163] An evaluation result representing the vehicle comfort is generated according to the height of the vehicle frame 1 and / or the vertical acceleration.

[0164] For ease of understanding, for example, the height of the frame 1 is divided into different zones, and different zones correspond to different comfort evaluation results. When the evaluation result needs to be generated, the zone where the height of the frame 1 is located is determined using the calculated height of the frame 1, and then the comfort corresponding to the zone is used as the evaluation result.

[0165] By adopting this implementation method, the comfort level of the vehicle can be evaluated, which helps to monitor the quality of the vehicle in terms of comfort level.

[0166] In a specific application, the air suspension is mainly composed of an inductive angular displacement sensor 6, a solenoid valve 8, an air spring 4, an electronic control unit ECU (i.e., a controller 10), a Bluetooth module 14, a shock absorber 5, an air tank 9, a signal line 12, etc. The front and rear axles of the car are respectively supported by the air spring 4, and the inductive angular displacement sensor 6 is installed at the left front axle, the right front axle, the left rear axle, and the right rear axle of the car body.

[0167] In the above-mentioned embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The steps shown in the relevant flow chart can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flow chart, in some cases, the steps shown or described can be executed in an order different from that here. In other words, the order of steps described in the foregoing embodiments is only an example, and it is also within the scope of protection of the embodiments of the present application to reasonably adjust the order of steps based on the content of the embodiments of the present application.

[0168] In a specific implementation of the embodiment of the present application, the control system and the program control method of the control system include the following processing procedures:

[0169] Take the air suspension of a car as an example. Figure 3 As shown in the figure, it is a topological diagram for program function upgrade or after-sales maintenance. The new program fills in the file (.bin or .hex program file) through the computer web page / software and sends an upgrade request to the cloud server. The 4G module receives the file from the cloud server and transfers it to the CAN line of the ECU through the UDS protocol. After the ECU is powered on, it runs the Boot area of ​​the Flash. The BootLoader program burns the .bin or .hex program file to the application program area of ​​the Flash. After the burning is completed, the ECU is reset after verification.

[0170] Figure 4The logic diagram for the system to implement functional verification is shown in the figure. When the data transmission is completed, the system will first perform CRC verification of the version number and the program itself. If the verification fails, the program will roll back to the initial state and record the log. On the contrary, the host computer 15 will immediately send a packet of signal groups to verify the function of the current updated software version through the 4G module. The ECAS system will send control signals to each execution module. After the solenoid valve 8 receives the control signal, it will be fine-tuned according to the expected settings without affecting the system safety. At this time, the sensor feedback signal will be compared with the expected signal of the signal group. If the system can work normally and the sensor feedback information is consistent with the expectation, the function verification is passed and the OTA upgrade is successful. If the function verification fails, the update log and the fault information and the current version number are recorded and handed over to the host computer 15 for further judgment and processing by the user. Through functional testing and performance monitoring, it is ensured that the suspension controller 10 can work normally after the upgrade, which improves the reliability of the system.

[0171] In fault recording and troubleshooting, the user interface is developed based on Web technology, using front-end technologies such as HTML, CSS, and JavaScript to implement troubleshooting and logging functions. The front-end code communicates with the back-end through AJAX to obtain and display information during the upgrade process in real time. The back-end server uses back-end technologies such as Node.js and Python to process user requests, generate log files, store log information, etc. The back-end server interacts with the vehicle-side communication module to ensure the accuracy of data transmission and log records during the upgrade process. The log information is stored in the database of the back-end server and is managed and queried using database technologies such as MySQL and MongoDB. Users can query and download log files through the user interface.

[0172] For example, the given signal group is 0-5 seconds, reaching 2, 4, 6, 8, and 10 unit positions in sequence. At this time, the actuator acts as expected. If the feedback from the sensor is consistent with the expectation, the upgrade is successful.

[0173] In one embodiment, the ECU is not only an electronically controlled air suspension ECU, but may be any ECU of a vehicle system, such as a chassis ECU or an instrument ECU.

[0174] In one embodiment, the web page can also be upgraded on a mobile terminal such as a mobile phone.

[0175] The sequence of serial numbers or introduction of the embodiments of the present application is for description only and does not represent the superiority or inferiority of the embodiments.

[0176] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0177] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0178] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0179] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access, or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a digital versatile disc (DVD)), or a semiconductor medium (e.g., a solid state disk (SSD)). It is worth noting that the computer-readable storage medium mentioned in the embodiment of the present application may be a non-volatile storage medium, in other words, a non-transient storage medium.

[0180] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data for analysis, stored data, displayed data, etc.) and signals involved in the embodiments of this application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions. For example, the scene data of the current frame in the three-dimensional virtual scene, the device information of the client, and the scene interaction information involved in the embodiments of this application are all obtained with full authorization.

[0181] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A program control method for a control system, characterized in that: The control system includes a controller and an execution module controlled by the controller. The method is applied to the controller, and the method includes: After the program of the controller is updated from the first program to the second program, obtaining instruction data and a reference signal, wherein the second program is obtained by wireless transmission, and the reference signal includes an expected signal generated by the execution module according to the instruction data when the second program is running; Running the instruction data according to the second program to control the action of the execution module and obtain an actual signal representing the action of the execution module; A program update result is determined according to a matching condition between the actual signal and the reference signal.

2. The program control method of the control system according to claim 1, characterized in that: The instruction data includes action instructions that meet preset safety instruction conditions.

3. The program control method of the control system according to claim 2, characterized in that: The action instruction includes a target action module and an action parameter, and the target action module belongs to the execution module; The step of running the instruction data according to the second program to control the action of the execution module includes: The target action module action is controlled according to the action parameters.

4. The program control method of the control system according to claim 1, characterized in that: The determining the program update result according to the matching condition between the actual signal and the reference signal includes: If the actual signal is the same as the reference signal, the update is completed; If the actual signal is different from the reference signal, the update is incorrect and the program of the controller is restored to the first program before the update; The matching situation includes the sameness and the difference, and the program update result includes the update completion and the update error.

5. The program control method of the control system according to claim 1, characterized in that: Before acquiring the instruction data and the reference signal, the method further includes: The target version number corresponding to the second program is verified and / or a cyclic redundancy check is performed on the second program.

6. A control system, characterized in that: The control system includes a controller and an execution module controlled by the controller, the controller includes a program update process, and when executing the program update process, the controller adopts the program control method according to any one of claims 1 to 5.

7. The control system according to claim 6, characterized in that: The control system includes a control system of the vehicle; The controller includes at least one of an air suspension controller, a chassis controller, and an instrument controller of the vehicle.

8. A control system, characterized in that: The control system comprises a cloud server, a communication module and a control system according to any one of claims 6 to 7; The cloud server is used to send the second program to the control system through the communication module; The control system executes a program update process after obtaining the second program.

9. The control system according to claim 8, characterized in that: The control system further comprises a host computer, which is used to receive logs and / or fault information uploaded by the control system through the communication module and can be controlled to display the logs and / or fault information.

10. An air suspension mechanism for a vehicle, characterized in that: include: The frame, which forms the chassis of the vehicle; A wheel bracket, used for connecting the wheel; A height adjusting member, disposed between the vehicle frame and the wheel bracket and connected to the vehicle frame and the wheel bracket respectively, for changing the distance between the vehicle frame and the wheel bracket; an execution module connected to the controlled end of the height adjustment member, and used for controlling the height adjustment member to change the distance between the vehicle frame and the wheel bracket; an angular displacement sensor, arranged between the vehicle frame and the wheel bracket and connected to the vehicle frame and the wheel bracket respectively, wherein when the distance between the vehicle frame and the wheel bracket changes, the angular displacement sensor undergoes angular displacement, and when the angular displacement sensor undergoes angular displacement, a target parameter value associated with the angular displacement changes, wherein the target parameter value is used to characterize an angle value of the angular displacement sensor; A controller is preset with a program update process, and when the controller executes the program update process, the program control method according to any one of claims 1 to 5 is adopted, wherein the actual signal includes the target parameter value.

11. The air suspension mechanism for a vehicle according to claim 10, characterized in that: The height adjustment member comprises an air spring, which can be controlled to extend or compress, one end of the air spring is fixedly connected to the vehicle frame, and the other end of the air spring is fixedly connected to the wheel bracket; The air suspension mechanism further includes a gas storage tank for storing gas for the air spring; An air circuit, connecting the air storage tank and the air inlet end of the air spring; The solenoid valve is arranged on the air circuit and is used to control the on-off of the air circuit to control the inflation and deflation of the air spring, wherein the air spring is extended or compressed when inflated and deflated, and the execution module includes the solenoid valve.

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