Vehicle frame height detection method and device, electronic equipment and storage medium

Abstract

The invention discloses a vehicle frame height detection method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining the swing angle of a transverse swing rod when the height between a vehicle frame and a vehicle suspension changes; determining a target pulse width value of the height sensing equipment based on the swing angle; and determining the current frame height based on the target pulse width value, the initial pulse width value and the pulse width value variation. According to the technical scheme provided by the embodiment of the invention, the recognition precision of the frame height is improved, and then the accuracy of automatically adjusting the frame height of the vehicle is improved.

Description

Technical Field

[0001] This application belongs to the technical field of vehicle processing, and particularly relates to a method, device, electronic device, and storage medium for detecting the height of a vehicle frame. Background Art

[0002] The identification technology of the vehicle frame height is mainly applied to the air suspension system and is an important technical issue for ensuring the safe driving of the vehicle.

[0003] The existing vehicle frame height identification technology mainly uses a height sensor for identification. Specifically, the height sensor is installed at the vehicle frame position to monitor the height of the vehicle frame in real time. However, this vehicle frame height identification technology is easily affected by the external environment, resulting in a certain error in the vehicle frame height detected by the height sensor, inaccurate vehicle frame height identification, and thus prone to errors when the vehicle adjusts its own vehicle frame height, reducing the driving safety of the vehicle. Summary of the Invention

[0004] The embodiments of this application provide a solution to solve the problem in the related technology that the vehicle frame height identification is inaccurate, which easily leads to errors when the vehicle adjusts its own vehicle frame height, reducing the driving safety of the vehicle.

[0005] In a first aspect, this application provides a method for detecting the height of a vehicle frame. The method is applicable to a height sensing device provided on the vehicle frame. The height sensing device is provided with a yaw bar and a pitch bar. One end of the yaw bar is connected to the height sensing device, and the other end is connected to one end of the pitch bar. The other end of the pitch bar is arranged on the vehicle suspension. The height sensing device is used to detect the swing angle of the yaw bar after the height between the vehicle frame and the vehicle suspension changes. The method includes:

[0006] When the height between the vehicle frame and the vehicle suspension changes, obtain the swing angle of the yaw bar;

[0007] Based on the swing angle, determine the target pulse width value of the height sensing device;

[0008] Based on the target pulse width value, the initial pulse width value, and the pulse width change amount, determine the current vehicle frame height;

[0009] Wherein, the initial pulse width value is the pulse width value of the height sensing device when the vehicle frame is at the initial height, and the pulse width change amount refers to the difference between the pulse width value before the swing angle of the yaw bar changes and the pulse width value after the change when the yaw bar changes by a unit angle.

[0010] Second aspect, the present application provides a vehicle frame height detection device, which is applicable to a height sensing device arranged on a vehicle frame. The height sensing device is provided with a yaw bar and a pitch bar. One end of the yaw bar is connected to the height sensing device, and the other end is connected to one end of the pitch bar. The other end of the pitch bar is arranged on a vehicle suspension. The height sensing device is used to detect the swing angle of the yaw bar after the height between the vehicle frame and the vehicle suspension changes. The device includes:

[0011] An acquisition unit, configured to acquire the swing angle of the yaw bar when the height between the vehicle frame and the vehicle suspension changes;

[0012] A determination unit, configured to determine a target pulse width value of the height sensing device based on the swing angle;

[0013] The determination unit is configured to determine the current vehicle frame height based on the target pulse width value, an initial pulse width value, and a pulse width value change amount;

[0014] Wherein, the initial pulse width value is the pulse width value of the height sensing device when the vehicle frame is at an initial height, and the pulse width value change amount refers to the difference between the pulse width value before the swing angle of the yaw bar changes and the pulse width value after the swing angle of the yaw bar changes when the yaw bar changes by a unit angle.

[0015] Third aspect, the present application provides an electronic device, including:

[0016] A processor; and

[0017] A memory, configured to store executable instructions of the processor;

[0018] Wherein, the processor is configured to execute any method in the first aspect or possible implementation manners of the first aspect by executing the executable instructions.

[0019] Fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements any method in the first aspect or possible implementation manners of the first aspect.

[0020] Fifth aspect, an embodiment of the present application provides a computer program product, including computer instructions. When the computer instructions are executed by a processor, they implement any method in the first aspect or possible implementation manners of the first aspect.

[0021] The technical solution provided by this application obtains the swing angle of the anti-roll bar when the height between the vehicle frame and the vehicle suspension changes; determines the target pulse width value of the height sensing device based on the swing angle; and determines the current frame height based on the target pulse width value, the initial pulse width value, and the pulse width change amount. The technical solutions provided by the embodiments of this application are provided with an anti-roll bar and a longitudinal swing bar in the height sensing device. One end of the anti-roll bar is connected to the height sensing device, and the other end is connected to one end of the longitudinal swing bar. The other end of the longitudinal swing bar is arranged on the vehicle suspension. When the height between the vehicle frame and the vehicle suspension changes, the swing angle of the anti-roll bar is obtained, and then according to the relationship between the swing angle, the pulse width value, and the frame height, the current frame height is determined. By adopting this method, it can clearly detect that the vehicle frame has changed, thereby improving the accuracy of frame recognition and the recognition efficiency. Description of the Drawings

[0022] To more clearly illustrate the technical solutions in the embodiments of this application or the related art, the following will briefly introduce the drawings required for use in the description of the embodiments or the related art. Obviously, the following drawings are some embodiments of this application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts. In the drawings:

[0023] Figure 1 It is a schematic flowchart of a method for detecting frame height provided by an embodiment of this application;

[0024] Figure 2 It is a schematic structural diagram of a height sensing device provided by an embodiment of this application;

[0025] Figure 3 It is a schematic diagram of a yaw angle provided by an embodiment of this application;

[0026] Figure 4 It is a schematic structural diagram of a frame height detection device provided by an embodiment of this application;

[0027] Figure 5 It is a schematic structural diagram of an electronic device provided by an embodiment of this application. Detailed Description of the Embodiments

[0028] The following will describe in detail the embodiments of this application. The examples of the embodiments are shown in the drawings. The embodiments described below with reference to the drawings are exemplary and are intended to explain this application and should not be construed as a limitation of this application.

[0029] In the description, claims, and drawings of the embodiments of the present application, terms such as "first" and "second" are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0030] The frame height detection method provided by the embodiments of the present application can run on a terminal device or a server. Among them, the terminal device can be a local terminal device. Among them, the server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms; the terminal device can be a wearable device, and can also include a desktop, mobile phone, tablet computer, etc., which are not limited here.

[0031] The identification technology of the frame height is mainly applied to the air suspension system, which is an important technical issue to ensure the safe driving of the vehicle.

[0032] The existing frame height identification technology mainly uses a height sensor for identification. Specifically, the height sensor is installed at the frame position to monitor the height of the frame in real time. However, this frame height identification technology is easily affected by the external environment, resulting in a certain error in the frame height detected by the height sensor, inaccurate frame height identification, and thus prone to errors when the vehicle adjusts its own frame height, reducing the driving safety of the vehicle.

[0033] The following uses specific embodiments to detail the technical solutions of the present application and how the technical solutions of the present application solve the above technical problems. These several specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below with reference to the drawings.

[0034] Figure 1 FIG. is a schematic flowchart of a frame height detection method provided for an exemplary embodiment of the present application. This method can be applied to various devices with data processing functions. Taking the application of this method to a height sensing device as an example, this solution at least includes the following steps S101-S103:

[0035] S101. When the height between the vehicle frame and the vehicle suspension changes, obtain the swing angle of the sway bar.

[0036] In some embodiments, the method is applicable to a height sensing device provided on the vehicle frame. Specifically, the height sensor device can be a height sensor or other devices with data processing functions.

[0037] In some embodiments, referring to Figure 2 As shown, the height sensing device includes Part 1: height sensor, Part 2: sway bar, and Part 3: longitudinal swing bar. Specifically, a sway bar and a longitudinal swing bar are provided in the height sensing device. One end of the sway bar is connected to the height sensing device, and the other end is connected to one end of the longitudinal swing bar. The other end of the longitudinal swing bar is provided on the vehicle suspension.

[0038] Specifically, the height sensing device is used to detect the swing angle of the sway bar after the height between the vehicle frame and the vehicle suspension changes.

[0039] During the actual driving of the vehicle, the vehicle frame will float up or down, which will cause the sway bar to deviate, so that the sway bar forms a certain angle with the horizontal direction with the height sensor as the origin. Specifically, referring to Figure 3 As shown, the origin 0 is the position of the height sensor. If the vehicle frame floats down, the position of the connection between the sway bar and the longitudinal swing bar is point A. If the vehicle frame floats up, the position of the connection between the sway bar and the longitudinal swing bar is point B.

[0040] In this embodiment, for example, when the vehicle frame is at the normal height, that is, the height from the ground at the horizontal position is H. Because the vehicle is equipped with a suspension system, when the vehicle frame descends, the relative height difference from the normal height is a, and when the vehicle frame rises, the relative height difference from the normal height is b.

[0041] S102. Based on the swing angle, determine the target pulse width value of the height sensing device.

[0042] In some embodiments, determining the target pulse width value of the height sensing device based on the swing angle includes steps S11 - S12:

[0043] S11. Based on the swing angle, determine the current inductance value of the height sensing device.

[0044] S12. Based on the current inductance value, determine the target pulse width value.

[0045] In some embodiments, during actual operation, a change in the swing angle of the sway bar causes a change in the inductance of the height sensor. The height sensor receives a pulsed voltage. Different inductances result in different pulse width values, and thus a linear relationship is formed between the pulse width value and the swing angle of the sway bar. Specifically, after determining the swing angle, the target pulse width value of the height sensing device can be determined according to the linear relationship.

[0046] S103. Determine the current vehicle frame height based on the target pulse width value, the initial pulse width value, and the change amount of the pulse width value.

[0047] In some embodiments, the initial pulse width value is the pulse width value of the height sensing device when the vehicle frame is at the initial height.

[0048] In some embodiments, the initial height refers to the normal height, i.e., the horizontal height.

[0049] In some embodiments, the change amount of the pulse width value refers to the difference between the pulse width value before the swing angle of the sway bar changes and the pulse width value after the change when the sway bar changes by a unit angle. Specifically, the change amount of the pulse width value refers to how much the corresponding pulse width value changes when the yaw angle of the sway bar increases or decreases by 1 degree.

[0050] In some embodiments, determining the current vehicle frame height based on the target pulse width value, the initial pulse width value, and the change amount of the pulse width value includes steps S21 - S23:

[0051] S21. Determine the height change value of the vehicle frame based on the target pulse width value, the initial pulse width value, and the change amount of the pulse width value.

[0052] Wherein, the height change value refers to how much the vehicle frame rises or falls.

[0053] In some embodiments, determining the height change value of the vehicle frame based on the target pulse width value, the initial pulse width value, and the change amount of the pulse width value includes steps S211 - S212:

[0054] S211. Determine the swing bar length of the sway bar and the preset formula.

[0055] In this embodiment, in combination with Figure 3 it can be seen that the swing bar length of the sway bar is L.

[0056] S212. Determine the height change value of the vehicle frame based on the swing bar length, the preset formula, the target pulse width value, the initial pulse width value, and the change amount of the pulse width value: Δ = sin[(X - γ) / β * L;

[0057] Wherein, X is the target pulse width value, β is the change amount of the pulse width value, L is the length of the swing rod, and γ is the initial pulse width value.

[0058] S22. Determine the initial height of the vehicle frame.

[0059] Wherein, the initial height refers to the normal height, that is, the horizontal height.

[0060] S23. Determine the current frame height based on the initial height and the height change value.

[0061] In some embodiments, determining the current frame height based on the initial height and the height change value includes: taking the difference between the initial height and the height change value as the current frame height.

[0062] Specifically, combined with Figure 3 viewed, the determined initial height of the vehicle frame is H. When X - γ > 0, the current frame height: H + sin[(X - γ) / β * L]; when X - γ < 0, the current frame height: H - sin[(X - γ) / β * L].

[0063] For better explanation of this solution, combined with Figure 2 and Figure 3 this solution is further described as follows:

[0064] During the high-speed driving of the vehicle, the vehicle frame will rise or fall due to the vehicle condition. When the vehicle frame rises, the swing angle of the yaw bar is obtained, and then the target pulse width value of the height sensing device is determined according to the yaw angle. Then, the current frame height is determined based on the target pulse width value, the initial pulse width value, and the change amount of the pulse width value. By adopting this method, it can be clearly detected that the vehicle frame has changed, thereby improving the accuracy of frame recognition and the recognition efficiency.

[0065] When the height between the vehicle frame and the vehicle suspension changes, the swinging angle of the sway bar is obtained; based on the swinging angle, the target pulse width value of the height sensing device is determined; based on the target pulse width value, the initial pulse width value, and the pulse width change amount, the current frame height is determined. The technical solutions provided in the embodiments of the present application are provided by providing a height sensing device with a sway bar and a longitudinal swing bar. One end of the sway bar is connected to the height sensing device, and the other end is connected to one end of the longitudinal swing bar. The other end of the longitudinal swing bar is arranged on the vehicle suspension. When the height between the vehicle frame and the vehicle suspension changes, the swinging angle of the sway bar is obtained, and then according to the relationship between the swinging angle, the pulse width value, and the frame height, the current frame height is determined. By adopting this method, it is possible to clearly detect that the vehicle frame has changed, thereby improving the accuracy of frame recognition and the recognition efficiency.

[0066] Figure 4 It is a schematic structural diagram of a frame height detection device provided by an exemplary embodiment of the present application;

[0067] Among them, the device is applicable to a height sensing device arranged on the vehicle frame. The height sensing device is provided with a sway bar and a longitudinal swing bar. One end of the sway bar is connected to the height sensing device, and the other end is connected to one end of the longitudinal swing bar. The other end of the longitudinal swing bar is arranged on the vehicle suspension. The height sensing device is used to detect the swinging angle of the sway bar after the height between the vehicle frame and the vehicle suspension changes. The device includes: an acquisition unit 201 and a determination unit 202;

[0068] The acquisition unit 201 is used to obtain the swinging angle of the sway bar when the height between the vehicle frame and the vehicle suspension changes;

[0069] The determination unit 202 is used to determine the target pulse width value of the height sensing device based on the swinging angle;

[0070] The determination unit 202 is used to determine the current frame height based on the target pulse width value, the initial pulse width value, and the pulse width change amount;

[0071] Among them, the initial pulse width value is the pulse width value of the height sensing device when the vehicle frame is at the initial height, and the pulse width change amount refers to the difference between the pulse width value before the swinging angle of the sway bar changes and the pulse width value after the swinging angle of the sway bar changes when the sway bar changes by a unit angle.

[0072] In some embodiments, the device is used to determine the target pulse width value of the height sensing device based on the swinging angle. Specifically, the device is used for:

[0073] Determine the current inductance value of the height sensing device based on the swing angle;

[0074] Determine the target pulse width value based on the current inductance value.

[0075] In some embodiments, the device is configured to determine the current vehicle frame height based on the target pulse width value, the initial pulse width value, and the change amount of the pulse width value. Specifically, the device is configured to:

[0076] Determine the height change value of the vehicle frame based on the target pulse width value, the initial pulse width value, and the change amount of the pulse width value;

[0077] Determine the initial height of the vehicle frame;

[0078] Determine the current vehicle frame height based on the initial height and the height change value.

[0079] In some embodiments, the device is configured to determine the height change value of the vehicle frame based on the target pulse width value, the initial pulse width value, and the change amount of the pulse width value. Specifically, the device is configured to:

[0080] Determine the swing rod length of the sway bar and the preset formula;

[0081] Determine the height change value of the vehicle frame based on the swing rod length, the preset formula, the target pulse width value, the initial pulse width value, and the change amount of the pulse width value: Δ = sin[(X - γ) / β * L;

[0082] where X is the target pulse width value, β is the change amount of the pulse width value, L is the swing rod length, and γ is the initial pulse width value.

[0083] In some embodiments, the device is configured to determine the current vehicle frame height based on the initial height and the height change value. Specifically, the device is configured to: use the difference between the initial height and the height change value as the current vehicle frame height.

[0084] When the height between the vehicle frame and the vehicle suspension changes in the technical solution provided by this application, the swing angle of the anti-roll bar is obtained; based on the swing angle, the target pulse width value of the height sensing device is determined; based on the target pulse width value, the initial pulse width value, and the change amount of the pulse width value, the current frame height is determined. In the technical solutions provided by the embodiments of this application, a cross bar and a longitudinal bar are provided in the height sensing device. One end of the cross bar is connected to the height sensing device, and the other end is connected to one end of the longitudinal bar. The other end of the longitudinal bar is arranged on the vehicle suspension. When the height between the vehicle frame and the vehicle suspension changes, the swing angle of the cross bar is obtained. Then, according to the relationship between the swing angle, the pulse width value, and the frame height, the current frame height is determined. By adopting this method, it can be clearly detected that the vehicle frame has changed, thereby improving the accuracy of frame recognition and the recognition efficiency.

[0085] It should be understood that the device embodiments and the method embodiments can correspond to each other, and similar descriptions can refer to the method embodiments. To avoid repetition, it will not be elaborated here. Specifically, this device can execute the above method embodiments, and the foregoing and other operations and / or functions of each module in this device are respectively for the corresponding processes in each method in the above method embodiments. For the sake of brevity, it will not be elaborated here.

[0086] In the foregoing, the device of the embodiments of this application has been described from the perspective of functional modules. It should be understood that this functional module can be implemented in the form of hardware, can also be implemented by instructions in the form of software, and can also be implemented by a combination of hardware and software modules. Specifically, the steps of the method embodiments in this application can be completed by the integrated logic circuit of the hardware in the processor and / or instructions in the form of software. The steps of the method disclosed in combination with the embodiments of this application can be directly embodied as being executed and completed by the hardware decoding processor, or executed and completed by a combination of the hardware and software modules in the decoding processor. Optionally, the software module can be located in a mature storage medium in the art such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. This storage medium is located in the memory, and the processor reads the information in the memory and combines its hardware to complete the steps in the above method embodiments.

[0087] Figure 5 is a schematic block diagram of an electronic device provided by an embodiment of this application. The electronic device may include:

[0088] A memory 301 and a processor 302. The memory 301 is used to store a computer program and transmit the program code to the processor 302. In other words, the processor 302 can call and run the computer program from the memory 301 to implement the method in the embodiments of this application.

[0089] For example, the processor 302 can be used to execute the above method embodiments according to the instructions in the computer program.

[0090] In some embodiments of the present application, the processor 302 may include, but is not limited to:

[0091] General-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like.

[0092] In some embodiments of the present application, the memory 301 includes, but is not limited to:

[0093] Volatile memory and / or non-volatile memory. Among them, the non-volatile memory can be read-only memory (ROM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synch link DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0094] In some embodiments of the present application, the computer program may be divided into one or more modules. The one or more modules are stored in the memory 301 and executed by the processor 302 to complete the method provided by the present application. The one or more modules may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program in the electronic device.

[0095] As Figure 5 shown, the electronic device may further include:

[0096] a transceiver 303, which may be connected to the processor 302 or the memory 301.

[0097] Among them, the processor 302 may control the transceiver 303 to communicate with other devices. Specifically, it may send information or data to other devices, or receive information or data sent by other devices. The transceiver 303 may include a transmitter and a receiver. The transceiver 303 may further include an antenna, and the number of antennas may be one or more.

[0098] It should be understood that the various components in the electronic device are connected through a bus system. Among them, the bus system includes, in addition to the data bus, a power bus, a control bus, and a status signal bus.

[0099] The present application also provides a computer storage medium, on which a computer program is stored. When the computer program is executed by the computer, the computer can execute the method of the above method embodiment. Or rather, the embodiment of the present application also provides a computer program product containing instructions. When the instructions are executed by the computer, the computer executes the method of the above method embodiment.

[0100] 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 program instructions are loaded and executed on a computer, the processes or functions according to the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wirelessly (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more integrated available media. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a digital video disc (DVD)), or a semiconductor medium (such as a solid state disk (SSD)), etc.

[0101] Those of ordinary skill in the art will realize that the modules and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented in electronic hardware, or in a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. A professional technician can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0102] In several embodiments provided in the present application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the modules is only a logical function division, and there can be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces, and the indirect couplings or communication connections of the devices or modules can be in electrical, mechanical, or other forms.

[0103] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. For example, in each embodiment of this application, each functional module can be integrated into a processing module, or each module can exist physically alone, or two or more modules can be integrated into one module.

[0104] The above are only specific embodiments of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope disclosed in this application can easily think of changes or substitutions, which should all be covered within the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

1. A frame height detection method, characterized in that: The method is applicable to a height sensing device arranged on a vehicle frame, wherein a sway bar and a longitudinal sway bar are arranged in the height sensing device, one end of the sway bar is connected to the height sensing device, and the other end is connected to one end of the longitudinal sway bar, and the other end of the longitudinal sway bar is arranged on a vehicle suspension, and the height sensing device is used to detect the swing angle of the sway bar after the height between the vehicle frame and the vehicle suspension changes, and the method comprises: When the height between the vehicle frame and the vehicle suspension changes, obtaining a swing angle of the sway bar; Based on the swing angle, determining a target pulse width value of the height sensing device; Determining the current vehicle frame height based on the target pulse width value, the initial pulse width value, and the pulse width value change; Among them, the initial pulse width value is the pulse width value of the height sensor device when the vehicle frame is at the initial height, and the pulse width value change refers to the difference between the pulse width value before the swing angle of the sway bar changes and the pulse width value after the change when the unit angle of the sway bar changes.

2. The method according to claim 1, characterized in that Determining a target pulse width value of the height sensing device based on the swing angle includes: determining a current inductance value of the height sensing device based on the swing angle; Based on the current inductance value, the target pulse width value is determined.

3. The method according to claim 1, characterized in that Determining the current vehicle frame height based on the target pulse width value, the initial pulse width value, and the pulse width value change includes: Determining a height change value of the vehicle frame based on the target pulse width value, the initial pulse width value, and the pulse width value change; determining an initial height of the vehicle frame; The current frame height is determined based on the initial height and the height change value.

4. The method according to claim 3, characterized in that: Determining a height change value of the vehicle frame based on the target pulse width value, the initial pulse width value, and the pulse width value change includes: Determining the sway bar length and the preset formula of the sway bar; Based on the swing rod length, the preset formula, the target pulse width value, the initial pulse width value and the pulse width value change, the height change value of the vehicle frame is determined: Δ=sin[(X-γ) / β*L; Among them, X is the target pulse width value, β is the change of pulse width value, L is the length of the pendulum, and γ is the initial pulse width value.

5. The method according to claim 3, characterized in that: Determining the current frame height based on the initial height and the height change value includes: The difference between the initial height and the height change value is used as the current frame height.

6. A vehicle frame height detection device, characterized in that: The device is suitable for a height sensing device arranged on a vehicle frame, wherein a sway bar and a longitudinal sway bar are arranged in the height sensing device, wherein one end of the sway bar is connected to the height sensing device, and the other end is connected to one end of the longitudinal sway bar, and the other end of the longitudinal sway bar is arranged on a vehicle suspension, wherein the height sensing device is used to detect the swing angle of the sway bar after the height between the vehicle frame and the vehicle suspension changes, and wherein the device comprises: an acquisition unit, configured to acquire a swing angle of the sway bar when a height between the vehicle frame and the vehicle suspension changes; a determination unit, configured to determine a target pulse width value of the height sensing device based on the swing angle; The determining unit is used to determine the current frame height based on the target pulse width value, the initial pulse width value and the pulse width value change; Among them, the initial pulse width value is the pulse width value of the height sensor device when the vehicle frame is at the initial height, and the pulse width value change refers to the difference between the pulse width value before the swing angle of the sway bar changes and the pulse width value after the change when the unit angle of the sway bar changes.

7. An electronic device, characterized in that: include: processor; as well as A memory, configured to store executable instructions of the processor; The processor is configured to perform the method of any one of claims 1 to 5 by executing the executable instructions.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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