Vehicle, vehicle control method, device, equipment, medium and product

Abstract

The embodiment of the invention provides a vehicle, a vehicle control method, device and equipment, a medium and a product, and the vehicle comprises a plurality of first-class sensors which are used for collecting suspension height data corresponding to each wheel; the second type sensor is used for collecting attitude related data of the vehicle; and the controller is used for controlling the height of the suspension according to the attitude related data and the suspension height data collected by the first type of sensors which do not fail when a part of the first type of sensors fail. According to the embodiment of the invention, the method achieves the estimation of the height of the suspension when the sensor breaks down, achieves the control of the suspension through the estimated height value, improves the fault tolerance of a suspension control system, and guarantees the control stability of the suspension and the safety of a vehicle.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a vehicle, a method, a device, a equipment, a medium and a product for controlling the vehicle. Background Art

[0002] During vehicle suspension control, sensors in the vehicle are usually used to collect suspension height data corresponding to the wheels. However, when some sensors are abnormal, the suspension height data cannot be collected or the collected suspension height data is invalid, resulting in the vehicle being unable to perform suspension control, affecting the stability of the suspension control and even the safety of the vehicle. Summary of the Invention

[0003] In view of the above problems, a vehicle, a method, an apparatus, a device, a medium and a product for controlling a vehicle are proposed to overcome or at least partially solve the above problems, including:

[0004] A vehicle comprising:

[0005] a plurality of first-category sensors, configured to collect suspension height data corresponding to each wheel;

[0006] The second category of sensors is used to collect vehicle posture-related data;

[0007] The controller is configured to perform suspension height control based on the posture-related data and suspension height data collected by the first-category sensors that are not faulty when some of the first-category sensors fail.

[0008] Optionally, when performing suspension height control based on the posture-related data and the suspension height data collected by the first category sensor that is not faulty, the controller is configured to:

[0009] determining an attitude angle of the vehicle according to the attitude-related data;

[0010] Suspension height control is performed according to the attitude angle and the suspension height data collected by the first category sensor that is not faulty.

[0011] Optionally, when performing suspension height control based on the attitude angle and the suspension height data collected by the first type sensor that is not faulty, the controller is configured to:

[0012] Determining the suspension height data corresponding to the wheel where the first type sensor having a fault is located based on the attitude angle and the suspension height data collected by the first type sensor that has not failed;

[0013] Suspension height control is performed based on the suspension height data collected by the first-category sensor that is not faulty and the suspension height data corresponding to the wheel where the first-category sensor that is faulty is located.

[0014] Optionally, when determining the suspension height data corresponding to the wheel where the faulty first-category sensor is located based on the attitude angle and the suspension height data collected by the first-category sensor that is not faulty, the controller is configured to:

[0015] The suspension height data corresponding to the wheel where the first category sensor having a fault is located is determined based on the attitude angle, the suspension height data collected by the first category sensor that has not failed, and the vehicle size data.

[0016] Optionally, the attitude angle includes any one or more of the following: pitch angle, roll angle;

[0017] The vehicle dimension data includes any one or more of the following: vehicle track width and vehicle wheelbase.

[0018] Optionally, the first category sensor includes four first category sensors corresponding to four wheels;

[0019] When determining the suspension height data corresponding to the wheel where the first type of sensor having a fault is located based on the attitude angle, the suspension height data collected by the first type of sensor that has not failed, and the vehicle size data, the controller is configured to:

[0020] When three of the first-category sensors fail, determining the suspension height data corresponding to the wheel where the failed first-category sensor is located based on the pitch angle, roll angle, suspension height data collected by the first-category sensors that are not failing, vehicle track width, and vehicle wheelbase;

[0021] When two or one of the first-category sensors fails, determining the suspension height data corresponding to the wheel where the failed first-category sensor is located based on the pitch angle, the suspension height data collected by the first-category sensors that are not failing, and the vehicle wheelbase;

[0022] When two or one of the first-category sensors fails, the suspension height data corresponding to the wheel where the failed first-category sensor is located is determined based on the roll angle, the suspension height data collected by the first-category sensor that is not failing, and the vehicle wheelbase.

[0023] Optionally, the controller is further configured to:

[0024] According to the preset sensor error data, the suspension height data corresponding to the wheel where the first category sensor having a fault is located is corrected.

[0025] Optionally, the sensor error data includes first error data of sensors of the first category that are not at fault, and second error data of sensors of the first category that are at fault;

[0026] When correcting the suspension height data corresponding to the wheel where the first-category sensor having a fault is located based on the preset sensor error data, the controller is configured to:

[0027] Combine the first error data and the second error data to obtain the suspension height data corresponding to the wheel where the first category sensor that fails is located.

[0028] Optionally, the attitude-related data includes acceleration data, and when determining the attitude angle of the vehicle based on the attitude-related data, the controller is configured to:

[0029] Determining gravitational acceleration component data based on the acceleration data;

[0030] The attitude angle of the vehicle is determined according to the gravitational acceleration component data.

[0031] Optionally, the acceleration data includes any one or more of the following: acceleration data of the vehicle head direction, acceleration data of the vehicle body side direction.

[0032] Optionally, the controller is further configured to:

[0033] The plurality of first-category sensors are calibrated so that a suspension chassis plane formed by positions of the plurality of first-category sensors is parallel to a coordinate plane of the second-category sensors.

[0034] Optionally, the first category sensor is an altitude sensor, and the second category sensor is an inertial sensor.

[0035] Optionally, the suspension system of the vehicle is an active suspension system.

[0036] A vehicle control method, the method comprising:

[0037] obtaining suspension height data collected by a plurality of first-category sensors;

[0038] Obtaining vehicle posture-related data collected by the second category of sensors;

[0039] When some of the first-category sensors fail, suspension height control is performed based on the posture-related data and suspension height data collected by the first-category sensors that have not failed.

[0040] A vehicle control device, the vehicle including a plurality of first-category sensors and second-category sensors;

[0041] When some of the first category sensors fail, the control device is used to control the suspension height based on the vehicle posture-related data collected by the second category sensors and the suspension height data collected by the first category sensors that have not failed.

[0042] An electronic device includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the method described above when executed by the processor.

[0043] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described above is implemented.

[0044] A computer program product comprises a computer program, wherein when the computer program is executed by a processor, the computer program implements the method described above.

[0045] The embodiments of the present invention have the following advantages:

[0046] In an embodiment of the present invention, a vehicle is provided including a plurality of first-category sensors, a second-category sensor, and a controller. The plurality of first-category sensors are used to collect suspension height data corresponding to each wheel, the second-category sensors are used to collect vehicle posture-related data, and the controller is used to control the suspension height according to the posture-related data and the suspension height data collected by the first-category sensors that have not failed when some of the first-category sensors fail. This enables the suspension height to be estimated when a sensor fails and the estimated height value to be used for suspension control, thereby improving the fault tolerance of the suspension control system and ensuring the stability of the suspension control and the safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for use in the description of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0048] Figure 1a is a schematic diagram of a vehicle architecture provided by some embodiments of the present invention;

[0049] Figure 1b is a schematic diagram of six-axis inertial sensor data provided by some embodiments of the present invention;

[0050] Figure 1c is a schematic diagram of posture data in a vehicle provided by some embodiments of the present invention;

[0051] Figure 1d is a flowchart of another suspension control method provided by some embodiments of the present invention;

[0052] Figure 1e is a schematic diagram of data in a non-initial state provided by some embodiments of the present invention;

[0053] Figure 1f is a schematic diagram of data in an initial state provided by some embodiments of the present invention;

[0054] Figure 2 This is a flowchart of the steps of a suspension control method provided by some embodiments of the present invention. DETAILED DESCRIPTION

[0055] To make the above-mentioned objects, features, and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments described are only a portion of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are also within the scope of protection of the present invention.

[0056] In actual applications, vehicles can be equipped with active suspension systems, which can adjust the height, damping, and stiffness through an external active power drive system. Suspension height adjustment, as a major function of active suspension, brings users more driving experience and fun. Users can freely adjust or the system can autonomously adjust the suspension height, so that the system can operate better under different working conditions.

[0057] Suspension height adjustment mainly relies on closed-loop control of height sensors installed at the four wheels to achieve suspension height changes. The effectiveness of the height sensors will affect the safety performance of the car.

[0058] In some related technologies, two or more height sensors can be installed at each installation point to prevent the system from not being able to operate normally after one height sensor is damaged, but this method is relatively costly.

[0059] Other related technologies, when the air suspension's height sensor fails, utilize the correlation between air suspension height changes and volume changes within the air spring. This change in air volume is then combined with the height changes at the other three wheels to achieve height control. However, this approach, relying solely on the air spring's pressure-volume changes, can produce significant errors and is unsuitable for other active suspension systems, such as hydraulics, resulting in significant limitations. Furthermore, suspension height control technology requires real-time control, and complex calculations and operations can reduce its efficiency and impact safety.

[0060] In an embodiment of the present invention, when one or more abnormalities occur in the height sensor, that is, when the height sensor fails, the suspension height data is estimated to obtain estimated suspension height data, and the estimated suspension height data is used in the suspension height control module to ensure the normal operation of the active suspension system.

[0061] Compared to related technologies, this method eliminates the need for two or more height sensors at each mounting point, reducing costs. Furthermore, it can be applied to various active suspension systems, including air and hydraulic suspension systems, offering a wide range of applications and robustness. Furthermore, it is highly achievable, eliminating the need for complex calculations and control methods, significantly improving system efficiency.

[0062] The present invention will be further described below with reference to the accompanying drawings:

[0063] Some embodiments of the present invention provide a vehicle having a suspension system that is an active suspension system. In some examples, the suspension system may be an active suspension system such as an air suspension system or a hydraulic suspension system.

[0064] Specifically, the vehicle may include:

[0065] a plurality of first-category sensors, configured to collect suspension height data corresponding to each wheel;

[0066] The second category of sensors is used to collect vehicle posture-related data;

[0067] The controller is configured to perform suspension height control based on the posture-related data and suspension height data collected by the first-category sensors that are not faulty when some of the first-category sensors fail.

[0068] In some examples, the first category of sensors may be altitude sensors, such as Figure 1a Height sensors are installed at the four wheels of the car, including the right front height sensor, the left front height sensor, the right rear height sensor, and the left rear height sensor, to collect the suspension height data corresponding to each wheel.

[0069] In some examples, the second category of sensors may be inertial sensors (Inertial Measurement Unit, IMU). The active suspension system is a high-end suspension system whose control system is equipped with inertial sensors for vehicle posture control. Inertial sensors are also equipped in the control system, and vehicle posture-related data can be collected through the inertial sensors.

[0070] In some examples, the inertial sensor may include any of the following: a three-axis inertial sensor, a six-axis inertial sensor, a nine-axis inertial sensor, or other inertial sensors.

[0071] In some examples, the suspension control system may be mounted on the chassis. Alternatively, the suspension control system may be mounted elsewhere or integrated into other controllers of the vehicle, such as a domain controller.

[0072] In actual applications, when it is detected that some of the first-category sensors (height sensors) have failed, such as sensor failure or invalid data collected by the sensors, the suspension height data collected by the first-category sensors that have not failed and the posture-related data collected by the second-category sensors (inertial sensors) can be obtained. Then, the suspension height can be adjusted based on the posture-related data collected by the second-category sensors and the suspension height data collected by the first-category sensors that have not failed.

[0073] It should be noted that the number of abnormal first-category sensors in the vehicle can be one, two, three, or more. As long as the vehicle has at least one normal first-category sensor, the suspension height data corresponding to other wheels can be estimated, and there is no special location requirement for the normal first-category sensors.

[0074] In an embodiment of the present invention, a vehicle is provided including a plurality of first-category sensors, a second-category sensor, and a controller. The plurality of first-category sensors are used to collect suspension height data corresponding to each wheel, the second-category sensors are used to collect vehicle posture-related data, and the controller is used to control the suspension height according to the posture-related data and the suspension height data collected by the first-category sensors that have not failed when some of the first-category sensors fail. This enables the suspension height to be estimated when a sensor fails and the estimated height value to be used for suspension control, thereby improving the fault tolerance of the suspension control system and ensuring the stability of the suspension control and the safety of the vehicle.

[0075] In some embodiments of the present invention, when performing suspension height control based on the posture-related data and the suspension height data collected by the first-category sensor that is not faulty, the controller is configured to:

[0076] The attitude angle of the vehicle is determined based on the attitude-related data; and the suspension height is controlled based on the attitude angle and the suspension height data collected by the first category sensor that is not faulty.

[0077] The attitude angle includes any one or more of the following: pitch angle, roll angle.

[0078] In practical applications, the attitude data collected by the second-category sensors can be analyzed to accurately determine the vehicle's current attitude angle. This attitude angle, combined with the suspension height data collected by the healthy first-category sensors, can then be used to precisely control the suspension height. This approach ensures vehicle stability and comfort in a variety of complex road conditions, thereby improving the driving experience and overall vehicle performance.

[0079] In some embodiments of the present invention, the attitude-related data includes acceleration data. When determining the attitude angle of the vehicle based on the attitude-related data, the controller is configured to:

[0080] Determine gravity acceleration component data based on the acceleration data; and determine the attitude angle of the vehicle based on the gravity acceleration component data.

[0081] In some embodiments of the present invention, the acceleration data includes any one or more of the following: acceleration data of the vehicle head direction, acceleration data of the vehicle body side direction.

[0082] like Figure 1b Taking the six-axis inertial sensor as an example, three axes measure acceleration (i.e. the acceleration of the vehicle head direction). Lateral acceleration of the vehicle Vertical acceleration of the vehicle body ), the other three axes measure angular velocity (i.e. pitch angular velocity ω x , roll angular velocity ω y , rolling angular velocity ω z ).

[0083] In actual applications, when the vehicle is factory calibrated, the relationship between the acceleration due to gravity and the acceleration data collected by the inertial sensor can be obtained as follows:

[0084]

[0085] in, is the local gravity acceleration. At this time, according to the three gravity acceleration components (i.e. the acceleration of the vehicle head Lateral acceleration of the vehicle Vertical acceleration of the vehicle body ), the initial pitch angle θ0 = 0° and the roll angle β0 = 0° can be calculated.

[0086] When the vehicle is on an uneven road, Figure 1c , the gravity acceleration component data can be determined according to the acceleration data collected by the inertial sensor, and then the vehicle's attitude angle, namely the roll angle β and pitch angle θ, can be calculated based on the gravity acceleration component data.

[0087] In some embodiments of the present invention, the controller is further configured to:

[0088] The plurality of first-category sensors are calibrated so that a suspension chassis plane formed by positions of the plurality of first-category sensors is parallel to a coordinate plane of the second-category sensors.

[0089] In practical applications, the data used in suspension control uses the suspension chassis plane in the vehicle as the coordinate plane. However, the coordinate plane of the inertial sensor in the vehicle may be different, which may result in the acceleration data collected by the inertial sensor being unable to be converted into an adaptive attitude angle. In this case, in the initial vehicle installation state (such as before leaving the factory), the suspension chassis plane formed by the height sensor can be made parallel (also called coincident) with the coordinate plane of the inertial sensor. Then, the acceleration data collected by the inertial sensor can be used to calculate the vehicle's roll angle, pitch angle and other attitude angles.

[0090] like Figure 1d To achieve this, the inertial sensor is synchronized, adjusting the inertial sensor to its zero position. The height sensor's height error is then measured. The height sensor's zero position error is then corrected to align the inertial sensor's coordinate plane with the plane formed by the four wheels of the suspension chassis (i.e., the suspension chassis plane). The inertial sensor's acceleration data is then used to construct and determine a virtual plane, representing the plane of the suspension chassis. Suspension height control is then performed using the plane's angle relationship (i.e., the attitude angle) and the suspension height data collected by a healthy height sensor.

[0091] It's important to note that in a vehicle's suspension system, the suspension chassis can be considered a rigid body that doesn't deform during height adjustment, thus maintaining consistent geometric relationships across the chassis. Because the suspension chassis can be considered a rigid body and height sensors are mounted around the suspension, the geometric relative positions of the sensors remain constant. If a height sensor fails, the corresponding height value is calculated using geometric inertia.

[0092] In some embodiments of the present invention, when performing suspension height control based on the attitude angle and the suspension height data collected by the first type of sensor that is not faulty, the controller is configured to:

[0093] Determining the suspension height data corresponding to the wheel where the first type sensor having a fault is located based on the attitude angle and the suspension height data collected by the first type sensor that has not failed;

[0094] Suspension height control is performed based on the suspension height data collected by the first-category sensor that is not faulty and the suspension height data corresponding to the wheel where the first-category sensor that is faulty is located.

[0095] In practical applications, the suspension height data collected by the first-category sensor that has not failed can be obtained, and then the suspension height data corresponding to the wheel where the first-category sensor that has failed is located can be estimated using the suspension height data collected by the first-category sensor that has not failed and the vehicle's attitude angle to obtain estimated suspension height data. The suspension height can then be adjusted using the suspension height data collected by the first-category sensor that has not failed and the estimated suspension height data.

[0096] This method accurately estimates the suspension height of the wheel where the failed sensor is located, even if a height sensor fails. This ensures proper functioning of the suspension system and vehicle stability. Furthermore, it improves the reliability and durability of the suspension system and reduces the risk of vehicle failures due to sensor failure.

[0097] In some embodiments of the present invention, when determining the suspension height data corresponding to the wheel where the faulty first-category sensor is located based on the attitude angle and the suspension height data collected by the first-category sensor that is not faulty, the controller is configured to:

[0098] The suspension height data corresponding to the wheel where the first category sensor having a fault is located is determined based on the attitude angle, the suspension height data collected by the first category sensor that has not failed, and the vehicle size data.

[0099] The vehicle size data includes any one or more of the following: vehicle track and vehicle wheelbase.

[0100] In practical applications, vehicle dimension data can be obtained. By using the vehicle dimension data, combined with the suspension height data collected by the first category sensor that has not failed and the vehicle's attitude angle, the suspension height data corresponding to the wheel where the first category sensor that has failed is located can be calculated.

[0101] In some embodiments of the present invention, taking a four-wheeled vehicle as an example, the first category of sensors includes four first category of sensors corresponding to four wheels.

[0102] In some embodiments of the present invention, when determining the suspension height data corresponding to the wheel where the first-category sensor having a fault is located based on the attitude angle, the suspension height data collected by the first-category sensor that has not failed, and the vehicle size data, the controller is configured to:

[0103] When three of the first-category sensors fail, determining the suspension height data corresponding to the wheel where the failed first-category sensor is located based on the pitch angle, roll angle, suspension height data collected by the first-category sensors that are not failing, vehicle track width, and vehicle wheelbase;

[0104] When two or one of the first-category sensors fails, determining the suspension height data corresponding to the wheel where the failed first-category sensor is located based on the pitch angle, the suspension height data collected by the first-category sensors that are not failing, and the vehicle wheelbase;

[0105] When two or one of the first-category sensors fails, the suspension height data corresponding to the wheel where the failed first-category sensor is located is determined based on the roll angle, the suspension height data collected by the first-category sensor that is not failing, and the vehicle wheelbase.

[0106] Taking a four-wheeled vehicle as an example, the height values corresponding to the four wheels (i.e., suspension height data) are as follows:

[0107] S h =[h FL ,h FR ,h RL ,h RR ]

[0108] Among them, S h is the height sensor vector, h FL 、h FR 、h RL 、h RR They are the height values corresponding to the left front, right front, left rear and right rear wheels.

[0109] Accordingly, if Figure 1e , the coordinate values of the four wheels are as follows:

[0110] FL(b,0,h FL )

[0111] FR(0,0,h FR )

[0112] RL(b,L,h RL )

[0113] RR(0,L,h RR )

[0114] Where b is the vehicle track width, L is the vehicle wheelbase, FL(), FR(), RL(), and RR() are the coordinate values corresponding to the left front, right front, left rear, and right rear wheels, respectively.

[0115] Assume that only the height sensor at the right front wheel is normal, that is, the height value h corresponding to the right front wheel FR is available, while the other three height sensors are invalid or faulty, that is, the height sensors corresponding to the left front, left rear, and right rear wheels are abnormal. At this time, the roll angle β is and the pitch angle is θ (calculated using the acceleration data collected by the inertial sensor above). The following formula can be used to calculate the height values of the other three wheels:

[0116] h FL ′=h FR +βb

[0117] h RL ′=h FR -θL

[0118] h RR ′=h FR +βb-θL

[0119] Assume that only the height sensors at the right front wheel and the left front wheel are normal, that is, the height values h corresponding to the right rear wheel and the left rear wheel are FL 、h FR is available, while the other three height sensors are invalid or faulty, that is, the height sensors corresponding to the right rear wheel and the left rear wheel are abnormal. At this time, the roll angle β is and the pitch angle is θ (calculated using the acceleration data collected by the inertial sensor above). The following formula can be used to calculate the height values of the other three wheels:

[0120] h RR ′=h FR -θL

[0121] h RL ′=h FL -θL

[0122] Assume that only the height sensors at the left front wheel and the left rear wheel are normal, that is, the height values h corresponding to the left front wheel and the left rear wheel are FL 、h RL is available, while the other three height sensors are invalid or faulty, that is, the height sensors corresponding to the right rear wheel and the right rear wheel are abnormal. At this time, the roll angle β is and the pitch angle is θ (calculated by the acceleration data collected by the inertial sensor above). The height values of the other three wheels can be calculated using the following formula:

[0123] h FR ′=h FL +βb

[0124] h RR ′=h FL +βb

[0125] In some embodiments of the present invention, the controller is further configured to:

[0126] According to the preset sensor error data, the suspension height data corresponding to the wheel where the first category sensor having a fault is located is corrected.

[0127] In practical applications, due to the sensor's measurement error, that is, the error between the height value measured by the height sensor and the actual height value, the error can be measured and recorded in advance. In some cases, even after calibration, the height sensor still has errors.

[0128] After estimating the suspension height data corresponding to the wheel where the faulty sensor of the first category is located, the estimated suspension height data can be corrected according to the sensor error data.

[0129] In some embodiments of the present invention, the sensor error data includes first error data of sensors of the first category that are not faulty and second error data of sensors of the first category that are faulty.

[0130] In some embodiments of the present invention, when correcting the suspension height data corresponding to the wheel where the first category sensor that has failed is located based on preset sensor error data, the controller is used to: combine the first error data and the second error data to correct the suspension height data corresponding to the wheel where the first category sensor that has failed is located.

[0131] like Figure 1f Due to the installation error during the initial installation, when the roll angle β0 and the pitch angle θ0 are 0°, the height sensor value may not be accurate. The initial deviation of the four-wheel height sensor is recorded as:

[0132] e h =[e FL ,e FR ,e RL ,e RR ]

[0133] Among them, e h is the height error vector, e FL 、e FR 、e RL 、e RR The sensor error data corresponding to the left front, right front, left rear and right rear wheels respectively.

[0134] In order to restore the actual sensor readings, the initial deviations of the four wheels (i.e., sensor error data) can be deducted when calculating the height value using the roll angle and pitch angle, thereby ensuring that the obtained height value is more accurate.

[0135] In the above text, only the height sensor at the right front wheel is normal, that is, the height value h corresponding to the right front wheel FR is available, while the other three height sensors are invalid or faulty, that is, the height sensors corresponding to the left front, left rear, and right rear wheels are abnormal, the following formula can be used:

[0136] h FL ′=h FR +βb-e FR +e FL )

[0137] h RL ′=h FR -θL-e FR +e RL

[0138] h RR ′=h FR +βb-θL-e FR +e RR

[0139] In practical applications, since the suspension height data corresponding to the wheel where the first type sensor with a fault is located is estimated based on the suspension height data collected by the first type sensor without a fault, the first error data of the first type sensor without a fault needs to be used in the calculation (e FR ), the second error data of the first category sensor that fails (as shown in the above formula e FL 、e RL 、e RR ).

[0140] Reference Figure 2 , shows a flowchart of a suspension control method provided by some embodiments of the present invention, which may specifically include the following steps:

[0141] Step 201: Acquire suspension height data collected by a plurality of first-category sensors.

[0142] Step 202: Acquire vehicle posture-related data collected by the second category of sensors.

[0143] Step 203 : When some of the first-category sensors fail, suspension height control is performed based on the posture-related data and suspension height data collected by the first-category sensors that are not failed.

[0144] In some embodiments of the present invention, performing suspension height control based on the posture-related data and the suspension height data collected by the first-category sensor that is not faulty includes:

[0145] determining an attitude angle of the vehicle according to the attitude-related data;

[0146] Suspension height control is performed according to the attitude angle and the suspension height data collected by the first category sensor that is not faulty.

[0147] In some embodiments of the present invention, performing suspension height control based on the attitude angle and the suspension height data collected by the first type of sensor that is not faulty includes:

[0148] Determining the suspension height data corresponding to the wheel where the first type sensor having a fault is located based on the attitude angle and the suspension height data collected by the first type sensor that has not failed;

[0149] Suspension height control is performed based on the suspension height data collected by the first-category sensor that is not faulty and the suspension height data corresponding to the wheel where the first-category sensor that is faulty is located.

[0150] In some embodiments of the present invention, determining the suspension height data corresponding to the wheel where the faulty first-category sensor is located based on the attitude angle and the suspension height data collected by the first-category sensor that is not faulty includes:

[0151] The suspension height data corresponding to the wheel where the first category sensor having a fault is located is determined based on the attitude angle, the suspension height data collected by the first category sensor that has not failed, and the vehicle size data.

[0152] In some embodiments of the present invention, the attitude angle includes any one or more of the following: pitch angle, roll angle; the vehicle size data includes any one or more of the following: vehicle track, vehicle wheelbase.

[0153] In some embodiments of the present invention, the first category of sensors includes four first category sensors corresponding to four wheels; determining the suspension height data corresponding to the wheel where the first category sensor having a fault is located based on the attitude angle, the suspension height data collected by the first category sensors that are not having a fault, and the vehicle size data includes:

[0154] When three of the first-category sensors fail, determining the suspension height data corresponding to the wheel where the failed first-category sensor is located based on the pitch angle, roll angle, suspension height data collected by the first-category sensors that are not failing, vehicle track width, and vehicle wheelbase;

[0155] When two or one of the first-category sensors fails, determining the suspension height data corresponding to the wheel where the failed first-category sensor is located based on the pitch angle, the suspension height data collected by the first-category sensors that are not failing, and the vehicle wheelbase;

[0156] When two or one of the first-category sensors fails, the suspension height data corresponding to the wheel where the failed first-category sensor is located is determined based on the roll angle, the suspension height data collected by the first-category sensor that is not failing, and the vehicle wheelbase.

[0157] In some embodiments of the present invention, the present invention further includes:

[0158] According to the preset sensor error data, the suspension height data corresponding to the wheel where the first category sensor having a fault is located is corrected.

[0159] In some embodiments of the present invention, the sensor error data includes first error data of a sensor of the first category that is not faulty and second error data of a sensor of the first category that is faulty. Correcting the suspension height data corresponding to the wheel where the sensor of the first category that is faulty is located based on the preset sensor error data includes:

[0160] Combine the first error data and the second error data to obtain the suspension height data corresponding to the wheel where the first category sensor that fails is located.

[0161] In some embodiments of the present invention, the attitude-related data includes acceleration data, and determining the attitude angle of the vehicle according to the attitude-related data includes:

[0162] Determining gravitational acceleration component data based on the acceleration data;

[0163] The attitude angle of the vehicle is determined according to the gravitational acceleration component data.

[0164] In some embodiments of the present invention, the acceleration data includes any one or more of the following: acceleration data of the vehicle head direction, acceleration data of the vehicle body side direction.

[0165] In some embodiments of the present invention, the present invention further includes:

[0166] The plurality of first-category sensors are calibrated so that a suspension chassis plane formed by positions of the plurality of first-category sensors is parallel to a coordinate plane of the second-category sensors.

[0167] In some embodiments of the present invention, the first category of sensors are altitude sensors, and the second category of sensors are inertial sensors.

[0168] In some embodiments of the present invention, the suspension system of the vehicle is an active suspension system.

[0169] It should be noted that for the sake of simplicity, the method embodiments are described as a series of actions. However, those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0170] Some embodiments of the present invention also provide a vehicle control device, wherein the vehicle includes a plurality of first-category sensors and second-category sensors;

[0171] When some of the first category sensors fail, the control device is used to control the suspension height based on the vehicle posture-related data collected by the second category sensors and the suspension height data collected by the first category sensors that have not failed.

[0172] In some embodiments of the present invention, performing suspension height control based on vehicle posture data collected by the second category sensor and suspension height data collected by the first category sensor that is not faulty includes:

[0173] determining an attitude angle of the vehicle according to the attitude-related data;

[0174] Suspension height control is performed according to the attitude angle and the suspension height data collected by the first category sensor that is not faulty.

[0175] In some embodiments of the present invention, performing suspension height control based on the attitude angle and the suspension height data collected by the first type of sensor that is not faulty includes:

[0176] Determining the suspension height data corresponding to the wheel where the first type sensor having a fault is located based on the attitude angle and the suspension height data collected by the first type sensor that has not failed;

[0177] Suspension height control is performed based on the suspension height data collected by the first-category sensor that is not faulty and the suspension height data corresponding to the wheel where the first-category sensor that is faulty is located.

[0178] In some embodiments of the present invention, determining the suspension height data corresponding to the wheel where the faulty first-category sensor is located based on the attitude angle and the suspension height data collected by the first-category sensor that is not faulty includes:

[0179] The suspension height data corresponding to the wheel where the first category sensor having a fault is located is determined based on the attitude angle, the suspension height data collected by the first category sensor that has not failed, and the vehicle size data.

[0180] In some embodiments of the present invention, the attitude angle includes any one or more of the following: pitch angle, roll angle; the vehicle size data includes any one or more of the following: vehicle track, vehicle wheelbase.

[0181] In some embodiments of the present invention, the first category of sensors includes four first category sensors corresponding to four wheels; determining the suspension height data corresponding to the wheel where the first category sensor having a fault is located based on the attitude angle, the suspension height data collected by the first category sensors that are not having a fault, and the vehicle size data includes:

[0182] When three of the first-category sensors fail, determining the suspension height data corresponding to the wheel where the failed first-category sensor is located based on the pitch angle, roll angle, suspension height data collected by the first-category sensors that are not failing, vehicle track width, and vehicle wheelbase;

[0183] When two or one of the first-category sensors fails, determining the suspension height data corresponding to the wheel where the failed first-category sensor is located based on the pitch angle, the suspension height data collected by the first-category sensors that are not failing, and the vehicle wheelbase;

[0184] When two or one of the first-category sensors fails, the suspension height data corresponding to the wheel where the failed first-category sensor is located is determined based on the roll angle, the suspension height data collected by the first-category sensor that is not failing, and the vehicle wheelbase.

[0185] In some embodiments of the present invention, the present invention further includes:

[0186] According to the preset sensor error data, the suspension height data corresponding to the wheel where the first category sensor having a fault is located is corrected.

[0187] In some embodiments of the present invention, the sensor error data includes first error data of a sensor of the first category that is not faulty and second error data of a sensor of the first category that is faulty. Correcting the suspension height data corresponding to the wheel where the sensor of the first category that is faulty is located based on the preset sensor error data includes:

[0188] Combine the first error data and the second error data to obtain the suspension height data corresponding to the wheel where the first category sensor that fails is located.

[0189] In some embodiments of the present invention, the attitude-related data includes acceleration data, and determining the attitude angle of the vehicle according to the attitude-related data includes:

[0190] Determining gravitational acceleration component data based on the acceleration data;

[0191] The attitude angle of the vehicle is determined according to the gravitational acceleration component data.

[0192] In some embodiments of the present invention, the acceleration data includes any one or more of the following: acceleration data of the vehicle head direction, acceleration data of the vehicle body side direction.

[0193] In some embodiments of the present invention, the present invention further includes:

[0194] The plurality of first-category sensors are calibrated so that a suspension chassis plane formed by positions of the plurality of first-category sensors is parallel to a coordinate plane of the second-category sensors.

[0195] In some embodiments of the present invention, the first category of sensors are altitude sensors, and the second category of sensors are inertial sensors.

[0196] In some embodiments of the present invention, the suspension system of the vehicle is an active suspension system.

[0197] Some embodiments of the present invention further provide an electronic device, comprising a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the above method when executed by the processor.

[0198] Some embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the above method is implemented.

[0199] Some embodiments of the present invention further provide a computer program product, including a computer program, which implements the above method when executed by a processor.

[0200] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0201] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data 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 relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0202] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0203] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, apparatus, or computer program products. Thus, embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0204] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate a device for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0205] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0206] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce computer-implemented processing, so that the instructions executed on the computer or other programmable terminal device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0207] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they become aware of the basic creative concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0208] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "includes," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or terminal device. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of additional identical elements in the process, method, article, or terminal device that includes the above elements.

[0209] The above is a detailed introduction to a vehicle, a method, an apparatus, a device, a medium and a product for vehicle control. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A vehicle, characterized in that: include: a plurality of first-category sensors, configured to collect suspension height data corresponding to each wheel; The second category of sensors is used to collect vehicle posture-related data; The controller is configured to perform suspension height control based on the posture-related data and suspension height data collected by the first-category sensors that are not faulty when some of the first-category sensors fail.

2. The vehicle according to claim 1, characterized in that When performing suspension height control based on the posture-related data and the suspension height data collected by the first category sensor that is not faulty, the controller is configured to: determining an attitude angle of the vehicle according to the attitude-related data; Suspension height control is performed according to the attitude angle and the suspension height data collected by the first category sensor that is not faulty.

3. The vehicle according to claim 2, characterized in that When performing suspension height control based on the attitude angle and the suspension height data collected by the first type of sensor that is not faulty, the controller is configured to: Determining the suspension height data corresponding to the wheel where the first type sensor having a fault is located based on the attitude angle and the suspension height data collected by the first type sensor that has not failed; Suspension height control is performed based on the suspension height data collected by the first-category sensor that is not faulty and the suspension height data corresponding to the wheel where the first-category sensor that is faulty is located.

4. The vehicle according to claim 3, characterized in that When determining the suspension height data corresponding to the wheel where the first-category sensor having a fault is located based on the attitude angle and the suspension height data collected by the first-category sensor that has not failed, the controller is configured to: The suspension height data corresponding to the wheel where the first category sensor having a fault is located is determined based on the attitude angle, the suspension height data collected by the first category sensor that has not failed, and the vehicle size data.

5. The vehicle according to claim 4, characterized in that The attitude angle includes any one or more of the following: pitch angle, roll angle; The vehicle dimension data includes any one or more of the following: vehicle track width and vehicle wheelbase.

6. The vehicle according to claim 5, characterized in that The first category of sensors includes four first category sensors corresponding to four wheels; When determining the suspension height data corresponding to the wheel where the first-category sensor having a fault is located based on the attitude angle, the suspension height data collected by the first-category sensor that has not failed, and the vehicle size data, the controller is configured to: When three of the first-category sensors fail, determining the suspension height data corresponding to the wheel where the failed first-category sensor is located based on the pitch angle, roll angle, suspension height data collected by the first-category sensors that are not failing, vehicle track width, and vehicle wheelbase; When two or one of the first-category sensors fails, determining the suspension height data corresponding to the wheel where the failed first-category sensor is located based on the pitch angle, the suspension height data collected by the first-category sensors that are not failing, and the vehicle wheelbase; When two or one of the first-category sensors fails, the suspension height data corresponding to the wheel where the failed first-category sensor is located is determined based on the roll angle, the suspension height data collected by the first-category sensor that is not failing, and the vehicle wheelbase.

7. The vehicle according to claim 3, characterized in that The controller is also used for: According to the preset sensor error data, the suspension height data corresponding to the wheel where the first category sensor having a fault is located is corrected.

8. The vehicle according to claim 7, characterized in that The sensor error data includes first error data of the first category sensors that are not faulty and second error data of the first category sensors that are faulty; When correcting the suspension height data corresponding to the wheel where the first-category sensor having a fault is located based on the preset sensor error data, the controller is configured to: Combine the first error data and the second error data to obtain the suspension height data corresponding to the wheel where the first category sensor that fails is located.

9. The vehicle according to any one of claims 2 to 8, characterized in that The attitude-related data includes acceleration data. When determining the attitude angle of the vehicle based on the attitude-related data, the controller is configured to: Determining gravitational acceleration component data based on the acceleration data; The attitude angle of the vehicle is determined according to the gravitational acceleration component data.

10. The vehicle according to claim 9, characterized in that The acceleration data includes any one or more of the following: acceleration data of the vehicle head direction and acceleration data of the vehicle body side direction.

11. The vehicle according to claim 1, wherein: The controller is also used for: The plurality of first-category sensors are calibrated so that a suspension chassis plane formed by positions of the plurality of first-category sensors is parallel to a coordinate plane of the second-category sensors.

12. The vehicle according to claim 1, wherein: The first type of sensor is an altitude sensor, and the second type of sensor is an inertial sensor.

13. The vehicle according to claim 1, wherein: The suspension system of the vehicle is an active suspension system.

14. A vehicle control method, characterized in that: The method comprises: obtaining suspension height data collected by a plurality of first-category sensors; Obtaining vehicle posture-related data collected by the second category of sensors; When some of the first-category sensors fail, suspension height control is performed based on the posture-related data and suspension height data collected by the first-category sensors that have not failed.

15. A vehicle control device, characterized in that: The vehicle includes a plurality of first category sensors and second category sensors; When some of the first category sensors fail, the control device is used to control the suspension height based on the vehicle posture-related data collected by the second category sensors and the suspension height data collected by the first category sensors that have not failed.

16. An electronic device, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the method according to claim 14 when executed by the processor.

17. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to claim 14 is implemented.

18. A computer program product, characterized in that A computer program is included which, when executed by a processor, implements the method of claim 14.

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