Active suspension system control method, electronic equipment and vehicle

Abstract

The invention provides an active suspension system control method, electronic equipment and a vehicle, relates to the technical field of vehicle control, and can judge and control a system to enter a corresponding safety state according to the type of the active suspension system and a specific fault condition, so that the stability and the control precision of the active suspension system are improved. The method comprises the steps that the running state of the active suspension system is detected; and under the condition that the running state of the active suspension system has the running fault, controlling the active suspension system to enter a target safety state based on the type of the active suspension system and the running fault.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to an active suspension system control method, electronic equipment, and vehicle. Background Art

[0002] Active suspension systems effectively improve vehicle handling stability, comfort, and safety by adjusting suspension stiffness and damping in real time. As system complexity increases, the requirements for active suspension system control after failures are becoming increasingly stringent to ensure driver safety. However, existing technologies lack mature control solutions, making it difficult to adapt to the functional safety requirements of different suspension systems. Summary of the Invention

[0003] The purpose of this application is to provide an active suspension system control method, electronic equipment and vehicle, which relate to the field of vehicle control technology and can improve the stability and control accuracy of the active suspension system.

[0004] In a first aspect, a method for controlling an active suspension system is provided, the method comprising: when an operating fault occurs in an operating state of the active suspension system, controlling the active suspension system to enter a target safe state based on the type of the active suspension system and the operating fault.

[0005] This active suspension system control method utilizes a functional safety monitoring module to monitor the system's operating status. This allows for timely response to active suspension system failures, improving system reliability. Furthermore, the system's control strategy is refined, determining and controlling the system to a corresponding safe state based on the active suspension system type and specific failure conditions, enhancing the stability and control accuracy of the active suspension system.

[0006] In some embodiments, the active suspension system includes a main function control module; the target safety state includes: a first safety state, a second safety state and a third safety state; in the event that there is an operational fault in the operating state of the active suspension system, based on the type of the active suspension system and the operational fault, the active suspension system is controlled to enter the target safety state, including: in the event that the main function control module fails, based on the type of the active suspension system, the active suspension system is controlled to enter a first safety state corresponding to the type of the active suspension system; in the event that the active suspension system is abnormally controlled to enter the first safety state, based on the type of the active suspension system, the active suspension system is controlled to enter a second safety state corresponding to the type of the active suspension system; in the event that the active suspension system is abnormally controlled to enter the second safety state, based on the type of the active suspension system, the active suspension system is controlled to enter a third safety state corresponding to the type of the active suspension system; different safety states have different degrees of functional restriction on the active suspension system, wherein the degree of restriction in the third safety state is higher than that in the second safety state, and the degree of restriction in the second safety state is higher than that in the first safety state.

[0007] In some embodiments, the type of active suspension system includes an active suspension system with a height fixing function and a backup design; in the event of a failure of the main function control module, based on the type of the active suspension system, the active suspension system is controlled to enter a first safe state corresponding to the type of the active suspension system, including: intercepting the height adjustment instruction sent by the main function control module to the suspension drive module; and / or controlling the backup function control module to perform functional control of the active suspension system.

[0008] In some embodiments, in the event of an abnormality in controlling the active suspension system to enter a first safety state, based on the type of the active suspension system, the active suspension system is controlled to enter a second safety state corresponding to the type of the active suspension system, including: controlling the backup function control module to stop functional control of the active suspension system.

[0009] In some embodiments, in the event of an abnormality in controlling the active suspension system to enter the second safety state, based on the type of the active suspension system, the active suspension system is controlled to enter a third safety state corresponding to the type of the active suspension system, including: controlling the power shutdown module to stop supplying power to the suspension drive module and the motor.

[0010] In some embodiments, the types of active suspension systems include active suspension systems with a height-fixing function, no backup design, and a non-direct drive mode; in the event of a failure of the main function control module, based on the type of the active suspension system, the active suspension system is controlled to enter a first safety state corresponding to the type of the active suspension system, including: intercepting the height adjustment instruction sent by the main function control module to the suspension drive module.

[0011] In some embodiments, in the event that the control of the active suspension system to enter the first safety state is abnormal, based on the type of the active suspension system, the active suspension system is controlled to enter a second safety state corresponding to the type of the active suspension system, including: controlling the motor drive controller to exit the height adjustment state; and controlling the motor drive controller to perform a height reset.

[0012] In some embodiments, in the event that the control of the active suspension system to enter the second safety state is abnormal, based on the type of the active suspension system, the active suspension system is controlled to enter a third safety state corresponding to the type of the active suspension system, including: controlling the power shutdown module to stop supplying power to the communication module and the motor drive controller.

[0013] In some embodiments, the types of active suspension systems include active suspension systems that do not have a height fixing function and adopt a full backup design; in the event of a failure in the main function control module, based on the type of the active suspension system, the active suspension system is controlled to enter a first safe state corresponding to the type of the active suspension system, including: intercepting the height adjustment instruction sent by the main function control module to the suspension drive module; and / or controlling the backup function control module to perform functional control of the active suspension system.

[0014] In some embodiments, in the event of an abnormality in controlling the active suspension system to enter a first safety state, based on the type of the active suspension system, the active suspension system is controlled to enter a second safety state corresponding to the type of the active suspension system, including: controlling the backup function control module to stop functional control of the active suspension system.

[0015] In some embodiments, in the event of an abnormality in controlling the active suspension system to enter the second safety state, based on the type of the active suspension system, the active suspension system is controlled to enter a third safety state corresponding to the type of the active suspension system, including: controlling the power shutdown module to stop supplying power to the suspension drive module and the motor.

[0016] In some embodiments, the type of active suspension system includes an active suspension system that does not have a height fixing function and adopts a partial backup design; in the event of a failure of the main function control module, based on the type of the active suspension system, the active suspension system is controlled to enter a first safe state corresponding to the type of the active suspension system, including: intercepting the height adjustment signal sent by the main function control module to the suspension drive module; and / or controlling the backup function control module to perform a height reset operation.

[0017] In some embodiments, in the event that the control of the active suspension system to enter the first safety state is abnormal, based on the type of the active suspension system, the active suspension system is controlled to enter a second safety state corresponding to the type of the active suspension system, including: in the event that the control of the active suspension system to enter the first safety state is abnormal, or the backup function control module completes the height reset operation, based on the type of the active suspension system, the active suspension system is controlled to enter the second safety state corresponding to the type of the active suspension system.

[0018] In some embodiments, based on the type of the active suspension system, controlling the active suspension system to enter a second safety state corresponding to the type of the active suspension system includes controlling a backup function control module to stop function control of the active suspension system.

[0019] In some embodiments, in the event of an abnormality in controlling the active suspension system to enter the second safety state, based on the type of the active suspension system, the active suspension system is controlled to enter a third safety state corresponding to the type of the active suspension system, including: controlling the power shutdown module to stop supplying power to the suspension drive module and the motor.

[0020] In some embodiments, the types of active suspension systems include active suspension systems that do not have a height fixing function, have no backup design, and adopt a non-direct drive method; in the event of a failure of the main function control module, based on the type of active suspension system, the active suspension system is controlled to enter a first safe state corresponding to the type of active suspension system, including: controlling the motor drive controller to perform height reset.

[0021] In some embodiments, in the event that the control of the active suspension system to enter the first safety state is abnormal, based on the type of the active suspension system, the active suspension system is controlled to enter a second safety state corresponding to the type of the active suspension system, including: in the event that the control of the active suspension system to enter the first safety state is abnormal, or the motor drive controller has completed height reset, based on the type of the active suspension system, the active suspension system is controlled to enter the second safety state corresponding to the type of the active suspension system.

[0022] In some embodiments, based on the type of the active suspension system, controlling the active suspension system to enter a second safety state corresponding to the type of the active suspension system includes controlling a motor drive controller to exit a height adjustment state.

[0023] In some embodiments, in the event that the control of the active suspension system to enter the second safety state is abnormal, based on the type of the active suspension system, the active suspension system is controlled to enter a third safety state corresponding to the type of the active suspension system, including: controlling the power shutdown module to stop supplying power to the communication module and the motor drive controller.

[0024] In some embodiments, the type of active suspension system includes a fast-response active suspension system that does not have a height fixing function, has no backup design, and adopts a direct drive method; in the event of a failure of the main function control module, based on the type of active suspension system, the active suspension system is controlled to enter a first safe state corresponding to the type of active suspension system, including: controlling the suspension drive module to stop outputting the drive current.

[0025] In some embodiments, in the event that the control of the active suspension system to enter the first safety state is abnormal, based on the type of the active suspension system, the active suspension system is controlled to enter a second safety state corresponding to the type of the active suspension system, including: controlling the power shutdown module to stop supplying power to the suspension drive module.

[0026] In some embodiments, the types of active suspension systems include active suspension systems with a height-fixing function, no backup design, and a direct-drive mode, and slow-response active suspension systems without a height-fixing function, no backup design, and a direct-drive mode; in the event of a failure of the main function control module, based on the type of the active suspension system, the active suspension system is controlled to enter a first safe state corresponding to the type of the active suspension system, including: intercepting the height adjustment instruction sent by the main function control module to the suspension drive module.

[0027] In some embodiments, when the control of the active suspension system to enter the first safety state is abnormal, based on the type of the active suspension system, the active suspension system is controlled to enter a second safety state corresponding to the type of the active suspension system, including: controlling the suspension drive module to exit the height adjustment state.

[0028] In some embodiments, in the event that the control of the active suspension system to enter the second safety state is abnormal, based on the type of the active suspension system, the active suspension system is controlled to enter a third safety state corresponding to the type of the active suspension system, including: controlling the power shutdown module to stop supplying power to the suspension drive module.

[0029] In some embodiments, the method further includes: issuing an alarm prompt message to the driver and passengers when a preset time condition is met; wherein the preset time condition includes that the time interval between the time when the active suspension system fails and the time when the active suspension system enters the target safety state is greater than or equal to the preset time interval.

[0030] In some embodiments, before controlling the active suspension system to enter a third safety state corresponding to the type of the active suspension system, the method also includes: detecting the operating state of the active suspension system; when the operating fault of the active suspension system is resolved, controlling the main function control module to restore functional control of the active suspension system so that the active suspension system exits the current safety state; the current safety state includes the first safety state or the second safety state.

[0031] In a second aspect, an active suspension system control device is provided, which includes a detection module and a control module. The detection module is used to detect the operating status of the active suspension system; the control module is used to control the active suspension system to enter a target safety state based on the type and operating fault of the active suspension system when there is an operating fault in the operating status of the active suspension system.

[0032] In some embodiments, the active suspension system includes a main function control module; the target safety state includes: a first safety state, a second safety state and a third safety state; the control module is specifically used to control the active suspension system to enter a first safety state corresponding to the type of the active suspension system based on the type of the active suspension system in the event of a failure of the main function control module; in the event of an abnormality in controlling the active suspension system to enter the first safety state, based on the type of the active suspension system, the active suspension system is controlled to enter a second safety state corresponding to the type of the active suspension system; in the event of an abnormality in controlling the active suspension system to enter the second safety state, based on the type of the active suspension system, the active suspension system is controlled to enter a third safety state corresponding to the type of the active suspension system; different safety states have different degrees of functional restriction on the active suspension system, wherein the degree of restriction in the third safety state is higher than that in the second safety state, and the degree of restriction in the second safety state is higher than that in the first safety state.

[0033] In some embodiments, the types of active suspension systems include active suspension systems with a height fixing function and a backup design; a control module specifically used to intercept the height adjustment instructions sent by the main function control module to the suspension drive module; and / or control the backup function control module to perform functional control of the active suspension system.

[0034] In some embodiments, the control module is specifically configured to control the backup function control module to stop performing functional control on the active suspension system.

[0035] In some embodiments, the control module is specifically configured to control the power shutoff module to stop supplying power to the suspension drive module and the motor.

[0036] In some embodiments, the types of active suspension systems include active suspension systems with height fixing function, no backup design and non-direct drive mode; the control module is specifically used to intercept the height adjustment instructions sent by the main function control module to the suspension drive module.

[0037] In some embodiments, the control module is specifically configured to control the motor drive controller to exit the height adjustment state; and control the motor drive controller to perform height reset.

[0038] In some embodiments, the control module is specifically configured to control the power shutoff module to stop supplying power to the communication module and the motor drive controller.

[0039] In some embodiments, the types of active suspension systems include active suspension systems that do not have a height fixing function and adopt a full backup design; a control module that is specifically used to intercept the height adjustment instructions sent by the main function control module to the suspension drive module; and / or control the backup function control module to perform functional control of the active suspension system.

[0040] In some embodiments, the control module is specifically configured to control the backup function control module to stop performing functional control on the active suspension system.

[0041] In some embodiments, the control module is specifically configured to control the power shutoff module to stop supplying power to the suspension drive module and the motor.

[0042] In some embodiments, the types of active suspension systems include active suspension systems that do not have a height fixing function and adopt a partial backup design; a control module, specifically used to intercept the height adjustment signal sent by the main function control module to the suspension drive module; and / or, control the backup function control module to perform a height reset operation.

[0043] In some embodiments, the control module is specifically used to control the active suspension system to enter a second safe state corresponding to the type of the active suspension system based on the type of the active suspension system when the control of the active suspension system to enter the first safe state is abnormal, or when the backup function control module completes the height reset operation.

[0044] In some embodiments, the control module is specifically configured to control the backup function control module to stop performing functional control on the active suspension system.

[0045] In some embodiments, the control module is specifically configured to control the power shutoff module to stop supplying power to the suspension drive module and the motor.

[0046] In some embodiments, the types of active suspension systems include active suspension systems that do not have a height fixing function, have no backup design, and adopt a non-direct drive method; the control module is specifically used to control the motor drive controller to perform height reset.

[0047] In some embodiments, the control module is specifically used to control the active suspension system to enter a second safe state corresponding to the type of the active suspension system based on the type of the active suspension system when the control of the active suspension system to enter the first safe state is abnormal, or when the motor drive controller has completed the height reset.

[0048] In some embodiments, the control module is specifically configured to control the motor drive controller to exit the height adjustment state.

[0049] In some embodiments, the control module is specifically configured to control the power shutoff module to stop supplying power to the communication module and the motor drive controller.

[0050] In some embodiments, the type of active suspension system includes a fast-response active suspension system that does not have a height fixing function, has no backup design, and adopts a direct drive method; the control module is specifically used to control the suspension drive module to stop outputting the drive current.

[0051] In some embodiments, the control module is specifically configured to control the power shutoff module to stop supplying power to the suspension driving module.

[0052] In some embodiments, the types of active suspension systems include active suspension systems with a height-fixing function, no backup design, and a direct-drive mode, and slow-response active suspension systems without a height-fixing function, no backup design, and a direct-drive mode; the control module is specifically used to intercept the height adjustment instructions sent by the main function control module to the suspension drive module.

[0053] In some embodiments, the control module is specifically configured to control the suspension driving module to exit the height adjustment state.

[0054] In some embodiments, the control module is specifically configured to control the power shutoff module to stop supplying power to the suspension driving module.

[0055] In some embodiments, the control module is also used to issue an alarm prompt message to the driver and passengers when a preset time condition is met; wherein the preset time condition includes that the time interval between the time when the active suspension system fails and the time when the active suspension system enters the target safety state is greater than or equal to the preset time interval.

[0056] In some embodiments, before controlling the active suspension system to enter a third safety state corresponding to the type of the active suspension system, the detection module is also used to detect the operating state of the active suspension system; the control module is also used to control the main function control module to restore functional control of the active suspension system when the operating fault of the active suspension system is resolved, so that the active suspension system exits the current safety state; the current safety state includes the first safety state or the second safety state.

[0057] In a third aspect, an electronic device is provided, comprising: a processor and a memory for storing processor-executable instructions; wherein the processor is configured to execute the instructions to implement the active suspension system control method described above.

[0058] In a fourth aspect, a computer-readable storage medium is provided, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the active suspension system control method of any of the above embodiments is implemented.

[0059] In a fifth aspect, a vehicle is provided, comprising: the electronic device described in the third aspect above, or the computer-readable storage medium described in the fourth aspect above.

[0060] In a sixth aspect, a computer program product is provided, which includes computer program instructions, and when the computer program instructions are executed by a processor, the active suspension system control method of any of the above embodiments is implemented.

[0061] For the specific descriptions of the second to sixth aspects and their various implementations in this application, reference can be made to the detailed descriptions in the first aspect and its various implementations; and for the beneficial effects of the second to sixth aspects and their various implementations, reference can be made to the analysis of the beneficial effects in the first aspect and its various implementations, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0063] Figure 1 A schematic diagram of an active suspension system provided in an embodiment of the present application;

[0064] Figure 2 A schematic diagram of another active suspension system provided in an embodiment of the present application;

[0065] Figure 3 A schematic diagram of another active suspension system provided in an embodiment of the present application;

[0066] Figure 4 A flowchart of an active suspension system control method provided in an embodiment of the present application;

[0067] Figure 5 A flowchart of another active suspension system control method provided in an embodiment of the present application;

[0068] Figure 6 A flowchart of another active suspension system control method provided in an embodiment of the present application;

[0069] Figure 7 A schematic structural diagram of an active suspension system control device provided in an embodiment of the present application;

[0070] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0071] Reference numerals: active suspension system 100, functional safety monitoring module 201, acquisition module 101, main function control module 102, arbitration module 103, suspension drive module 104, suspension execution module 105, battery 106, power shutdown module 107, backup device 108, communication module 1041, motor drive controller 1051, motor 1052 DETAILED DESCRIPTION

[0072] In the embodiments of the present application, the terms "first," "second," "third," "fourth," "fifth," and "sixth" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, a feature specified as "first," "second," "third," "fourth," "fifth," and "sixth" may explicitly or implicitly include one or more of the features.

[0073] In the embodiments of the present application, the terms "comprises," "comprising," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising 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 apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0074] “A and / or B” includes the following three combinations: A only, B only, and a combination of A and B.

[0075] With the advancement of automotive electronics, active suspension systems have become widely used in modern vehicles. By adjusting suspension stiffness and damping in real time, active suspension systems can effectively improve vehicle handling stability, comfort, and safety. However, as system complexity increases, active suspension systems can cause functional safety failures during operation due to sensor malfunctions, actuator failures, control logic errors, and other factors, potentially posing hazards to drivers, passengers, and others.

[0076] In the practical application of active suspension systems, different system architectures and functional requirements place varying demands on safety state design. For example, some active suspension systems can automatically fix the suspension height after being shut down, while others cannot. Some systems use direct-drive actuators, while others use non-direct-drive actuators with independent actuator controllers. Furthermore, active suspension systems can be categorized as fast or slow based on the suspension adjustment speed.

[0077] However, existing technologies lack systematic guidance and unified design specifications for the safe state design of active suspension systems after a functional safety failure. As a result, in actual projects, the safe state design often relies on empirical judgment, resulting in problems such as untimely response, incomplete safety mechanisms, and reduced system performance.

[0078] Based on the above-mentioned problems, an embodiment of the present application provides a method for controlling an active suspension system, the method comprising: detecting the operating state of the active suspension system; and, if an operating fault occurs in the operating state of the active suspension system, controlling the active suspension system to enter a target safe state based on the type of active suspension system and the operating fault. Through the above-mentioned method, in the event of an abnormality or fault in the active suspension system, different control methods can be flexibly selected based on the differences in the system architecture of the active suspension system. Furthermore, for a specific active suspension system design, different abnormalities or faults correspond to different safe states, thereby achieving precise control of the active suspension system and improving the performance of the active suspension system.

[0079] The active suspension system provided in the embodiments of the present application is described below with reference to the accompanying drawings.

[0080] See also Figure 1 The active suspension system 100 includes a functional safety monitoring module 201, an acquisition module 101, a main function control module 102, an arbitration module 103, a suspension drive module 104, a suspension execution module 105, a battery 106, and a power shutdown module 107. The acquisition module 101 is in communication with the main function control module 102, the main function control module 102 is in communication with the arbitration module 103, the arbitration module 103 is in communication with the suspension drive module 104, the suspension drive module 104 is connected to the suspension execution module 105, and the functional safety monitoring module 201 is connected to the main function control module 102.

[0081] The functional safety monitoring module 201 is used to detect the operating status of each module in the active suspension system.

[0082] The functional safety monitoring module 201 is further configured to control the active suspension system to enter different safety states based on the type and operational fault of the active suspension system when a module in the active suspension system operates abnormally.

[0083] The acquisition module 101 is used to receive sensor signals and / or sensor data from outside or inside the vehicle, and send the received sensor signals and sensor data to the main function control module 102 .

[0084] Exemplarily, the data received by the acquisition module 101 include road surface status data, vehicle speed data, acceleration data, etc.

[0085] The main function control module 102 is used to process input signals and data and generate control signals according to a preset algorithm or logic to adjust the performance of the suspension system.

[0086] In some embodiments, the main function control module 102 is specifically configured to generate a height adjustment signal based on a preset algorithm or logic, and output the height adjustment signal to the arbitration module 103. The height adjustment signal is ultimately used to drive the suspension drive module 104 to perform the height adjustment function of the active suspension, thereby achieving active adjustment of the vehicle body height.

[0087] The arbitration module 103 is used to coordinate the signals and instructions between the various functional modules of the active suspension system and process conflicting instructions or signals to ensure the coordinated operation and stability of the system.

[0088] In some embodiments, upon receiving the height adjustment signal, the arbitration module 103 performs priority determination and logical processing on the height adjustment signal to determine whether to immediately execute or delay the height adjustment instruction. For example, if the arbitration module 103 simultaneously receives conflicting instructions from other functional modules, it will make a decision based on its internally preset arbitration strategy (such as priority sorting, security level assessment, or system resource usage). After confirming the execution priority of the height adjustment signal, it will forward the height adjustment signal to the suspension driver module 104.

[0089] The suspension driving module 104 is configured to convert the received height adjustment signals into instructions understandable by the suspension execution module 105 , thereby controlling the suspension execution module 105 to perform corresponding height adjustment actions.

[0090] The suspension execution module 105 is used to perform actions based on the instructions of the suspension driving module 104 and adjust the height or other parameters of the suspension to adapt to different driving conditions and road conditions.

[0091] In some embodiments, the suspension actuator module 105 may be a motor.

[0092] The battery 106 supplies power to the active suspension system.

[0093] The power shutoff module 107 is used to control the shutoff of the power supply from the battery 106 to the modules in the active suspension system (the suspension driving module 104 and the suspension execution module 105 ).

[0094] In some embodiments, for a direct-drive active suspension system, the suspension driving module 104 may directly drive the suspension execution module 105 to perform height adjustment.

[0095] In other embodiments, combined Figure 1 , see Figure 2 For a non-direct drive active suspension system, the suspension drive module 104 is replaced with a communication module 1041, and the suspension execution module 105 includes a motor drive controller 1051 and a motor 1052. The communication module 1041 is in communication with the motor drive controller 1051, and the motor drive controller 1051 is connected to the motor 1052.

[0096] The communication module 1041 is used to forward the height adjustment signal to the motor drive controller 1051 .

[0097] The motor drive controller 1051 is used to receive the height adjustment signal from the communication module 1041 and convert the height adjustment signal into a motor control instruction to drive the motor 1052 to perform the corresponding height adjustment action.

[0098] The structures of direct drive and non-direct drive active suspension systems are respectively referred to above. Figure 1 and Figure 2 The description is not repeated below.

[0099] In the above Figure 1 and Figure 2 Based on the provided active suspension system, an embodiment of the present application further provides another active suspension system including a backup design.

[0100] It should be noted that backup design is a design method that improves system reliability and safety by adding additional backup components or functions. When a part of the system fails, the backup design can take over its function to ensure that the system continues to operate normally or is safely degraded.

[0101] In some embodiments, the backup design is a backup for the primary device, and specifically, a backup device can be provided in the active suspension system. The active suspension system including the backup design mentioned below means that the active suspension system includes the backup device, which will not be described in detail below.

[0102] Combine Figure 1 , see Figure 3 , another active suspension system 100 is provided, further comprising a backup device 108. Figure 3In the active suspension system 100 shown in FIG. 1 , the active function control module 102, the arbitration module 103, the suspension drive module 104 and the functional safety monitoring module 201 ( Figure 3 The modules included in the dotted box) serve as the main devices of the active suspension system 100, and the backup device 108 serves as a backup for the main device, which includes multiple modules (not shown in the figure) with the same functions as the modules in the main device. The backup device 108 is communicated with the acquisition module 101, the power shutdown module 107 and the suspension execution module 105.

[0103] The backup device 108 is used to provide a redundant backup for the active suspension system. When the primary device (or active suspension system) fails, the backup device 108 can work in place of the primary device.

[0104] The active suspension system in the embodiment of the present application is introduced above.

[0105] The system architecture and business scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Ordinary technicians in this field will know that with the emergence of new business scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0106] The active suspension system control method in the embodiment of the present application can be applied to the functional safety monitoring module 201 in the active suspension system or a module in the backup device 108 having the same function as the functional safety monitoring module 201. The active suspension system control method provided in the embodiment of the present application is described below with reference to the accompanying drawings.

[0107] like Figure 4 As shown, the active suspension system control method includes the following steps S101-S102:

[0108] S101: Detect the operating status of the active suspension system.

[0109] In some embodiments, the operating data of each module of the active suspension system is acquired, and the operating data of the module reflects the desired operating state of the module, thereby obtaining the operating state of the active suspension system.

[0110] S102 : When an operating fault occurs in the operating state of the active suspension system, control the active suspension system to enter a target safe state based on the type of the active suspension system and the operating fault.

[0111] In some embodiments, the active suspension system includes a main function control module, and the target safety state includes: a first safety state, a second safety state, and a third safety state.

[0112] In some embodiments, combined Figure 1 、 Figure 2 and Figure 3 The provided active suspension system controls the active suspension system to enter a target safe state based on the type of the active suspension system and the operating fault when an abnormality or fault is detected in the operation of the main function control module.

[0113] By incorporating a functional safety monitoring module to monitor the operating status of the active suspension system, a timely response can be provided when a fault occurs, improving the reliability of the active suspension system. Furthermore, the system's control strategy is refined, based on the type of active suspension system and specific fault conditions, to determine and control the system into the appropriate safe state, thereby enhancing the stability and control accuracy of the active suspension system.

[0114] In some embodiments, as Figure 5 As shown, the above S102 can be specifically implemented as follows:

[0115] S201 : When a main function control module fails, based on the type of the active suspension system, control the active suspension system to enter a first safety state corresponding to the type of the active suspension system.

[0116] In some implementations, if the active suspension system does not respond to the functional control of the primary functional control module, it is determined that the primary functional control module has failed.

[0117] Specifically, combined Figure 1 and Figure 2 The first safe state includes at least one of the following: the transmission state of the height adjustment instruction transmitted by the main function control module to the suspension drive module is unreachable, the active suspension system is functionally controlled by the backup function control module, the motor drive controller performs height reset, and the suspension drive module stops outputting the drive current.

[0118] S202 : When the control of the active suspension system to enter the first safe state is abnormal, based on the type of the active suspension system, control the active suspension system to enter a second safe state corresponding to the type of the active suspension system.

[0119] In some embodiments, the abnormality of the active suspension system entering the first safe state includes at least one of the following: the suspension driving module is still performing the height adjustment operation, and the active suspension system does not respond to the control instruction of the backup function control module.

[0120] Specifically, combined Figure 1 and Figure 2 The second safety state includes at least one of the following: the standby function module stops controlling the function of the active suspension system, and the suspension drive module stops executing the height adjustment instruction.

[0121] S203 : When the control of the active suspension system to enter the second safety state is abnormal, based on the type of the active suspension system, control the active suspension system to enter a third safety state corresponding to the type of the active suspension system.

[0122] In some embodiments, the abnormality of the active suspension system entering the second safe state includes at least one of the following: the active suspension system still responds to the functional control of the backup control module, and the suspension drive module still performs the height adjustment operation.

[0123] Specifically, the third safety state includes: the active suspension system is powered off.

[0124] Different safety states have different degrees of restriction on the functions of the active suspension system. The third safety state has a higher degree of restriction than the second safety state, and the second safety state has a higher degree of restriction than the first safety state.

[0125] As the active suspension system progresses from the first safety state to the second safety state and finally to the third safety state, the system's available suspension functions are gradually reduced according to the fault situation, which can ensure that the active suspension system does not completely fail as much as possible, while reducing potential safety risks caused by serious faults.

[0126] The active suspension system control method provided in the embodiments of the present application is described below with respect to different types of active suspension systems.

[0127] In some embodiments, the type of active suspension system includes an active suspension system with a height-fixing function and a backup design.

[0128] Based on the type of the above active suspension system, S201 can be specifically implemented as: intercepting the height adjustment instruction sent by the main function control module to the suspension drive module; and / or controlling the backup function control module to perform functional control on the active suspension system.

[0129] In some embodiments, an interception instruction is sent to the arbitration module, where the interception instruction is used to instruct the arbitration module to intercept the height adjustment instruction sent by the main function control module to the suspension drive module.

[0130] In some embodiments, a function control instruction is sent to the backup function control module, where the function control instruction is used to instruct the backup function control module to perform function control on the active suspension system.

[0131] Furthermore, S202 may be specifically implemented as: controlling the backup function control module to stop performing function control on the active suspension system.

[0132] In some embodiments, when the control of the active suspension system to enter the first safe state is abnormal, the backup function control module is controlled to stop function control of the active suspension system, thereby causing the active suspension system to enter the second safe state.

[0133] In some embodiments, a function shutoff instruction is sent to the backup function control module, where the function shutoff instruction is used to instruct the backup function control module to stop sending the height adjustment signal to the suspension drive module.

[0134] Furthermore, S203 may be specifically implemented as: controlling the power shutoff module to stop supplying power to the suspension drive module and the motor.

[0135] In some embodiments, when the active suspension system is abnormally controlled to enter the second safety state, the power shutoff module is controlled to stop supplying power to the suspension drive module and the motor, thereby causing the active suspension system to enter the third safety state.

[0136] In some embodiments, a shutdown instruction is sent to the power shutdown module, and the power shutdown instruction is used to instruct the power shutdown module to cut off the power supply path between the battery and the suspension drive module and the motor, so as to cut off power to the suspension drive module and the motor.

[0137] For active suspension systems with a backup design, in the event of an abnormality or failure in the active suspension system, the control redundancy system takes over the functional control of the active suspension system (i.e., the first safe state mentioned above), which can ensure the normal operation of the suspension system and improve the system's reliability and fault tolerance.

[0138] In some embodiments, the type of active suspension system includes an active suspension system with a fixed height function, a non-backup design, and a non-direct drive method.

[0139] Based on the type of the above-mentioned active suspension system, S201 may be specifically implemented as follows: intercepting the height adjustment instruction sent by the main function control module to the suspension drive module.

[0140] In some embodiments, when a main function control module fails, a height adjustment instruction sent by the main function control module to the suspension drive module is intercepted, thereby causing the active suspension system to enter a first safe state.

[0141] In some embodiments, a function shutoff instruction is sent to the backup function control module, where the function shutoff instruction is used to instruct the backup function control module to stop sending the height adjustment signal to the suspension drive module.

[0142] Furthermore, S202 may be specifically implemented as: controlling the motor drive controller to exit the height adjustment state and perform a height reset.

[0143] In some embodiments, when the control of the active suspension system to enter the first safe state is abnormal, the motor drive controller is controlled to exit the height adjustment state and perform a height reset, thereby causing the active suspension system to enter the second safe state.

[0144] In some embodiments, a function shutdown instruction is sent to the backup function control module, where the function shutdown instruction is used to instruct the motor drive controller to stop executing the height adjustment instruction and perform a height reset.

[0145] Furthermore, S203 may be specifically implemented as: controlling the power shutoff module to stop supplying power to the communication module and the motor drive controller.

[0146] In some embodiments, when the active suspension system is abnormally controlled to enter the second safety state, the power shutoff module is controlled to stop supplying power to the communication module and the motor drive controller, thereby causing the active suspension system to enter the third safety state.

[0147] In some embodiments, a shutdown instruction is sent to the power shutdown module, which is used to instruct the power shutdown module to cut off the power supply path between the battery and the communication module, the motor drive controller and the motor, so as to cut off power to the communication module, the motor drive controller and the motor.

[0148] In some embodiments, the type of active suspension system includes an active suspension system that does not have a height fixing function and adopts a full-backup design.

[0149] Based on the type of the above active suspension system, S201 can be specifically implemented as: intercepting the height adjustment instruction sent by the main function control module to the suspension drive module; and / or controlling the backup function control module to perform functional control on the active suspension system.

[0150] In some embodiments, an interception instruction is sent to the arbitration module, where the interception instruction is used to instruct the arbitration module to intercept the height adjustment instruction sent by the main function control module to the suspension drive module.

[0151] In some embodiments, a function control instruction is sent to the backup function control module, where the function control instruction is used to instruct the backup function control module to perform function control on the active suspension system.

[0152] Furthermore, S202 may be specifically implemented as: controlling the backup function control module to stop performing function control on the active suspension system.

[0153] In some embodiments, when the control of the active suspension system to enter the first safe state is abnormal, the backup function control module is controlled to stop function control of the active suspension system, thereby causing the active suspension system to enter the second safe state.

[0154] In some embodiments, a function shutoff instruction is sent to the backup function control module, where the function shutoff instruction is used to instruct the backup function control module to stop sending the height adjustment signal to the suspension drive module.

[0155] Furthermore, S203 may be specifically implemented as: controlling the power shutoff module to stop supplying power to the suspension drive module and the motor.

[0156] In some embodiments, when the active suspension system is abnormally controlled to enter the second safety state, the power shutoff module is controlled to stop supplying power to the suspension drive module and the motor, thereby causing the active suspension system to enter the third safety state.

[0157] In some embodiments, a shutdown instruction is sent to the power shutdown module, and the power shutdown instruction is used to instruct the power shutdown module to cut off the power supply path between the battery and the suspension drive module and the motor, so as to cut off power to the suspension drive module and the motor.

[0158] In some embodiments, the type of active suspension system includes an active suspension system that does not have a height fixing function and adopts a partial backup design.

[0159] Based on the type of the above active suspension system, S201 can be specifically implemented as: intercepting the height adjustment signal sent by the main function control module to the suspension drive module; and / or controlling the backup function control module to perform a height reset operation.

[0160] In some embodiments, an interception instruction is sent to the arbitration module, where the interception instruction is used to instruct the arbitration module to intercept the height adjustment instruction sent by the main function control module to the suspension drive module.

[0161] In some embodiments, a height reset instruction is sent to the backup function control module, where the height reset instruction is used to instruct the backup function control module to control the active suspension system to perform a slow height reset.

[0162] One possible implementation method, in the above-mentioned active suspension system type, S202 can be implemented as follows: in the event that the control of the active suspension system to enter the first safety state is abnormal, based on the type of the active suspension system, the active suspension system is controlled to enter the second safety state corresponding to the type of the active suspension system.

[0163] Alternatively, S202 may also be implemented as: when the backup function control module completes the height reset operation, based on the type of the active suspension system, controlling the active suspension system to enter a second safe state corresponding to the type of the active suspension system.

[0164] Furthermore, S202 may be specifically implemented as: controlling the backup function control module to stop performing function control on the active suspension system.

[0165] In some embodiments, when the control of the active suspension system to enter the first safe state is abnormal, the backup function control module is controlled to stop function control of the active suspension system, thereby causing the active suspension system to enter the second safe state.

[0166] In some embodiments, a function shutoff instruction is sent to the backup function control module, where the function shutoff instruction is used to instruct the backup function control module to stop sending the height adjustment signal to the suspension drive module.

[0167] Furthermore, S203 may be specifically implemented as: controlling the power shutoff module to stop supplying power to the suspension drive module and the motor.

[0168] In some embodiments, when the active suspension system is abnormally controlled to enter the second safety state, the power shutoff module is controlled to stop supplying power to the suspension drive module and the motor, thereby causing the active suspension system to enter the third safety state.

[0169] In some embodiments, a shutdown instruction is sent to the power shutdown module, and the power shutdown instruction is used to instruct the power shutdown module to cut off the power supply path between the battery and the suspension drive module and the motor, so as to cut off power to the suspension drive module and the motor.

[0170] In some embodiments, the type of active suspension system includes an active suspension system that does not have a height-fixing function, has no backup design, and adopts a non-direct drive method.

[0171] Based on the type of the above active suspension system, S201 may be specifically implemented as: controlling the motor drive controller to perform height reset.

[0172] In some embodiments, a height reset instruction is sent to the communication module, so that the communication module forwards the height reset instruction to the motor drive controller, and the height reset instruction is used to instruct the motor drive controller to perform a slow height reset.

[0173] One possible implementation method, in the above-mentioned active suspension system type, S202 can be implemented as follows: in the event that the control of the active suspension system to enter the first safety state is abnormal, based on the type of the active suspension system, the active suspension system is controlled to enter the second safety state corresponding to the type of the active suspension system.

[0174] Alternatively, S202 may also be implemented as: when the motor drive controller has completed the height reset, based on the type of the active suspension system, controlling the active suspension system to enter a second safety state corresponding to the type of the active suspension system.

[0175] Furthermore, based on the type of the active suspension system, controlling the active suspension system to enter the second safety state corresponding to the type of the active suspension system may be specifically implemented by controlling the motor drive controller to exit the height adjustment state.

[0176] In some embodiments, a function shutdown instruction is sent to the suspension driving module, where the function shutdown instruction is used to instruct the suspension driving module not to execute the height adjustment instruction.

[0177] Furthermore, S203 may be specifically implemented as: controlling the power shutoff module to stop supplying power to the communication module and the motor drive controller.

[0178] In some embodiments, when the active suspension system is abnormally controlled to enter the second safety state, the power shutoff module is controlled to stop supplying power to the communication module and the motor drive controller, thereby causing the active suspension system to enter the third safety state.

[0179] In some embodiments, a shutdown instruction is sent to the power shutdown module, which is used to instruct the power shutdown module to cut off the power supply path between the battery and the communication module, the motor drive controller and the motor, so as to cut off power to the communication module, the motor drive controller and the motor.

[0180] In some embodiments, the type of active suspension system includes a fast-response active suspension system that does not have a height-fixing function, has no backup design, and adopts a direct-drive method.

[0181] Based on the type of the active suspension system described above, S201 may be specifically implemented as: controlling the suspension drive module to stop outputting the drive current.

[0182] In some embodiments, a shutdown instruction is sent to the suspension driving module, where the shutdown instruction is used to instruct the suspension driving module to stop outputting driving current to the battery.

[0183] In some embodiments, the functional safety monitoring module sends a control signal to the power shutdown module, causing the power shutdown module to output a linearly decreasing current or voltage to the motor, thereby reducing the speed of the motor at a certain rate.

[0184] Furthermore, S202 may be specifically implemented as: controlling the power shutoff module to stop supplying power to the suspension driving module.

[0185] In some embodiments, when the active suspension system is abnormally controlled to enter the first safe state, the power shutoff module is controlled to stop supplying power to the suspension driving module, thereby causing the active suspension system to enter the second safe state.

[0186] In some embodiments, a shutdown instruction is sent to the power shutdown module, and the power shutdown instruction is used to instruct the power shutdown module to cut off the power supply path between the battery and the suspension drive module and the motor, so as to cut off power to the suspension drive module and the motor.

[0187] Furthermore, after the above S202 is completed, the rotation speed of the motor begins to decrease due to power failure. When the motor stops rotating, the active suspension system enters the third safety state.

[0188] In some embodiments, the types of active suspension systems include active suspension systems with a fixed height function, no backup design, and a direct drive method, and slow-response active suspension systems without a fixed height function, no backup design, and a direct drive method.

[0189] Based on the type of the above-mentioned active suspension system, S201 may be specifically implemented as follows: intercepting the height adjustment instruction sent by the main function control module to the suspension drive module.

[0190] In some embodiments, an interception instruction is sent to the arbitration module, where the interception instruction is used to instruct the arbitration module to intercept the height adjustment instruction sent by the main function control module to the suspension drive module.

[0191] Furthermore, S202 may be specifically implemented as: controlling the suspension drive module to exit the height adjustment state.

[0192] In some embodiments, when the active suspension system is abnormally controlled to enter the first safe state, the suspension driving module is controlled to exit the height adjustment state, thereby allowing the active suspension system to enter the second safe state.

[0193] In some embodiments, a function shutdown instruction is sent to the suspension driving module, where the function shutdown instruction is used to instruct the suspension driving module not to execute the height adjustment instruction.

[0194] Furthermore, S202 may be specifically implemented as: controlling the power shutoff module to stop supplying power to the suspension driving module.

[0195] In some embodiments, when the active suspension system is abnormally controlled to enter the second safety state, the power shutoff module is controlled to stop supplying power to the actuator driver module, thereby causing the active suspension system to enter the third safety state.

[0196] In some embodiments, a shutdown instruction is sent to the power shutdown module, the shutdown instruction is used to instruct the power shutdown module to cut off the power supply path between the battery and the suspension drive module and the motor, so as to cut off power to the suspension drive module and the motor.

[0197] According to the control schemes for different suspension types described above, for active suspension systems with a fixed height or a backup design, the suspension height can be fixed in the event of a system failure. Based on the idea of ​​controlling the backup design to take over functional control of the active suspension system, disconnecting the primary and backup systems from controlling the active suspension system, and controlling power to the active suspension system, the suspension system functions can be gradually shut down according to the severity of the failure, thereby achieving suspension control. However, for active suspension systems with fixed height and no backup design, the suspension height cannot be fixed in the event of a system failure, so the suspension system height must be reset. After the height is reset, the dummy system functions can be gradually shut down according to the severity of the failure.

[0198] The active suspension system control method provided in this application designs different control strategies for different suspension designs (whether the height can be fixed, whether there is a backup design, direct drive or non-direct drive), clarifies the safety status of the active suspension system under different control strategies, and while ensuring the performance of the active suspension system in the event of a fault, can also respond to the fault in a timely manner to reduce safety risks.

[0199] In some embodiments, the active suspension system control method further includes: issuing an alarm prompt message to the driver and passengers when a preset time condition is met.

[0200] The preset time condition includes the time interval between the active suspension system failure and the active suspension system entering the target safe state being greater than or equal to the preset time interval. This application does not impose specific restrictions on the preset time interval; in actual applications, it can be determined based on the design of the active suspension system and the functional requirements of the vehicle.

[0201] For example, if the active suspension system meets the preset time conditions, it may indicate a serious fault, requiring the driver's assistance to enter the target safe state or take other troubleshooting measures. In this case, a prompt message should be issued to the driver to remind the driver to take appropriate action. For example, the prompt can be provided by illuminating the fault warning light, displaying the fault information on the vehicle's central control screen, etc.

[0202] In some embodiments, as Figure 6 As shown, before controlling the active suspension system to enter the second safety state or the third safety state corresponding to the type of the active suspension system, the method further includes:

[0203] S301: Detect the operating status of the active suspension system.

[0204] In some embodiments, the operating state of the active suspension system is detected, and at the same time, it is detected whether the current state of the operating fault of the active suspension system is resolved.

[0205] S302: When the operating fault of the active suspension system is resolved, control the main function control module to resume functional control of the active suspension system, so that the active suspension system exits the current safe state.

[0206] The current security state includes a first security state or a second security state.

[0207] In some embodiments, when the active suspension system is in the first safety state or the second safety state, if the operating fault is resolved, a function recovery instruction is sent to the main function control module of the active suspension system, so that the main function control module restores functional control of the active suspension system, and the active suspension system exits the current safety state.

[0208] In some embodiments, after controlling the active suspension system to enter the third safety state, the active suspension system is in a power-off state. Then, the next time the vehicle is started and powered on, the vehicle system tests the function of the active suspension system. If the abnormality and fault still exist, the active suspension system is maintained in the third safety state.

[0209] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the method. In order to realize the above functions, the visual prompting device includes a hardware structure and / or software module corresponding to the execution of each function. It should be easy for those skilled in the art to realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0210] The embodiment of the present application can, according to the above method, exemplarily divide the functional modules of the active suspension system control device. For example, the visual prompt device can include various functional modules corresponding to the various functional divisions, or two or more functions can be integrated into one processing module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0211] Figure 7 This is a schematic diagram of the structure of an active suspension system control device provided in an embodiment of the present application, see Figure 7 The active suspension system control device 700 includes a detection module 701 and a control module 702 .

[0212] The detection module 701 is used to detect the operating status of the active suspension system.

[0213] The control module 702 is configured to control the active suspension system to enter a target safety state based on the type of the active suspension system and the operational fault when an operational fault occurs in the operational state of the active suspension system.

[0214] In some embodiments, the active suspension system includes a main function control module; the target safety state includes: a first safety state, a second safety state and a third safety state; the control module 702 is specifically used to control the active suspension system to enter a first safety state corresponding to the type of the active suspension system based on the type of the active suspension system when the main function control module fails; in the case of an abnormality in controlling the active suspension system to enter the first safety state, based on the type of the active suspension system, the active suspension system is controlled to enter a second safety state corresponding to the type of the active suspension system; in the case of an abnormality in controlling the active suspension system to enter the second safety state, based on the type of the active suspension system, the active suspension system is controlled to enter a third safety state corresponding to the type of the active suspension system; different safety states have different degrees of functional restriction on the active suspension system, wherein the degree of restriction in the third safety state is higher than that in the second safety state, and the degree of restriction in the second safety state is higher than that in the first safety state.

[0215] In some embodiments, the types of active suspension systems include active suspension systems with a height fixing function and a backup design; the control module 702 is specifically used to intercept the height adjustment instructions sent by the main function control module to the suspension drive module; and / or control the backup function control module to perform functional control on the active suspension system.

[0216] In some embodiments, the control module 702 is specifically configured to control the backup function control module to stop performing function control on the active suspension system.

[0217] In some embodiments, the control module 702 is specifically configured to control the power shutoff module to stop supplying power to the suspension drive module and the motor.

[0218] In some embodiments, the types of active suspension systems include active suspension systems with height fixing function, no backup design and non-direct drive mode; the control module 702 is specifically used to intercept the height adjustment instructions sent by the main function control module to the suspension drive module.

[0219] In some embodiments, the control module 702 is specifically configured to control the motor drive controller to exit the height adjustment state; and control the motor drive controller to perform a height reset.

[0220] In some embodiments, the control module 702 is specifically configured to control the power shutoff module to stop supplying power to the communication module and the motor drive controller.

[0221] In some embodiments, the types of active suspension systems include active suspension systems that do not have a height fixing function and adopt a full backup design; the control module 702 is specifically used to intercept the height adjustment instructions sent by the main function control module to the suspension drive module; and / or control the backup function control module to perform functional control on the active suspension system.

[0222] In some embodiments, the control module 702 is specifically configured to control the backup function control module to stop performing function control on the active suspension system.

[0223] In some embodiments, the control module 702 is specifically configured to control the power shutoff module to stop supplying power to the suspension drive module and the motor.

[0224] In some embodiments, the type of active suspension system includes an active suspension system that does not have a height fixing function and adopts a partial backup design; the control module 702 is specifically used to intercept the height adjustment signal sent by the main function control module to the suspension drive module; and / or control the backup function control module to perform a height reset operation.

[0225] In some embodiments, the control module 702 is specifically used to control the active suspension system to enter a second safe state corresponding to the type of the active suspension system based on the type of the active suspension system when the control of the active suspension system to enter the first safe state is abnormal, or when the backup function control module completes the height reset operation.

[0226] In some embodiments, the control module 702 is specifically configured to control the backup function control module to stop performing function control on the active suspension system.

[0227] In some embodiments, the control module 702 is specifically configured to control the power shutoff module to stop supplying power to the suspension drive module and the motor.

[0228] In some embodiments, the type of active suspension system includes an active suspension system without a height fixing function, a backup design, and a non-direct drive mode; the control module 702 is specifically used to control the motor drive controller to perform height reset.

[0229] In some embodiments, the control module 702 is specifically used to control the active suspension system to enter a second safe state corresponding to the type of the active suspension system based on the type of the active suspension system when the control of the active suspension system to enter the first safe state is abnormal, or when the motor drive controller has completed the height reset.

[0230] In some embodiments, the control module 702 is specifically configured to control the motor drive controller to exit the height adjustment state.

[0231] In some embodiments, the control module 702 is specifically configured to control the power shutoff module to stop supplying power to the communication module and the motor drive controller.

[0232] In some embodiments, the type of active suspension system includes a fast-response active suspension system that does not have a height fixing function, has no backup design, and adopts a direct drive method; the control module 702 is specifically used to control the suspension drive module to stop outputting the drive current.

[0233] In some embodiments, the control module 702 is specifically configured to control the power shutoff module to stop supplying power to the suspension driving module.

[0234] In some embodiments, the types of active suspension systems include active suspension systems with a height-fixing function, no backup design, and a direct-drive mode, and slow-response active suspension systems without a height-fixing function, no backup design, and a direct-drive mode; the control module 702 is specifically used to intercept the height adjustment instructions sent by the main function control module to the suspension drive module.

[0235] In some embodiments, the control module 702 is specifically configured to control the suspension driving module to exit the height adjustment state.

[0236] In some embodiments, the control module 702 is specifically configured to control the power shutoff module to stop supplying power to the suspension driving module.

[0237] In some embodiments, the control module 702 is further configured to issue an alarm prompt message to the driver and passengers when a preset time condition is met; wherein the preset time condition includes the time interval between the time when the active suspension system fails and the time when the active suspension system enters the target safety state being greater than or equal to the preset time interval.

[0238] In some embodiments, before controlling the active suspension system to enter a third safety state corresponding to the type of the active suspension system, the detection module 701 is also used to detect the operating state of the active suspension system; the control module 702 is also used to control the main function control module to restore functional control of the active suspension system when the operating fault of the active suspension system is resolved, so that the active suspension system exits the current safety state; the current safety state includes the first safety state or the second safety state.

[0239] Figure 8 This is a structural diagram of an electronic device 800 provided in an embodiment of the present application. Figure 8 As shown, the electronic device 800 includes but is not limited to: a processor 801 and a memory 802.

[0240] The memory 802 is used to store executable instructions of the processor 801. It is understandable that the processor 801 is configured to execute instructions to implement the active suspension system control method in the above embodiment.

[0241] It should be noted that those skilled in the art can understand that Figure 8 The structure of the electronic device 800 shown in FIG. 8 does not limit the electronic device 800. The electronic device 800 may include Figure 8 More or fewer components may be shown, or certain components may be combined, or the components may be arranged differently.

[0242] The processor 801 is the control center of the electronic device 800. It connects the various components of the electronic device 800 using various interfaces and lines. By running or executing software programs and / or modules stored in the memory 802 and accessing data stored in the memory 802, it performs various functions of the electronic device 800 and processes data, thereby monitoring the electronic device 800 as a whole. The processor 801 may include one or more processing units. Optionally, the processor 801 may integrate an application processor and a modem processor, wherein the application processor primarily processes the operating system, user interface, and application programs, and the modem processor primarily handles wireless communications. It is understood that the modem processor may not be integrated into the processor 801.

[0243] The memory 802 can be used to store software programs and various data. The memory 802 may primarily include a program storage area and a data storage area. The program storage area may store an operating system and application programs required by at least one functional module (such as a determination unit, a processing unit, etc.). Furthermore, the memory 802 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0244] In an exemplary embodiment, a computer-readable storage medium including instructions is further provided, such as a memory 802 including instructions. The instructions may be executed by the processor 801 of the electronic device 800 to implement the method in the above embodiment.

[0245] In actual implementation, Figure 7 The detection module 701 and the control module 702 in the embodiment can be composed of Figure 8 The processor 801 in the embodiment calls the computer program stored in the memory 802. The specific execution process can be referred to the description of the method part in the above embodiment, which will not be repeated here.

[0246] Optionally, the computer-readable storage medium may be a non-temporary computer-readable storage medium, for example, the non-temporary computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0247] In an exemplary embodiment, the present application also provides a computer program product including one or more instructions, which can be executed by the processor 801 of the electronic device 800 to implement the method in the above embodiment.

[0248] It should be noted that when the instructions in the above-mentioned computer-readable storage medium or one or more instructions in the computer program product are executed by the processor of the electronic device 800, the various processes of the above-mentioned method embodiment are implemented and the same technical effect as the above-mentioned method can be achieved. To avoid repetition, they will not be repeated here.

[0249] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete the full classification or partial functions described above.

[0250] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0251] The units described as separate components may or may not be physically separate, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0252] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0253] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or the full classification part or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute the full classification part or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks or optical disks.

[0254] In the description of the embodiments of the present application, specific features, structures, materials or characteristics may be combined in an appropriate manner in any one or more embodiments or examples.

[0255] In the description of the embodiments of the present application, specific features, structures, materials or characteristics may be combined in an appropriate manner in any one or more embodiments or examples.

[0256] The above are only specific embodiments of the present application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A control method for an active suspension system, characterized in that: The method comprises: detecting an operating state of the active suspension system; In the event that an operating fault exists in the operating state of the active suspension system, the active suspension system is controlled to enter a target safety state based on the type of the active suspension system and the operating fault.

2. The method according to claim 1, characterized in that The active suspension system includes a main function control module; The target safety state includes: a first safety state, a second safety state, and a third safety state; and when an operating fault occurs in the operating state of the active suspension system, controlling the active suspension system to enter the target safety state based on the type of the active suspension system and the operating fault includes: In the event of a failure of the primary function control module, based on the type of the active suspension system, controlling the active suspension system to enter a first safety state corresponding to the type of the active suspension system; In a case where the controlling of the active suspension system to enter the first safe state is abnormal, based on the type of the active suspension system, controlling the active suspension system to enter the second safe state corresponding to the type of the active suspension system; In a case where the controlling of the active suspension system to enter the second safety state is abnormal, based on the type of the active suspension system, controlling the active suspension system to enter the third safety state corresponding to the type of the active suspension system; The degree of functional restriction of the active suspension system is different in different safety states, wherein the degree of restriction of the third safety state is higher than that of the second safety state, and the degree of restriction of the second safety state is higher than that of the first safety state.

3. The method according to claim 2, characterized in that The type of the active suspension system includes an active suspension system having a height fixed function and a backup design; and in the event of a failure of the primary function control module, based on the type of the active suspension system, controlling the active suspension system to enter a first safe state corresponding to the type of the active suspension system includes: intercepting a height adjustment instruction sent by the main function control module to the suspension drive module; and / or, The backup function control module is controlled to perform function control on the active suspension system.

4. The method according to claim 3, characterized in that In a case where controlling the active suspension system to enter the first safe state is abnormal, controlling the active suspension system to enter a second safe state corresponding to the type of the active suspension system based on the type of the active suspension system includes: The backup function control module is controlled to stop function control of the active suspension system.

5. The method according to claim 4, characterized in that In a case where controlling the active suspension system to enter the second safety state is abnormal, controlling the active suspension system to enter a third safety state corresponding to the type of the active suspension system based on the type of the active suspension system includes: The power shutoff module is controlled to stop supplying power to the suspension drive module and the motor.

6. The method according to claim 2, characterized in that The type of the active suspension system includes an active suspension system with a fixed height function, no backup design, and a non-direct drive mode; in the event of a failure of the main function control module, based on the type of the active suspension system, controlling the active suspension system to enter a first safe state corresponding to the type of the active suspension system includes: Intercept the height adjustment instruction sent by the main function control module to the suspension drive module.

7. The method according to claim 6, characterized in that In a case where controlling the active suspension system to enter the first safe state is abnormal, controlling the active suspension system to enter a second safe state corresponding to the type of the active suspension system based on the type of the active suspension system includes: Control the motor drive controller to exit the height adjustment state; Control the motor drive controller to perform height reset.

8. The method according to claim 7, characterized in that In a case where controlling the active suspension system to enter the second safety state is abnormal, controlling the active suspension system to enter a third safety state corresponding to the type of the active suspension system based on the type of the active suspension system includes: The control power shut-off module stops supplying power to the communication module and the motor drive controller.

9. The method according to claim 2, characterized in that The type of the active suspension system includes an active suspension system that does not have a height fixing function and adopts a full-backup design; when the main function control module fails, based on the type of the active suspension system, controlling the active suspension system to enter a first safe state corresponding to the type of the active suspension system includes: intercepting a height adjustment instruction sent by the main function control module to the suspension drive module; and / or, The backup function control module is controlled to perform function control on the active suspension system.

10. The method according to claim 9, characterized in that In a case where controlling the active suspension system to enter the first safe state is abnormal, controlling the active suspension system to enter a second safe state corresponding to the type of the active suspension system based on the type of the active suspension system includes: The backup function control module is controlled to stop function control of the active suspension system.

11. The method according to claim 10, characterized in that In a case where controlling the active suspension system to enter the second safety state is abnormal, controlling the active suspension system to enter a third safety state corresponding to the type of the active suspension system based on the type of the active suspension system includes: The control power shutoff module stops supplying power to the suspension drive module and the motor.

12. The method according to claim 2, characterized in that The type of the active suspension system includes an active suspension system that does not have a height fixing function and adopts a partial backup design; when the primary function control module fails, based on the type of the active suspension system, controlling the active suspension system to enter a first safe state corresponding to the type of the active suspension system includes: intercepting the height adjustment signal sent by the main function control module to the suspension drive module; and / or, Controls the backup function control module to perform altitude reset operation.

13. The method according to claim 12, characterized in that In a case where controlling the active suspension system to enter the first safe state is abnormal, controlling the active suspension system to enter a second safe state corresponding to the type of the active suspension system based on the type of the active suspension system includes: When the control of the active suspension system to enter the first safety state is abnormal, or the backup function control module completes the height reset operation, based on the type of the active suspension system, the active suspension system is controlled to enter a second safety state corresponding to the type of the active suspension system.

14. The method according to claim 12 or 13, characterized in that The controlling the active suspension system to enter a second safety state corresponding to the type of the active suspension system based on the type of the active suspension system includes: The backup function control module is controlled to stop function control of the active suspension system.

15. The method according to claim 13, characterized in that In a case where controlling the active suspension system to enter the second safety state is abnormal, controlling the active suspension system to enter a third safety state corresponding to the type of the active suspension system based on the type of the active suspension system includes: The control power shutoff module stops supplying power to the suspension drive module and the motor.

16. The method according to claim 2, characterized in that The type of the active suspension system includes an active suspension system that does not have a height fixing function, has no backup design, and adopts a non-direct drive mode; in the event of a failure of the main function control module, based on the type of the active suspension system, controlling the active suspension system to enter a first safe state corresponding to the type of the active suspension system includes: Control the motor drive controller to reset the height.

17. The method according to claim 16, characterized in that In a case where controlling the active suspension system to enter the first safe state is abnormal, controlling the active suspension system to enter a second safe state corresponding to the type of the active suspension system based on the type of the active suspension system includes: In the event that controlling the active suspension system to enter the first safety state is abnormal, or the motor drive controller has completed height reset, based on the type of the active suspension system, the active suspension system is controlled to enter a second safety state corresponding to the type of the active suspension system.

18. The method according to claim 16 or 17, characterized in that The controlling the active suspension system to enter a second safety state corresponding to the type of the active suspension system based on the type of the active suspension system includes: Control the motor drive controller to exit the height adjustment state.

19. The method according to claim 18, characterized in that In a case where controlling the active suspension system to enter the second safety state is abnormal, controlling the active suspension system to enter a third safety state corresponding to the type of the active suspension system based on the type of the active suspension system includes: The control power shut-off module stops supplying power to the communication module and the motor drive controller.

20. The method according to claim 2, characterized in that The type of the active suspension system includes a fast-response active suspension system that does not have a height-fixing function, has no backup design, and adopts a direct-drive mode; in the event of a failure of the main function control module, based on the type of the active suspension system, controlling the active suspension system to enter a first safe state corresponding to the type of the active suspension system includes: Control the suspension drive module to stop outputting drive current.

21. The method according to claim 20, characterized in that In a case where controlling the active suspension system to enter the first safe state is abnormal, controlling the active suspension system to enter a second safe state corresponding to the type of the active suspension system based on the type of the active suspension system includes: The power shutoff module is controlled to stop supplying power to the suspension driving module.

22. The method according to claim 2, characterized in that The types of active suspension systems include active suspension systems with a height-fixing function, no backup design and a direct drive mode, and slow-response active suspension systems without a height-fixing function, no backup design and a direct drive mode; When the main function control module fails, controlling the active suspension system to enter a first safety state corresponding to the type of the active suspension system based on the type of the active suspension system includes: Intercept the height adjustment instruction sent by the main function control module to the suspension drive module.

23. The method according to claim 22, characterized in that In a case where controlling the active suspension system to enter the first safe state is abnormal, controlling the active suspension system to enter a second safe state corresponding to the type of the active suspension system based on the type of the active suspension system includes: Controlling the suspension drive module to exit the height adjustment state.

24. The method according to claim 23, wherein In a case where controlling the active suspension system to enter the second safety state is abnormal, controlling the active suspension system to enter a third safety state corresponding to the type of the active suspension system based on the type of the active suspension system includes: The power shutoff module is controlled to stop supplying power to the suspension driving module.

25. The method according to claim 1, wherein The method further comprises: When a preset time condition is met, an alarm prompt message is issued to the driver and passengers; wherein, the preset time condition includes that the time interval between the time when the active suspension system fails and the time when the active suspension system enters the target safety state is greater than or equal to the preset time interval.

26. The method according to claim 2, characterized in that Before controlling the active suspension system to enter a third safety state corresponding to the type of the active suspension system, the method further includes: detecting an operating state of the active suspension system; When the operating fault of the active suspension system is resolved, the main function control module is controlled to resume functional control of the active suspension system so that the active suspension system exits the current safe state; the current safe state includes the first safe state or the second safe state.

27. An electronic device, characterized in that: include: a processor and a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the method according to any one of claims 1 to 26.

28. A vehicle, characterized in that: include: The electronic device as claimed in claim 27.

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