Active suspension system control method, medium, program product, controller and vehicle

Abstract

The invention relates to an active suspension system control method, a medium, a program product, a controller and a vehicle, in the control method, under the condition that an active suspension system breaks down, the active suspension system is controlled to execute fault response operation matched with a working state so as to limit function implementation of the active suspension system, the fault response operation is at least one operation in multi-level fault response operations. By means of the technical scheme, the active suspension system can be controlled to execute the fault corresponding operation matched with the working state under the condition that the active suspension system breaks down, then function implementation of the active suspension system is limited, in this way, excessive response caused by direct closing of the active suspension system after the active suspension system breaks down can be avoided, and the service life of the active suspension system is prolonged. Or the response is insufficient after the active suspension system breaks down, so that the safety and the stability of vehicle driving are improved.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and in particular to an active suspension system control method, storage medium, program product, controller and vehicle. Background Art

[0002] Active suspension systems are designed to improve vehicle stability and safety. The function of the active suspension system affects the vehicle's driving behavior. In the event of an active suspension system failure, how to effectively respond to the system to improve vehicle safety and stability remains a pressing technical challenge. Summary of the Invention

[0003] An embodiment of the present application provides an active suspension system control method, which can improve the safety and stability of vehicle driving, so as to at least partially solve the above-mentioned technical problems.

[0004] To achieve the above objectives, according to a first aspect of the present application, a method for controlling an active suspension system is provided, the method comprising:

[0005] In the event of a failure of an active suspension system of a vehicle, controlling the active suspension system to execute a fault response operation matching an operating state to limit the function of the active suspension system;

[0006] The fault response operation is at least one operation in a multi-level fault response operation.

[0007] Optionally, the fault includes:

[0008] Non-safety faults, first-level safety faults, and second-level safety faults;

[0009] The hazard level of the non-safety fault is lower than that of the first-level safety fault, and the hazard level of the first-level safety fault is lower than that of the second-level safety fault.

[0010] Optionally, the working status includes:

[0011] Normal state, first degraded state, second degraded state and third degraded state;

[0012] The fault response operations performed by the active suspension system are different in different working states.

[0013] Optionally, the method further includes:

[0014] The operating state of the active suspension system is controlled according to a fault condition satisfied by the fault.

[0015] Optionally, controlling the operating state of the active suspension system according to the fault condition satisfied by the fault includes:

[0016] When the fault satisfies a first fault condition, the operating state of the active suspension system is controlled to be the first degraded state.

[0017] Optionally, the first fault condition includes at least one of the following:

[0018] When the active suspension system is in the normal state, the non-safety fault occurs;

[0019] When the active suspension system is in the second degraded state, a limit value state exit condition is satisfied and the non-safety fault exists;

[0020] When the active suspension system is in the third degraded state, an output shut-off state exit condition is satisfied and the non-safety fault exists.

[0021] Optionally, the first fault response operation corresponding to the first degraded state includes:

[0022] At least one function of the active suspension system is limited.

[0023] Optionally, controlling the operating state of the active suspension system according to the fault condition satisfied by the fault includes:

[0024] When the fault satisfies a second fault condition, the operating state of the active suspension system is controlled to be the second degraded state.

[0025] Optionally, the second fault condition includes at least one of the following:

[0026] When the active suspension system is in the normal state, output data of the active suspension system is greater than a first output threshold;

[0027] When the active suspension system is in the first degraded state, output data of the active suspension system is greater than a second output threshold.

[0028] Optionally, the second fault response operation corresponding to the second degraded state includes:

[0029] The output amplitude of the active suspension system is limited.

[0030] Optionally, controlling the operating state of the active suspension system according to the fault condition satisfied by the fault includes:

[0031] When the fault satisfies a third fault condition, the operating state of the active suspension system is controlled to be the third degraded state.

[0032] Optionally, the third fault condition includes at least one of the following:

[0033] The output of the active suspension system is reversed;

[0034] The active suspension system has unexpected outputs.

[0035] Optionally, the third fault response operation corresponding to the third degraded state includes at least one of the following:

[0036] turning off a function of the active suspension system;

[0037] An actuator of the active suspension system is deactivated.

[0038] Optionally, the method further includes:

[0039] When the active suspension system meets the target condition, controlling the working state of the active suspension system to be a normal state;

[0040] In the normal state, all functions of the active suspension system can be performed normally.

[0041] Optionally, the target condition includes at least one of the following:

[0042] There is no fault in the active suspension system;

[0043] When the active suspension system is in the first degraded state, the non-safety fault does not exist in the active suspension system;

[0044] When the active suspension system is in the second degraded state, the limit value state exit condition is satisfied and the non-safety fault does not exist;

[0045] When the active suspension system is in the third degraded state, the output shut-off state exit condition is satisfied and the non-safety fault does not exist.

[0046] Optionally, the method further includes:

[0047] A data signal is acquired, and a fault condition satisfied by the fault is determined according to the data signal.

[0048] Optionally, the data signal includes at least one of the following:

[0049] a sensing signal from a sensor connected to the active suspension system;

[0050] On-board sensor signals obtained through the CAN bus;

[0051] Fault flag signal.

[0052] Optionally, controlling the active suspension system to perform a fault response operation matching an operating state includes:

[0053] Controlling the actuator of the active suspension system and sending fault prompt information.

[0054] According to a second aspect of the present application, a computer-readable storage medium is provided, on which a computer program or instruction is stored. When the computer program or instruction is executed by a processor, the steps of the method described above are implemented.

[0055] According to a second aspect of the present application, a computer program product is provided, comprising a computer program or instructions, which implement the steps of the above method when executed by a processor.

[0056] According to a third aspect of the present application, a controller is provided, on which a computer program or instruction is stored, and when the computer program or instruction is executed by a processor, the steps of the method described above are implemented.

[0057] According to a fourth aspect of the present application, a vehicle is provided, comprising the controller as described above.

[0058] In summary, the technical solution provided by the embodiments of the present application controls the active suspension system to execute a fault response operation that matches the operating state in the event of a fault in the active suspension system, thereby limiting the functional implementation of the active suspension system, wherein the fault response operation is at least one operation from a multi-level fault response operation. Through the above technical solution, the active suspension system can be controlled to execute a fault response operation that matches the operating state in the event of a fault, thereby limiting the functional implementation of the active suspension system. This can avoid excessive response caused by directly shutting down the active suspension system after a fault occurs, or insufficient response after a fault occurs, thereby improving the safety and stability of vehicle driving.

[0059] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[0061] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same drawing numbers represent the same parts in the following description.

[0062] Figure 1 is a flow chart of an active suspension system control method provided by an embodiment of the present application;

[0063] Figure 2 is a flow chart of another active suspension system control method provided by an embodiment of the present application;

[0064] Figure 3 is a flow chart of another active suspension system control method provided in an embodiment of the present application;

[0065] Figure 4 Schematic diagram of the jump of the working state of the active suspension system provided in the embodiment of the present application;

[0066] Figure 5 is an architectural diagram of a controller of an active suspension system provided in an embodiment of the present application;

[0067] Figure 6 It is a schematic diagram of a vehicle provided in an embodiment of the present application.

[0068] Description of reference numerals:

[0069] 1. Vehicle;

[0070] 10. Controller;

[0071] 101. Sensor signal receiving module; 102. CAN signal receiving module; 103. Fault diagnosis module; 104. Data management module; 105. Functional safety monitoring module; 106. Active suspension function module; 107. Fault processing module; 108. Arbitration module. DETAILED DESCRIPTION

[0072] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0073] Based on the issues mentioned in the aforementioned background technology, in related technologies, active suspension systems are located between the wheels and the vehicle body. By monitoring vehicle status such as vehicle height, acceleration, and lean angle, as well as road conditions, they dynamically adjust suspension stiffness and damping, thereby improving vehicle handling stability and ride comfort. The dynamic adjustment function of active suspension systems is particularly useful in complex road conditions and high-speed driving. It can effectively reduce the risk of vehicle loss of control, ensure smooth driving, and enhance vehicle comfort, stability, and safety during driving.

[0074] In the event of a failure in the active suspension system, the vehicle will become unstable due to the failure of the active suspension system, affecting the safety and reliability of the vehicle.

[0075] In view of this, the embodiments of the present application provide a vehicle active suspension control method, medium, program product, controller and vehicle, which can perform fault response operations in a hierarchical manner based on multi-level response operations when a fault occurs in the active suspension system, thereby improving the safety and stability of vehicle driving.

[0076] According to a first aspect of the present application, a method for controlling an active suspension system is provided, referring to Figure 1 , methods include:

[0077] Step S100: When a fault occurs in the active suspension system of the vehicle, the active suspension system is controlled to execute a fault response operation matching the working state, so as to limit the function realization of the active suspension system.

[0078] The fault response operation is at least one operation in a multi-level fault response operation.

[0079] Through the above technical solution, the active suspension system can be controlled to execute fault-related operations that match the working state in the event of a fault, thereby limiting the functional implementation of the active suspension system. In this way, excessive response caused by directly shutting down the active suspension system after a fault occurs, or insufficient response after a fault occurs in the active suspension system can be avoided, thereby improving the safety and stability of vehicle driving.

[0080] That is, the active suspension system control method in the embodiment of the present application can control the fault response operation performed by the active suspension system to match the working state of the active suspension system. In this case, excessive or insufficient response of the active suspension system to the fault can be avoided.

[0081] In the case of a detected active suspension system failure, the embodiments of the present application utilize a hierarchical multi-level response operation based on a multi-level response operation, which can respond according to the actual failure, avoid under-response or over-response, and ensure that all levels of failure can be effectively and appropriately addressed. Furthermore, when a low-level safety response operation fails to suppress the failure, the failure can be upgraded based on a higher-level response operation within the multi-level response operation, thereby improving the safety and stability of vehicle driving. This prevents further damage caused by the failure and protects the safety of the vehicle and its passengers.

[0082] In some embodiments, the faults include: non-safety faults, first-level safety faults, and second-level safety faults.

[0083] Among them, the degree of harm caused by non-safety faults is less than that caused by first-level safety faults, and the degree of harm caused by first-level safety faults is less than that caused by second-level safety faults.

[0084] Exemplarily, the fault includes a non-safety fault, which refers to a functional operation failure of the active suspension system. In the event of a non-safety fault, the active suspension system is restricted from performing functions including welcoming guests and camping leveling. Restricting such functions will not affect the basic driving safety of the vehicle, reduce comfort, or affect the user experience.

[0085] Specifically, the non-safety faults in the embodiments of the present application include sensor failure. In this case, the active suspension system including the welcome and camping leveling functions can be turned off.

[0086] Exemplarily, the fault includes a first-level safety fault, which refers to a functional safety failure fault of the active suspension system; the fault includes a second-level safety fault, which refers to a serious functional safety failure fault of the active suspension system, that is, the degree of harm of the first-level safety fault is less than that of the second-level safety fault.

[0087] For example, in the event of a first-level safety failure in the active suspension system, the functions of the active suspension system will be limited to ensure that the vehicle can use the performance of some functions in a safe state, that is, to avoid potential dangers caused by sudden and complete failure of the active suspension system. In the event of a second-level safety failure in the active suspension system, all functions of the active suspension system will be shut down, and the vehicle will automatically switch to passive suspension mode, that is, using fixed spring and shock absorber settings.

[0088] In some embodiments, the working state includes: a normal state, a first degraded state, a second degraded state, and a third degraded state.

[0089] Among them, the fault response operations performed by the active suspension system are different in different working states.

[0090] By breaking down the working state into normal state, first degraded state, second degraded state and third degraded state, the active suspension system can perform different fault response operations under different working states, thereby improving the reliability of the active suspension system. The active suspension state can avoid extreme failure of the active suspension system, while ensuring the availability of the active suspension system to the greatest extent, and also ensure safety, thereby improving the reliability and safety of vehicle driving.

[0091] In some embodiments, reference Figure 2 , the method further comprises:

[0092] Step S010: Controlling the working state of the active suspension system according to the fault conditions satisfied by the fault.

[0093] In the embodiment of the present application, step S010 controls the working state of the active suspension system according to the fault condition satisfied by the fault.

[0094] During vehicle driving, the fault may change, for example, it may tend to improve and the fault is eliminated, or tend to worsen and the fault further worsens. After the fault changes, the working state of the active suspension system can be controlled in real time when the fault meets the fault conditions. In this way, the working state of the active suspension system can be adjusted according to the fault level.

[0095] In some embodiments, reference Figure 3 , step S010 includes:

[0096] Step S011: When the fault satisfies a first fault condition, the working state of the active suspension system is controlled to be a first degraded state.

[0097] Exemplarily, if the fault meets the first fault condition, the working state of the active suspension system is controlled to be the first degraded state, and the fault of the active suspension system is continuously monitored. If the fault changes and the fault does not meet the first fault condition, the working state of the active suspension system is controlled to exit from the first degraded state.

[0098] In some embodiments, the first fault condition includes at least one of the following:

[0099] When the active suspension system is in normal condition, a non-safety fault occurs;

[0100] When the active suspension system is in the second degraded state, the limit value state exit conditions are met and a non-safety fault exists;

[0101] When the active suspension system is in the third degradation state, the output shutdown state exit conditions are met and a non-safety fault exists.

[0102] In the embodiments of the present application, the plurality of conditions included in the first fault condition can meet the demand for dynamic change of faults, so that the safety and availability of the active suspension system can be dynamically balanced.

[0103] For example, the first fault condition includes a non-safety fault occurring when the active suspension system is in a normal state, so that the active suspension system is controlled to be in a first degraded state, that is, when a non-safety fault occurs while the active suspension system is in a normal state, the working state of the active suspension system jumps from the normal state to the first degraded state, that is, part of the functions of the active suspension system or part of the suspension functions are limited, for example, the welcome function and the camping leveling function.

[0104] For example, the first fault condition includes that when the active suspension system is in the second degraded state, the amplitude limiting value state exit condition is met and there is a non-safety fault, that is, when the active suspension system is in the second degraded state, the suspension active force of the active suspension system is restored to the safety range and there is a non-safety fault, the working state of the active suspension system is controlled to jump from the second degraded state to the first degraded state, so that the working state of the active suspension system is upgraded and part of the functions of the active suspension system are opened.

[0105] For example, the first fault condition includes that when the active suspension system is in the third degraded state, the output shutdown state exit condition is met and there is a non-safety fault, that is, when the active suspension system is in the third degraded state, the suspension active force output of the active suspension system is restored to the normal range and there is a non-safety fault, then the working state of the active suspension system is controlled to jump from the third degraded state to the first degraded state, so that the working state of the active suspension system is upgraded, the functions of the active suspension system are opened, and the driving safety and stability are improved.

[0106] In some embodiments, the first fault response operation corresponding to the first degraded state includes:

[0107] Limiting at least one function of the active suspension system.

[0108] As described above, limiting at least one function of the active suspension system can include non-main functions of the active suspension system, such as some scene-based non-main functions that can improve user experience and ritual sense, which do not directly affect driving safety, for example, the convenient loading function, the getting-on and off auxiliary function, the welcome function, and the camping leveling function. The main functions of the active suspension system are reserved, and the main functions include the functional safety of the active suspension system, for example, the height adjustment function and the damping adjustment function.

[0109] In some embodiments, with reference to Figure 3 , step S010 further includes:

[0110] Step S012: When the fault satisfies the second fault condition, the working state of the active suspension system is controlled to be a second degraded state.

[0111] Exemplarily, when the fault meets the second fault condition, the working state of the active suspension system is controlled to be the second degraded state, and the fault of the active suspension system is continuously monitored. If the fault changes and the fault does not meet the second fault condition, the working state of the active suspension system is controlled to exit from the second degraded state.

[0112] It should be noted that the active suspension system in the embodiment of the present application can ensure that the vehicle continues to use part of the performance of the active suspension system in a safe state in the second lowered state, avoiding potential dangers caused by sudden and complete failure of the active suspension system.

[0113] In some embodiments, the second fault condition includes at least one of the following:

[0114] When the active suspension system is in a normal state, output data of the active suspension system is greater than a first output threshold;

[0115] When the active suspension system is in the first degradation state, output data of the active suspension system is greater than a second output threshold.

[0116] In the embodiment of the present application, the second fault condition includes multiple conditions, which can meet the requirements of dynamic changes in faults, thereby achieving the safety and availability of the dynamic balance active suspension system.

[0117] Among them, the second fault condition includes that when the active suspension system is in a normal state, the output data of the active suspension system is greater than the first output threshold. This indicates that the failure of the active suspension system involves a functional safety failure, and it is necessary to restrict some functions of the active suspension system involving safety, that is, to control the state of the active suspension system to jump from the normal state to the second degraded state.

[0118] Among them, the second fault condition includes that when the active suspension system is in a first degraded state, the output data of the active suspension system is greater than a second output threshold. In this case, the active suspension system jumps from the first degraded state to the second degraded state, and the function of the active suspension system is changed from limiting some functions to further limiting more functions.

[0119] Exemplarily, the output data includes output data of the controller, and may also include output data of the actuator. The output data of the controller in the embodiment of the present application may include damping data of the active suspension system, and the output data of the actuator may also include damping data.

[0120] It should be noted that the first output threshold and the second output threshold may be equal or different, depending on actual settings.

[0121] In some embodiments, the second fault response operation corresponding to the second degraded state includes:

[0122] Limit the output amplitude of the active suspension system.

[0123] By limiting the output amplitude of the active suspension system, mechanical damage, energy overload or loss of control of the active suspension system can be avoided.

[0124] Exemplarily, limiting the output amplitude of the active suspension system may include limiting the upper and lower limits of the height that the active suspension system can adjust, so as to achieve the upper and lower limits of the vehicle body height that can be adjusted by the active suspension system. It may also include limiting the damping force that the active suspension system can output, and it may also include limiting the rate of change of the adjustment height of the active suspension system.

[0125] The output command limit amplitude is obtained based on the vehicle's speed and lateral acceleration, and the functional commands output by the active suspension system are limited. For example, when the vehicle speed is low (less than 60km / h), the height of the active suspension system is allowed to be adjusted within ±50mm. When the vehicle speed is high (greater than 70km / h), the height of the active suspension system is allowed to be adjusted within ±15mm to ensure driving stability.

[0126] For example, when the vehicle is turning, limiting the magnitude of the lateral acceleration can suppress the roll of the vehicle body.

[0127] Under normal conditions, the index performance of the active suspension system is 100%. When the active suspension system is in the first degradation state, after limiting the function of the active suspension system, the performance index of the active suspension system can be limited to 80% to limit the function of the active suspension system without affecting the realization of the main functions of the active suspension system.

[0128] When the active suspension system is in the second degraded state, after limiting the function of the active suspension system, for example, limiting the output amplitude of the active suspension system, the performance index of the active suspension system can be limited to 50% to limit the function and output amplitude of the active suspension system.

[0129] When the active suspension system is in the third degradation state, all functions of the active suspension system are shut down, that is, the performance index of the active suspension system can be limited to 0%, that is, the functions of the active suspension system are completely limited.

[0130] In some embodiments, reference Figure 3 , step S010 further includes:

[0131] Step S013: When the fault satisfies the third fault condition, the working state of the active suspension system is controlled to be a third degraded state.

[0132] Exemplarily, when the fault meets the third fault condition, the working state of the active suspension system is controlled to be the third degraded state, and the fault of the active suspension system is continuously monitored. If the fault changes and the fault does not meet the third fault condition, the working state of the active suspension system is controlled to exit from the third degraded state.

[0133] In some embodiments, the third fault condition includes at least one of the following:

[0134] The output of the active suspension system is reversed;

[0135] There is an unexpected output from the active suspension system.

[0136] Illustratively, the output of the active suspension system is reversed, indicating that the control result output by the active suspension system is completely opposite, causing the active suspension system to output control data that is completely opposite to the control intention, resulting in vehicle abnormality.

[0137] For example, the solenoid valve of the active suspension system is stuck in the reverse position, causing the damping force to be continuously output in the reverse direction. Or, when cornering at high speed, if the outer active suspension system mistakenly outputs a downward reverse force, the inner wheel will leave the ground, causing the yaw moment to be unbalanced, affecting the safety and stability of the vehicle.

[0138] For example, the active suspension system has unexpected outputs, including the active suspension system performing adjustment operations that do not meet current driving requirements without control, such as abnormal lifting and lowering, and sudden changes in damping.

[0139] In some other examples, the third fault condition may also include that the output data of the active suspension system is greater than a third output threshold, and the third output threshold is greater than the second output threshold and the first output threshold, then the working state of the active suspension system is controlled to jump to a third degraded state.

[0140] For example, if the actuator adjustment speed is greater than the first speed threshold, it means that the actuator's action speed exceeds the set threshold, which will cause the active suspension system to respond too violently to roadside changes, affecting the vehicle's handling and stability, and causing risks in vehicle operation.

[0141] Exemplarily, when the working state of the active suspension system is the normal state, the first degraded state or the second degraded state, when the output of the active suspension system is reversed, the working state of the active suspension system is controlled to jump from the normal state to the third degraded state, or from the first degraded state to the third degraded state, or from the second degraded state to the third degraded state.

[0142] It should be noted that when the working state of the active suspension system is in the third degraded state, even if the active suspension system meets the second fault condition, the active suspension system is restricted from jumping from the third degraded state to the second degraded state, that is, the working state of the active suspension system can jump from the second degraded state to the third degraded state, but will not jump from the third degraded state to the second degraded state.

[0143] In some embodiments, the third fault response operation corresponding to the third degraded state includes at least one of the following:

[0144] A function to turn off the active suspension system;

[0145] Deactivates the active suspension system's actuator.

[0146] Among them, turning off the function of the active suspension system and turning off the actuator of the active suspension system can shut down the output of the active suspension system, that is, the function of the active suspension system is completely turned off, and the suspension acts as a passive suspension, that is, using fixed spring and shock absorber settings.

[0147] When the active suspension system is operating, the controller generates suspension control data, and the actuator performs control operations based on the control data sent by the controller. Therefore, when shutting down the active suspension system, the embodiments of the present application include shutting down the active suspension system's controller, that is, shutting down the active suspension system's functions; and shutting down the active suspension system's actuator.

[0148] In some embodiments, reference Figure 3 , the method further comprises:

[0149] Step S200: When the active suspension system meets the target condition, the working state of the active suspension system is controlled to be a normal state.

[0150] Among them, all functions of the active suspension system can be performed normally under normal conditions.

[0151] In step S200, the active suspension system is restored from the degraded state to the normal state, which requires strictly meeting the preset target conditions, or real-time monitoring of whether the active suspension system meets the target conditions. If the target conditions are met, the working state of the active suspension system remains in the normal state, that is, all functions of the active suspension system can operate normally, and the active suspension system can adjust the degraded state to the normal state, for example, jumping from the first degraded state to the normal state, or jumping from the second degraded state to the normal state, or jumping from the third degraded state to the normal state.

[0152] In some embodiments, the target condition includes at least one of the following:

[0153] There are no faults with the active suspension system;

[0154] When the active suspension system is in the first degradation state, there is no non-safety fault in the active suspension system;

[0155] When the active suspension system is in the second degraded state, the limit value state exit conditions are met and there is no non-safety fault;

[0156] When the active suspension system is in the third degradation state, the output shutdown state exit conditions are met and there is no non-safety fault.

[0157] Among them, the active suspension system has no fault, which may include the active suspension system has no fault, or the working state of the active suspension system is in a degraded state, and the fault disappears, that is, the active suspension system has no fault. In this case, the working state of the active suspension system is controlled to be normal.

[0158] For example, when the active suspension system is in the first degraded state, if it is detected that there is no non-safety fault in the active suspension system, the active suspension state is controlled to jump from the first degraded state to the normal state, which can avoid limiting the function of the active suspension system when it is already normal, thereby affecting the use of all functions of the active suspension system.

[0159] Exemplarily, when the active suspension system is in the second degraded state, the limit value state exit condition is met and there is no non-safe fault, so the working state of the active suspension state can be controlled to jump from the second degraded state to the normal state.

[0160] It should be noted that the conditions for exiting the limit value state include the vehicle speed dropping to a safe range, usually below 50km / h.

[0161] In some embodiments, the method further comprises:

[0162] Step S001: Acquire a data signal, and determine the fault conditions satisfied by the fault according to the data signal.

[0163] Through step S001, the fault conditions satisfied by the data are determined according to the data signal, and the working state of the active suspension system can be accurately identified to match the fault response operation corresponding to the working state, avoiding misjudgment and jumping to an inappropriate working state.

[0164] In some embodiments, the data signal includes at least one of the following:

[0165] Sensing signals from sensors connected to the active suspension system;

[0166] On-board sensor signals obtained through the CAN bus;

[0167] Fault flag signal.

[0168] Through comprehensive judgment of multiple data signals, the accuracy of fault conditions met by the active suspension system can be improved, and the response can be more accurate.

[0169] In an embodiment of the present application, the sensor signal of the sensor includes a sensor signal measured by a sensor connected to a controller of the active suspension system, including a height sensor for obtaining the suspension height and adjusting the rate, and also includes a vehicle speed sensor, an acceleration sensor, a wheel speed sensor, and a steering wheel sensor for obtaining vehicle speed signals, acceleration signals, and steering wheel signals.

[0170] The vehicle-mounted sensor signal acquired by the CAN bus in the embodiment of the present application is transmitted to the controller of the active suspension system.

[0171] The fault marking signal in the embodiment of the present application is used to indicate the fault type, which includes the location of the fault and the type of the fault.

[0172] Among them, if the sensor signal of the sensor connected to the active suspension system has a signal error or the power supply system fails, the function of the active suspension system will be directly unusable. The actuator error will cause the actuator to be unable to be used normally and the MCU memory will be tampered with.

[0173] In some embodiments, in step S100, controlling the active suspension system to execute a fault response operation that matches the working state includes:

[0174] Step S110: controlling the actuator of the active suspension system and sending fault prompt information.

[0175] To sum up, the active suspension system control method of the embodiment of the present application controls the active suspension system to perform a fault response operation that matches the working state when a fault occurs in the active suspension system, thereby limiting the functional implementation of the active suspension system. In this way, it is possible to avoid excessive response caused by directly shutting down the active suspension system after a fault occurs in the active suspension system, or insufficient response after a fault occurs in the active suspension system, thereby improving the safety and stability of vehicle driving.

[0176] The degraded state design maintains the vehicle's basic driving performance while retaining some suspension functionality, preventing the escalation of the fault and protecting the driver from further injury. It reduces the likelihood of safety issues caused by height-exceeding threshold failures. Degrading the active suspension system plays a key role in ensuring vehicle and occupant safety, maintaining basic vehicle performance, and reducing repair costs in the event of an active suspension system failure.

[0177] According to a second aspect of the present application, embodiments of the present application further provide a computer-readable storage medium having instructions stored thereon. When executed by a processor, the instructions cause the processor to execute the aforementioned active suspension system control method. This computer-readable storage medium has all the beneficial effects of the aforementioned active suspension system control method, and the embodiments of the present application are not further described herein.

[0178] According to a third aspect of the present application, a computer program product is provided, comprising a computer program or instructions. When executed by a processor, the computer program or instructions implement the active suspension system control method described in the above embodiments. This computer program product has all the beneficial effects of the active suspension system control method described above, and the embodiments of the present application are not further described here.

[0179] According to a fourth aspect of the present application, a controller is provided, on which a computer program or instruction is stored, and the computer program or instruction implements the steps of the above method when executed by a processor.

[0180] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0181] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0182] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0183] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0184] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0185] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0186] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology for information storage. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media such as modulated communication signals and carrier waves.

[0187] refer to Figure 5 The controller 10 in the embodiment of the present application includes a sensor signal receiving module 101, a CAN signal receiving module 102 and a fault diagnosis module 103, wherein the sensor signal receiving module 101 is used to receive the sensor signal of the sensor connected to the active suspension system, the CAN signal receiving module 102 is used to receive the vehicle-mounted sensor signal obtained through the CAN bus, and the fault diagnosis module 103 is used to receive the fault flag signal.

[0188] The controller 10 in the embodiment of the present application further includes a data management module 104, a functional safety monitoring module 105, an active suspension function module 106, a fault processing module 107, and an arbitration module 108. The data management module 104 is electrically connected to the functional safety monitoring module 105, the active suspension function module 106, and the fault processing module 107, respectively. The functional safety monitoring module 105 and the active suspension function module 106 may also be connected to the fault processing module 107, and the fault processing module 107 is electrically connected to the arbitration module 108.

[0189] Exemplarily, the data management module 104 is electrically connected to the sensor signal receiving module 101, the CAN signal receiving module 102 and the fault diagnosis module 103 respectively, and the data management module 104 is used to receive the signals received by the sensor signal receiving module 101, the CAN signal receiving module 102 and the fault diagnosis module 103, and process the signals, and output the functional input signal to the active suspension functional module 106, and output the safety mechanism input module to the functional safety monitoring module 105. The functional safety monitoring module 105 and the active suspension functional module 106 execute the corresponding signals. If the active suspension functional module 106 finds that the function execution is abnormal during execution, it will output a function execution fault signal to the fault processing module 107. If the functional safety monitoring module 105 finds that the functional safety execution is formed during execution, the functional safety monitoring fault is transmitted to the fault processing module 107. After receiving the functional safety monitoring fault signal and the function execution fault signal, the fault processing module 107 will transmit the current system status signal to the arbitration module 108. The arbitration module 108 processes the actuator control instruction input from the active suspension function module 106 according to the current system state information, and outputs the actuator control instruction and a fault prompt.

[0190] First degraded state: The active suspension function module 106 determines a fault based on the function input signal and outputs a function execution fault signal to the fault processing module 107. The fault processing module 107 outputs the current working state of the active suspension system as the first degraded state to the arbitration module 108. The arbitration module 108 executes the function restriction processing of the first degraded state and outputs the actuator control instruction and fault prompt.

[0191] Second degraded state and third degraded state: The functional safety monitoring module 105 determines the fault based on the safety mechanism input signal and outputs the functional safety monitoring fault signal to the fault processing module 107. The fault processing module 107 outputs the current active suspension system state as the second degraded state or the third degraded state to the arbitration module 108. The arbitration module 108 executes the function restriction processing of the second degraded state or the third degraded state and outputs the actuator control instruction and fault prompt.

[0192] Among them, the difference between the second degradation state and the third degradation state is that in the second degradation state, the output data of the active suspension system is greater than the second output threshold, and in the third degradation state, the output data of the active suspension system is greater than the third output threshold, and the second output threshold is less than the third data threshold.

[0193] In the examples of this application, reference Figure 4 When the active suspension system meets the first fault condition, the normal state can jump to the first degraded state, the second degraded state can jump to the first degraded state, and the third degraded state can also jump to the first degraded state.

[0194] When the active suspension system meets the second fault condition, the normal state can jump to the second degraded state, and the first degraded state can jump to the second degraded state.

[0195] When the active suspension system meets the third fault condition, the normal state can jump to the third degraded state, the first degraded state can jump to the third degraded state, and the second degraded state can jump to the third degraded state.

[0196] When the active suspension system meets the target conditions, the first degraded state can jump to the normal state, the first degraded state can jump to the normal state, the second degraded state can jump to the normal state, and the third degraded state can jump to the normal state.

[0197] According to a fifth aspect of the present application, a vehicle 1 is provided, comprising the controller 10 as described above.

[0198] like Figure 6 FIG2 is a schematic diagram of the architecture of a vehicle provided in an embodiment of the present application. In this embodiment, vehicle 1 includes a controller 10 as described above. In this embodiment, vehicle 1 can be a fuel vehicle, a plug-in hybrid vehicle, or a new energy vehicle, etc., which is not specifically limited in this application.

[0199] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0200] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0201] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0202] The above are merely preferred embodiments of the present application and do not constitute any form of limitation to the present application. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A control method for an active suspension system, characterized in that: The method comprises: In the event of a failure of an active suspension system of a vehicle, controlling the active suspension system to execute a fault response operation matching an operating state to limit the function of the active suspension system; The fault response operation is at least one operation in a multi-level fault response operation.

2. The method according to claim 1, characterized in that The faults include: Non-safety faults, first-level safety faults, and second-level safety faults; The hazard level of the non-safety fault is lower than that of the first-level safety fault, and the hazard level of the first-level safety fault is lower than that of the second-level safety fault.

3. The method according to claim 2, characterized in that The working status includes: Normal state, first degraded state, second degraded state and third degraded state; The fault response operations performed by the active suspension system are different in different working states.

4. The method according to claim 3, characterized in that The method further comprises: The operating state of the active suspension system is controlled according to a fault condition satisfied by the fault.

5. The method according to claim 4, characterized in that The controlling the operating state of the active suspension system according to the fault condition satisfied by the fault includes: When the fault satisfies a first fault condition, the operating state of the active suspension system is controlled to be the first degraded state.

6. The method according to claim 5, characterized in that The first fault condition includes at least one of the following: When the active suspension system is in the normal state, the non-safety fault occurs; When the active suspension system is in the second degraded state, a limit value state exit condition is satisfied and the non-safety fault exists; When the active suspension system is in the third degraded state, an output shut-off state exit condition is satisfied and the non-safety fault exists.

7. The method according to claim 5 or 6, characterized in that The first fault response operation corresponding to the first degraded state includes: At least one function of the active suspension system is limited.

8. The method according to claim 4, characterized in that The controlling the operating state of the active suspension system according to the fault condition satisfied by the fault includes: When the fault satisfies a second fault condition, the operating state of the active suspension system is controlled to be the second degraded state.

9. The method according to claim 8, characterized in that The second fault condition includes at least one of the following: When the active suspension system is in the normal state, output data of the active suspension system is greater than a first output threshold; When the active suspension system is in the first degraded state, output data of the active suspension system is greater than a second output threshold.

10. The method according to claim 8 or 9, characterized in that The second fault response operation corresponding to the second degraded state includes: The output amplitude of the active suspension system is limited.

11. The method according to claim 4, characterized in that The controlling the operating state of the active suspension system according to the fault condition satisfied by the fault includes: When the fault satisfies a third fault condition, the operating state of the active suspension system is controlled to be the third degraded state.

12. The method according to claim 11, characterized in that The third fault condition includes at least one of the following: The output of the active suspension system is reversed; The active suspension system has unexpected outputs.

13. The method according to claim 11 or 12, characterized in that The third fault response operation corresponding to the third degraded state includes at least one of the following: turning off a function of the active suspension system; An actuator of the active suspension system is deactivated.

14. The method according to any one of claims 3 to 13, characterized in that The method further comprises: When the active suspension system meets the target condition, controlling the working state of the active suspension system to be a normal state; In the normal state, all functions of the active suspension system can be performed normally.

15. The method according to claim 14, characterized in that The target condition includes at least one of the following: There is no fault in the active suspension system; When the active suspension system is in the first degraded state, the non-safety fault does not exist in the active suspension system; When the active suspension system is in the second degraded state, the limit value state exit condition is satisfied and the non-safety fault does not exist; When the active suspension system is in the third degraded state, the output shut-off state exit condition is satisfied and the non-safety fault does not exist.

16. The method according to any one of claims 1 to 15, characterized in that The method further comprises: A data signal is acquired, and a fault condition satisfied by the fault is determined according to the data signal.

17. The method according to claim 16, characterized in that The data signal includes at least one of the following: a sensing signal from a sensor connected to the active suspension system; Vehicle sensor signals obtained through the CAN bus; Fault flag signal.

18. The method according to any one of claims 1 to 17, characterized in that The controlling the active suspension system to perform a fault response operation matching the working state includes: Controlling the actuator of the active suspension system and sending fault prompt information.

19. A computer-readable storage medium having a computer program or instruction stored thereon, characterized in that: When the computer program or instruction is executed by a processor, the steps of the method according to any one of claims 1 to 17 are implemented.

20. A computer program product, characterized in that The method comprises a computer program or instructions, which implement the steps of the method according to any one of claims 1 to 10 when the computer program or instructions are executed by a processor.

21. A controller having a computer program or instruction stored thereon, characterized in that: When the computer program or instruction is executed by a processor, the steps of the method according to any one of claims 1 to 10 are implemented.

22. A vehicle, characterized in that: Comprising a controller as claimed in claim 21.

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