Power-on self-test method and system for closed air suspension system

Abstract

The invention discloses a power-on self-test method and system for a closed air suspension system, and the method comprises the steps: starting self-test after receiving a vehicle power-on signal, opening an air path switching valve RV2 and an air escape valve VV, enabling a pressure sensor pipeline to be communicated with the atmosphere, and generating an initial air path detection result; based on the initial gas path detection result, closing a gas release valve VV and opening a gas path switching valve RV1 to enable a pressure sensor pipeline to be communicated with the gas storage tank, and generating a gas path detection result of the gas storage tank; on the basis of the air storage tank air path detection result, an air path switching valve RV1 is closed, all air spring distribution valves ASV1 to ASV2 are sequentially opened, and an air spring detection result is generated; and on the basis of the air spring detection result, all the distribution valves are closed, the air path switching valve RV2 is opened, the air pump is started, a pressure value is read after waiting for a preset time T4, when the pressure value is larger than a threshold P7, it is judged that the air pump is normal, and a system self-inspection result is generated. According to the embodiment of the invention, comprehensive self-inspection of the system can be quickly completed when the vehicle is powered on, and the reliability of the vehicle is improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of power-on self-test, and particularly relates to a power-on self-test method and system for a closed air suspension system. BACKGROUND

[0002] With the development of automobile intelligence, the closed air suspension is increasingly widely applied in the passenger vehicle field due to low cost, low noise, strong performance and other characteristics. The closed air suspension cooperates with a gas pump, an electromagnetic valve, a gas tank, air springs and sensors to realize vehicle height adjustment and improve driving comfort and passability.

[0003] In the prior art, the power-on self-test of the closed air suspension system only detects the continuity of the lines of the controller and the valve pump and the sensor, and cannot determine system-level faults such as electromagnetic valve sticking, pipeline blockage, gas pump failure and sensor deviation. Such faults can be found only when the driver adjusts, which may cause adjustment failure, abnormal vehicle posture, and even driving risk, and seriously affects user experience and safety. SUMMARY

[0004] The application aims to provide a power-on self-test method and system for a closed air suspension system to solve the problems in the prior art and quickly complete system-wide self-test when the vehicle is powered on, thereby improving vehicle reliability.

[0005] One embodiment of the application provides a power-on self-test method for a closed air suspension system, which comprises the following steps: After receiving a vehicle power-on signal, starting self-test, opening a gas path switching valve RV2 and a gas release valve VV to connect the pressure sensor pipeline to the atmosphere, waiting for a preset time T1, reading a pressure value, determining that the basic gas path is normal when the pressure value is less than a threshold P1, and generating an initial gas path detection result; Based on the initial gas path detection result, closing the gas release valve VV and opening the gas path switching valve RV1 to connect the pressure sensor pipeline to the gas tank, waiting for a preset time T2, reading a pressure value, determining that the gas tank gas path is normal when the pressure value is greater than a threshold P2, and generating a gas tank gas path detection result; Based on the gas tank gas path detection result, closing the gas path switching valve RV1 and sequentially opening each air spring distribution valve ASV1 to ASV4, respectively reading corresponding air spring pressure values and calculating front and rear axle average pressures, determining that the distribution valve is normal when the front axle average pressure is in a range of P3 to P4 and the rear axle average pressure is in a range of P5 to P6, and generating an air spring detection result; Based on the air spring detection result, closing all distribution valves and opening the gas path switching valve RV2, starting the gas pump, waiting for a preset time T4, reading a pressure value, and determining that the gas pump is normal when the pressure value is greater than a threshold P7, and generating a system self-test result.

[0006] Optionally, after receiving the vehicle power-on signal, the self-check is started, the air path switching valve RV2 and the air release valve VV are opened to make the pressure sensor pipeline communicate with the atmosphere, and the pressure value is read after waiting for a preset time T1. When the pressure value is less than a threshold P1, it is determined that the basic air path is normal, and an initial air path detection result is generated, including: The controller receives the vehicle power-on hard-wire signal, starts the self-check program, initializes the control modules of the pressure sensor, the air path switching valve RV2 and the air release valve VV, reads the initial communication state of each component, and outputs a self-check initialization state table; Based on the self-check initialization state table, the controller sends an opening instruction to the air path switching valve RV2 and the air release valve VV, confirms that the two valves are completely opened through valve feedback signals, makes the pipeline where the pressure sensor is located communicate with the atmosphere, and outputs an air path communication with atmosphere confirmation signal; After receiving the air path communication with atmosphere confirmation signal, a timing is started to wait for a preset time T1, during which the pressure sensor reading fluctuation is monitored in real time. When the fluctuation amplitude is continuously within a preset small range, it is determined that the pressure is stable, and a T1-later pressure stability signal is output. Based on the T1-later pressure stability signal, the current pressure value is read and compared with a threshold P1. If the pressure value is less than P1, it is determined that the basic air path including RV2, VV and the connecting pipeline is normal. If it is not less than P1, it is determined to be abnormal, and an initial air path detection result is generated.

[0007] Optionally, based on the initial air path detection result, the air release valve VV is closed and the air path switching valve RV1 is opened to make the pressure sensor pipeline communicate with the gas tank, and the pressure value is read after waiting for a preset time T2. When the pressure value is greater than a threshold P2, it is determined that the gas tank air path is normal, and a gas tank air path detection result is generated, including: When it is determined that the basic air path is normal, the controller sends a closing instruction to the air release valve VV and an opening instruction to the air path switching valve RV1 at the same time, confirms that VV is closed and RV1 is opened through feedback signals, makes the pressure sensor pipeline communicate with the gas tank, and outputs an air path communication with gas tank confirmation signal; After receiving the air path communication with gas tank confirmation signal, a timing is started to wait for a preset time T2, during which the pressure sensor reading change rate is monitored in real time. When the change rate is lower than a preset low value, it is determined that the pressure is stable, and a T2-later pressure stability signal is output. Based on the T2-later pressure stability signal, the current pressure value is read and compared with a threshold P2. If the pressure value is greater than P2, it is determined that the gas tank air path including RV1 and the connecting pipeline is normal. If it is not greater than P2, it is determined to be abnormal, and a gas tank air path state signal is output. According to the gas tank gas path state signal, the action feedback information of RV1 and VV is integrated to generate a gas tank gas path detection result, and it is clearly identified whether the gas path is normal and the abnormal components.

[0008] Optionally, based on the gas tank gas path detection result, the air spring distribution valve ASV1 to ASV4 is sequentially opened, the corresponding air spring pressure value is read, and the front and rear axle average pressures are calculated. When the front axle average pressure is in the range of P3 to P4 and the rear axle average pressure is in the range of P5 to P6, it is determined that the distribution valve is normal, and an air spring detection result is generated, including: When it is determined that the gas tank gas path is normal, the controller sends a closing instruction to the gas path switching valve RV1, and the closing is confirmed through a feedback signal. The RV1 closing confirmation signal is output; Based on the RV1 closing confirmation signal, the air spring distribution valve ASV1 to ASV4 is sequentially sent an opening instruction. After each valve is opened, it waits for a preset time T3 to stabilize the pressure, reads the corresponding air spring pressure value and records it, and outputs the four spring pressure data set; The front axle average pressure is calculated by extracting the left front ASV1 and right front ASV2 pressure values from the four spring pressure data set, and the rear axle average pressure is calculated by extracting the left rear ASV3 and right rear ASV4 pressure values. The front and rear axle average pressure values are output; The front axle average pressure is compared with the threshold values P3 and P4, and the rear axle average pressure is compared with the threshold values P5 and P6. When the front axle average pressure is in the range of P3 to P4 and the rear axle average pressure is in the range of P5 to P6, it is determined that the distribution valve is normal, and an air spring detection result is generated. Otherwise, the abnormal distribution valve is marked.

[0009] Optionally, based on the air spring detection result, all distribution valves are closed and the gas path switching valve RV2 is opened. The air pump is started and the pressure value is read after waiting for a preset time T4. When the pressure value is greater than the threshold value P7, it is determined that the air pump is normal, and a system self-check result is generated, including: When it is determined that the distribution valve is normal, the controller sends a closing instruction to the ASV1 to ASV4, and the closing is confirmed through a feedback signal. The distribution valve full-closing confirmation signal is output; Based on the distribution valve full-closing confirmation signal, an opening instruction is sent to the gas path switching valve RV2. The opening is confirmed through a feedback signal, the pressure sensor pipeline is connected with the air pump gas path, and the air pump gas path preparation signal is output; Based on the air pump gas path preparation signal, the air pump is started, and the time is counted to wait for a preset time T4. When it reaches, the air pump is stopped and the pressure value is read. Compared with the threshold value P7, if the pressure value is greater than P7, it is determined that the air pump is normal, and the air pump state signal is output; Integrate the detection results of the initial air path, the air tank air path, the air spring and the air pump, determine the normal / abnormal state of each component, and generate a system self-check result.

[0010] Yet another embodiment of the present application provides an on-board self-check system for a closed air suspension system, the system comprising: The receiving module is configured to receive a vehicle power-on signal, start self-checking, open the air path switching valve RV2 and the air release valve VV to connect the pressure sensor pipeline to the atmosphere, wait for a preset time T1, read the pressure value, and determine that the basic air path is normal when the pressure value is less than a threshold P1, and generate an initial air path detection result. The closing module is configured to close the air release valve VV and open the air path switching valve RV1 based on the initial air path detection result to connect the pressure sensor pipeline to the air tank, wait for a preset time T2, read the pressure value, and determine that the air tank air path is normal when the pressure value is greater than a threshold P2, and generate an air tank air path detection result. The reading module is configured to close the air path switching valve RV1 and sequentially open each air spring distribution valve ASV1 to ASV4 based on the air tank air path detection result, read the corresponding air spring pressure value and calculate the front and rear axle average pressure, and determine that the distribution valve is normal when the front axle average pressure is in the range of P3 to P4 and the rear axle average pressure is in the range of P5 to P6, and generate an air spring detection result. The starting module is configured to close all distribution valves and open the air path switching valve RV2 based on the air spring detection result, start the air pump, and read the pressure value after waiting for a preset time T4, and determine that the air pump is normal when the pressure value is greater than a threshold P7, and generate a system self-check result.

[0011] Yet another embodiment of the present application provides a storage medium having a computer program stored therein, wherein the computer program is configured to execute the method described in any of the above embodiments when executed.

[0012] Yet another embodiment of the present application provides an electronic device comprising a memory and a processor, wherein the memory has a computer program stored therein, and the processor is configured to execute the computer program to execute the method described in any of the above embodiments.

[0013] Compared with the prior art, the closed air suspension system power-on self-checking method provided by the application starts self-checking after receiving the vehicle power-on signal, opens the air path switching valve RV2 and the air release valve VV to make the pressure sensor pipeline communicate with the atmosphere, generates an initial air path detection result, closes the air release valve VV and opens the air path switching valve RV1 based on the initial air path detection result to make the pressure sensor pipeline communicate with the gas storage tank, generates a gas storage tank air path detection result, closes the air path switching valve RV1 and sequentially opens each air spring distribution valve ASV1 to ASV4 based on the gas storage tank air path detection result, generates an air spring detection result, closes all distribution valves and opens the air path switching valve RV2 based on the air spring detection result, starts the air pump and waits for a preset time T4 to read the pressure value, and determines that the air pump is normal when the pressure value is greater than a threshold value P7 to generate a system self-checking result, so that the system can be quickly and comprehensively self-checked when the vehicle is powered on, and the reliability of the vehicle is improved. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 A hardware structure block diagram of a computer terminal of the closed air suspension system power-on self-checking method provided by the embodiment of the application is provided. Figure 2 A flowchart of the closed air suspension system power-on self-checking method provided by the embodiment of the application is provided. Figure 3 A structure diagram of the closed air suspension system power-on self-checking system provided by the embodiment of the application is provided. DETAILED DESCRIPTION

[0015] The embodiments described below with reference to the drawings are exemplary and are only used to explain the application and cannot be explained as a limitation of the application.

[0016] The embodiment of the application first provides a closed air suspension system power-on self-checking method, which can be applied to electronic equipment, such as a computer terminal, specifically, a general computer and the like.

[0017] The computer terminal is taken as an example below for detailed description. Figure 1 A hardware structure block diagram of a computer terminal of the closed air suspension system power-on self-checking method provided by the embodiment of the application is provided. As shown in the figure, Figure 1 the computer device includes a processor, a memory and a network interface connected through a system bus, wherein the memory can include a non-volatile storage medium and an internal memory.

[0018] The non-volatile storage medium can store an operating system and a computer program. The computer program includes program instructions, which, when executed, can make the processor execute any kind of closed air suspension system power-on self-checking method.

[0019] The processor is configured to provide computing and control capabilities to support the operation of the entire computer device.

[0020] The internal memory provides an environment for the running of a computer program in a non-volatile storage medium, which, when executed by the processor, can cause the processor to perform any one of the power-on self-test methods of the closed air suspension system.

[0021] The network interface is configured to perform network communication, such as sending assigned tasks, etc. Figure 1 It should be understood that the structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0022] It should be understood that the processor can be a central processing unit (CPU), and the processor can also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs) or other programmable logic devices, discrete gates or transistor logic components, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0023] Referring to Figure 2 The embodiments of the present application provide a power-on self-test method of a closed air suspension system, which can include the following steps: S201, after receiving the vehicle power-on signal, starting self-test, opening the air path switching valve RV2 and the air release valve VV to make the pressure sensor pipeline communicate with the atmosphere, waiting for a preset time T1, reading the pressure value, and determining that the basic air path is normal when the pressure value is less than a threshold P1, and generating an initial air path detection result; Specifically, the controller can receive a vehicle power-on hard-wire signal, start a self-test program, initialize the control modules of the pressure sensor, the air path switching valve RV2 and the air release valve VV, read the initial communication state of each component, and output a self-test initialization state table. The controller, as the core control unit of the closed air suspension system, adopts a car-level MCU with anti-electromagnetic interference capability and a working voltage range of 9V-16V. When the vehicle is powered on, the controller receives a 12V±0.5V power-on signal (duration ≥50ms, ensuring signal stability) through a hard-wired connection, triggering the self-check program to start.

[0024] After the self-check program starts, the control modules of the key components are first initialized: Pressure sensor module: A high-precision piezoresistive pressure sensor (such as Bosch BMP581) is used, with a measurement range of 0-1MPa and an accuracy of ±1kPa. It communicates with the controller through an SPI bus and sends a calibration command during initialization (resets the sensor's internal registers and sets the sampling rate to 100Hz); Air path switching valve RV2 control module: RV2 is a two-position two-way electromagnetic valve driven by a 12V DC motor. The control module includes an H-bridge drive circuit (such as Texas Instruments DRV8871). During initialization, the output voltage of the drive circuit is detected (normal range 11.5V-12.5V), and the valve position feedback signal is read (0V indicates closed, 5V indicates open); Deflation valve VV control module: VV is a normally closed electromagnetic valve with a structure similar to RV2. During initialization, the drive circuit and feedback signal are also detected to ensure no short circuit (current <500mA) and no open circuit (voltage = 12V).

[0025] When reading the initial communication status of each component, the controller sends a diagnostic frame (ID=0x7E0) and receives the response frames from each module: The pressure sensor responds with "0x00" indicating normal communication, and "0x01" indicating calibration failure; The RV2 control module responds with "0x00" indicating normal drive, and "0x02" indicating abnormal feedback signal; The VV control module responds similarly to RV2.

[0026] The output self-check initialization status table includes component names, communication status, and fault codes (if any), such as: "Pressure sensor: communication normal (0x00); RV2 control module: drive normal (0x00); VV control module: feedback signal abnormal (0x02, fault code: E103)". If all components have normal communication status, proceed to the next step; if there is an abnormality (such as VV feedback abnormality), directly determine that the self-check has failed, record the fault code and turn on the instrument panel fault light.

[0027] Based on the self-check initialization state table, the controller sends an open command to the gas path switching valve RV2 and the vent valve VV, and confirms that both valves are fully open through valve feedback signals, so that the pipeline where the pressure sensor is located is connected to the atmosphere, and the gas path through the atmosphere confirmation signal is output; When the self-check initialization state table shows that all components are in normal communication, the controller starts to perform the gas path opening operation.

[0028] The opening command is sent in the form of a PWM (Pulse Width Modulation) signal, taking into account the driving characteristics of RV2 and VV: RV2 opening command: PWM duty cycle 80% (corresponding to driving current 1.5A), lasting 20ms (to ensure that the valve core is fully attracted), then reducing to 50% duty cycle (maintaining current 0.8A) to avoid coil overheating; VV opening command: same as RV2, as both have the same structure, only the valve number is different.

[0029] The controller confirms the state by collecting valve feedback signals: RV2 feedback signal: when the valve is open, the internal Hall sensor outputs a 5V±0.2V voltage, and the controller samples this voltage (sampling accuracy 12 bits), and if the continuous 3 sampling values are within the range of 4.8V~5.2V, it is determined that RV2 is fully open; VV feedback signal: similarly, if the continuous 3 sampling values are within the range of 4.8V~5.2V, it is determined that VV is fully open.

[0030] After both valves are fully open, the gas path connection is: pressure sensor→RV2→VV→atmosphere, forming an open path. At this time, the pipeline where the pressure sensor is located is directly connected to the atmosphere, and the pressure in the pipeline should quickly approach atmospheric pressure (such as standard atmospheric pressure 101.3kPa). The controller outputs the gas path through the atmosphere confirmation signal by detecting that both valve feedback signals are in the "open" state.

[0031] If a valve is not fully open (such as RV2 feedback signal continuously 0V), the controller will retry the opening command (up to 3 times), and if it still fails, it will determine that the basic gas path is abnormal, and generate a detection result containing the faulty component (such as "RV2 not open").

[0032] After receiving the gas path through the atmosphere confirmation signal, start a timing waiting for a preset time T1, and monitor the pressure sensor reading fluctuation during this period. When the fluctuation amplitude is continuously within the preset small range, it is determined that the pressure is stable, and the T1 after pressure stabilization signal is output; The air passage confirmation signal triggers the timing module (precision 1 ms), and the preset time T1 is set to 100 ms, which is determined by system calibration based on the pipeline volume (about 50 mL) and the atmospheric pressure diffusion speed. 100 ms can ensure that the pressure in the pipe is balanced with the atmospheric pressure (experimental data shows that the pressure fluctuation is less than 0.5 kPa at 80 ms).

[0033] Method for real-time monitoring of pressure sensor readings: the controller reads the pressure value at a sampling rate of 100 Hz (once every 10 ms), continuously stores 10 sampling points (covering T1 duration), calculates the difference between adjacent sampling points (ΔP=Pn+1-Pn), and if the absolute value of the continuous 5 ΔP is less than 0.3 kPa (preset small range, based on sensor accuracy), it is determined that the pressure is stable. For example: Sample value sequence: 101.2 kPa, 101.3 kPa, 101.2 kPa, 101.3 kPa, 101.2 kPa, the difference between adjacent values is ±0.1 kPa, which is less than 0.3 kPa, which meets the stable condition.

[0034] If the stable condition is not met at the end of T1 timing (such as the sampling value fluctuates between 101 kPa and 103 kPa, ΔP=2 kPa), the waiting time is extended (up to 50 ms), and if it is still not stable, it is determined that there is a blockage in the pipeline (causing slow pressure balance), which is marked as abnormal.

[0035] When the pressure is stable, the controller outputs the T1 after pressure stabilization signal, which provides a time reference for the next pressure value reading, ensuring that the read pressure value truly reflects the atmospheric connection state.

[0036] Based on the T1 after pressure stabilization signal, the current pressure value is read and compared with the threshold P1. If the pressure value is less than P1, it is determined that the basic gas circuit containing RV2, VV and the connecting pipeline is normal, and if it is not less than P1, it is determined to be abnormal, and the initial gas circuit detection result is generated.

[0037] After receiving the T1 after pressure stabilization signal, the controller processes the readings of the pressure sensor: continuously collects 10 pressure values (sampling interval 10 ms), removes the maximum and minimum values, and takes the average to obtain the current pressure value (denoted as Preal), for example, the processed value is 100.8 kPa.

[0038] The setting of threshold P1 needs to consider the influence of altitude on atmospheric pressure, and a dynamic threshold strategy is adopted: In plain areas (altitude <500 m): P1=105 kPa (atmospheric pressure is usually between 98 kPa and 105 kPa); Highland area (elevation ≥ 500m): Obtain the elevation information through the GPS module, and calculate according to the formula P1=105-0.01×elevation (kPa). For example, when the elevation is 1000m, P1=105-10=95kPa.

[0039] Comparison logic: If P real < P1 (such as 100.8kPa < 105kPa in the plain area), it indicates that the pressure sensor pipeline is in smooth communication with the atmosphere, RV2 and VV are normally opened, and the connecting pipeline is not blocked (blockage will cause the pressure in the pipeline to be higher than the atmospheric pressure), and it is determined that the basic gas circuit is normal. If P real ≥ P1 (such as 106kPa ≥ 105kPa), there is an abnormality, and the possible reasons include: RV2 is not completely opened (causing the gas circuit to be not connected), VV is stuck (unable to vent), and the pipeline is bent (hindering the atmosphere from entering), and the specific pressure value and possible faulty components need to be recorded.

[0040] The generated initial gas circuit detection result includes: detection state (“normal” or “abnormal”), current pressure value, P1 threshold value, and abnormal reason analysis (such as “P real = 106kPa ≥ P1=105kPa, suspecting that RV2 is stuck”). The result is stored in the form of structured data in the non-volatile memory (such as EEPROM) of the controller, and is sent to the instrument panel at the same time, if normal, the fault light is not lit, if abnormal, the yellow warning light is lit (prompting the system to check).

[0041] S202, based on the initial gas circuit detection result, closing the vent valve VV and opening the gas circuit switching valve RV1 to connect the pressure sensor pipeline to the gas tank, waiting for a preset time T2, and reading the pressure value, when the pressure value is greater than the threshold value P2, it is determined that the gas tank circuit is normal, and the gas tank circuit detection result is generated; Specifically, the initial gas circuit detection result can be analyzed, when it is determined that the basic gas circuit is normal, the controller sends a closing instruction to the vent valve VV, and at the same time sends an opening instruction to the gas circuit switching valve RV1, and confirms that VV is closed and RV1 is opened through the feedback signal, so that the pressure sensor pipeline is connected to the gas tank, and the gas circuit connected to the gas tank confirmation signal is output; The initial gas circuit detection result includes the state identification (“normal” or “abnormal”) of the basic gas circuit and related parameters (such as pressure value, threshold value P1). The controller reads the result through a special analysis module, when the identification is “normal” (i.e. the pressure value < P1 and RV2 and VV are normally operated), the next gas circuit switching operation is triggered; if the identification is “abnormal”, the self-checking process is terminated, and the result containing the initial gas circuit fault is directly output.

[0042] The command to close the air release valve VV uses step voltage control: the controller first sends a 12V voltage signal to the drive module of VV (for 15ms, ensuring that the valve core is fully reset), and then drops to 5V holding voltage (to avoid coil overheating). The feedback signal in the closed state is detected by the built-in Hall sensor of VV. When the feedback voltage ≤0.5V (indicating that the valve is fully closed, and the core is in contact with the valve seat), and the continuous 3 times sampling (interval 5ms) all meet the condition, it is determined that VV is closed to place.

[0043] The command to open the air path switching valve RV1 is sent synchronously with the VV closing command, and is driven by a PWM signal: the initial duty cycle is 80% (corresponding to a drive current of 1.6A, lasting for 20ms), which makes RV1 quickly open, and then drops to a 50% duty cycle (current 0.9A) to maintain the open state. The feedback signal of RV1 needs to meet the voltage ≥4.8V (indicating that the valve is fully open, and the air path is smooth), and after 3 consecutive samples meet the standard, it is confirmed that RV1 is opened to place.

[0044] At this time, the pipeline communication path of the pressure sensor is: pressure sensor→RV1→gas tank, forming a closed air path (isolated from the atmosphere). The controller generates a gas tank confirmation signal by integrating the VV closing feedback (≤0.5V) and the RV1 opening feedback (≥4.8V). If a valve does not act as expected (such as RV1 feedback voltage of 2.0V), a fault code (such as "RV1 opening failure") is recorded, and the subsequent process is terminated.

[0045] After receiving the gas tank confirmation signal, start a timing waiting for a preset time T2, and monitor the pressure sensor reading rate in real time during this period. When the change rate is lower than the preset low value, it is determined that the pressure is stable, and the T2 pressure stability signal is output; The gas tank confirmation signal triggers the controller (precision 1ms), and the preset time T2 is set to 100ms. This value is based on the pipe volume (about 80mL) between the gas tank and the pressure sensor and the gas flow characteristic calibration — experimental data shows that the pressure in the pipe can be balanced with the pressure in the gas tank within 100ms (pressure fluctuation ≤0.3kPa).

[0046] The specific method for real-time monitoring of the pressure sensor reading change rate is as follows: The controller reads the pressure value at a sampling rate of 200Hz (once every 5ms), continuously stores 20 sampling points (covering time T2), calculates the pressure change ΔP = P(n+1) - P(n) between adjacent sampling points, and then divides it by the time interval (5ms) to obtain the instantaneous change rate v = ΔP / 5 (unit: kPa / ms). For example, if the pressure rises from 800kPa to 800.4kPa within a certain 5ms, ΔP = 0.4kPa, v = 0.4 / 5 = 0.08kPa / ms.

[0047] The preset low value is set at 0.1 kPa / ms (based on the stability requirements of the gas storage tank pressure). Pressure stability is determined when five consecutive instantaneous rate of change v are all ≤0.1 kPa / ms – at this point, the gas in the pipe has reached dynamic equilibrium with the gas storage tank pressure, and the pressure reading no longer changes significantly over time. For example, five consecutive v values ​​of 0.09, 0.08, 0.07, 0.09, and 0.08 kPa / ms all satisfy the condition ≤0.1 kPa / ms, triggering a stability determination.

[0048] If the stability condition (e.g., v remains at 0.12 kPa / ms) is not met by the end of time T2 (100 ms), the waiting time is extended (up to 50 ms). If the pressure is still unstable, a partial blockage in the pipeline (resulting in obstructed gas flow) is identified and marked as abnormal. After the pressure stabilizes, the controller outputs a pressure stabilization signal after time T2, providing a time reference for the next pressure value reading.

[0049] Based on the pressure stabilization signal after T2, the current pressure value is read and compared with the threshold P2. If the pressure value is greater than P2, the gas path of the gas storage tank including RV1 and the connecting pipeline is determined to be normal. If it is not greater than P2, it is determined to be abnormal, and the gas path status signal of the gas storage tank is output. After receiving the T2 pressure stabilization signal, the controller initiates the pressure acquisition process: It continuously samples the pressure sensor readings 10 times (5ms interval), removes the maximum and minimum values, and takes the arithmetic mean to obtain the current pressure value (denoted as Pstore), thus eliminating the influence of instantaneous fluctuations. For example, if the sampled values ​​are 820 kPa, 821 kPa, 819 kPa, ..., 822 kPa, after processing, Pstore = 820.5 kPa.

[0050] The threshold P2 needs to be set in conjunction with the vehicle's height class characteristics: the air tank pressure increases with the vehicle's height (the pressure is highest at the maximum height). Therefore, P2 is taken as 90% of the air tank pressure at the vehicle's highest height class (with a 10% margin for error). For example, if the standard air tank pressure at the maximum height of a certain model is 900 kPa, then P2 = 900 × 90% = 810 kPa. This setting can avoid misjudging abnormalities due to a slight drop in air tank pressure caused by the vehicle being parked at a slightly lower height.

[0051] The comparison logic is as follows: If Pstored > P2 (e.g., 820.5 kPa > 810 kPa), it indicates that the gas path of the gas storage tank is unobstructed (RV1 is open normally, and there is no blockage or leakage in the connecting pipes), and the pressure inside the gas storage tank is within a reasonable range. It is determined that the gas path of the gas storage tank, including RV1 and the connecting pipes, is normal. If Pstore ≤ P2 (e.g., 800kPa ≤ 810kPa), there is an anomaly. Possible causes include: RV1 not fully open (gas circuit not fully connected), broken connecting pipe (causing gas leakage), or insufficient pressure in the gas tank (e.g., not being filled with gas for a long time). Further analysis of valve feedback signals is needed to pinpoint the fault.

[0052] The gas storage tank's gas circuit status signal is in binary form: normal state is "0x01" (frame ID=0x18FF5603, data field=0x01), abnormal state is "0x00" (data field=0x00), and it also includes the current pressure value P_storage and the threshold P2, providing raw data for subsequent result integration.

[0053] Based on the gas circuit status signal of the gas tank, the action feedback information of RV1 and VV is integrated to generate the gas circuit detection result of the gas tank, clearly identifying whether the gas circuit is normal and abnormal components.

[0054] The integration of gas path test results for the gas storage tank requires combining three types of information: gas path status signal of the gas storage tank (normal / abnormal), action feedback of RV1 (whether it is fully open), and action feedback of VV (whether it is fully closed), to form a structured test report.

[0055] When the status signal is "normal" (0x01): It needs to be confirmed that the opening feedback voltage of RV1 is ≥4.8V and the closing feedback voltage of VV is ≤0.5V, indicating that the action of the two valves is consistent with the state of the air circuit; The test result is marked as "Gas storage tank gas circuit normal", including parameters: P storage (e.g. 820.5kPa), P2 (810kPa), RV1 status ("open in place"), VV status ("closed in place").

[0056] When the state signal is "abnormal" (0x00): If the opening feedback voltage of RV1 is <4.8V (such as 2.3V), it is determined that "RV1 is stuck, not fully open", which causes poor communication of the air path, and the pressure cannot be normally transmitted; If the closing feedback voltage of VV is >0.5V (such as 3.2V), it is determined that "VV is not closed tightly, there is air leakage", which causes the air tank pressure to be diluted by the atmosphere, and P storage is low; If the feedback of the two valves is normal but P storage ≤P2, it is determined that "the air tank pressure is insufficient or the connecting pipeline leaks", and the air tank sealing and the inflation system need to be further checked; The detection result is marked as "air tank air path abnormality", and the abnormal component (such as "RV1 stuck") and the associated parameters (such as P storage = 790kPa < P2 = 810kPa) are clearly marked.

[0057] The generated detection result is stored in the non-volatile memory (such as FRAM, not lost after power failure) of the controller, and at the same time is sent to the instrument panel through the vehicle body bus: no prompt in normal state, orange warning light is lit in abnormal state, and fault code (such as "P1023-RV1 opening abnormality") is recorded in the on-board diagnostic system (OBD), which is convenient for subsequent maintenance and troubleshooting.

[0058] S203, based on the air tank air path detection result, closing the air path switching valve RV1 and sequentially opening each air spring distribution valve ASV1 to ASV4, respectively reading the corresponding air spring pressure value and calculating the front and rear axle average pressure, when the front axle average pressure is in the range of P3 to P4 and the rear axle average pressure is in the range of P5 to P6, it is determined that the distribution valve is normal, and the air spring detection result is generated; Specifically, the air tank air path detection result can be analyzed, when it is determined that the air tank air path is normal, the controller sends a closing instruction to the air path switching valve RV1, and the closing is confirmed through the feedback signal, and an RV1 closing confirmation signal is output; The air tank air path detection result includes air path state ("normal" or "abnormal"), pressure value (P storage), threshold P2, and action feedback of RV1 and VV. The controller decodes the result through a special decoding module, when the state is "normal" (i.e. P storage > P2 and RV1 is fully open and VV is fully closed), the closing operation of RV1 is triggered; if the state is "abnormal", the self-checking process is terminated, and the result containing the air tank air path fault is output.

[0059] The command to close the air path switching valve RV1 uses a hierarchical driving method: the controller first sends a 12V DC voltage to the driving module of RV1 (for 20ms, ensuring that the valve core resets quickly), and then switches to a 5V holding voltage (reducing power consumption and preventing coil overheating). The closed state of RV1 is fed back by the built-in Hall sensor. When the feedback voltage is ≤0.5V (indicating that the valve is completely closed and the valve core is tightly fitted with the valve seat), and the condition is met for 5 consecutive samples (4ms apart), it is determined that RV1 is closed to position.

[0060] For example, after RV1 receives the close command, the first sampling feedback voltage is 0.3V, the second is 0.2V, and the fifth is still 0.3V, all ≤0.5V, and the controller confirms that RV1 has been completely closed. At this time, the air path of the pressure sensor and the air tank is cut off, eliminating interference for subsequent detection of the air spring air path.

[0061] The RV1 close confirmation signal output by the controller includes the feedback voltage value of RV1 (such as 0.3V), which provides a state basis for subsequent air path switching. If RV1 fails to close (such as a feedback voltage of 3.5V), a fault code (such as "E201-RV1 close jam") is recorded, and the self-test is terminated.

[0062] Based on the RV1 close confirmation signal, open commands are sent in order to the air spring distribution valves ASV1 to ASV4. After each valve is opened, it waits for a preset time T3 for the pressure to stabilize, reads the corresponding air spring pressure value and records it, and outputs four spring pressure data sets. The RV1 close confirmation signal triggers the detection process of the air spring distribution valves. The distribution valves ASV1 to ASV4 correspond to the left front, right front, left rear, and right rear air springs, respectively, and are opened in the order "left front → right front → left rear → right rear" to avoid air path cross interference.

[0063] The open command is designed for the characteristics of each distribution valve: ASV series is a two-position three-way electromagnetic valve with a driving voltage of 12V. A large initial current (1.8A) is required when opening, and the current decreases to a maintenance current (1.0A) after 15ms. The controller sends an open command (PWM duty cycle 85%) to ASV1 while monitoring its feedback signal (feedback voltage 5V±0.2V when opening). After 3 consecutive samples meet the standard, it is confirmed that ASV1 is completely open.

[0064] The preset time T3 is set to 100 ms, which is calibrated based on the pipe length (about 1.2 m) between the air spring and the pressure sensor and the gas flow speed (about 0.012 m / ms), to ensure that the pressure in the pipe is balanced with the air spring pressure within 100 ms. During this period, the pressure sensor reading fluctuation is monitored in real time, and when the pressure difference of 6 consecutive sampling points (interval of 10 ms) is ≤0.4 kPa, it is determined that the pressure is stable. For example, after ASV1 is turned on, the pressure value gradually rises from the initial 101 kPa (atmospheric pressure) to 650 kPa, and starts to stabilize at the 80th ms, with the consecutive sampling values being 650.2 kPa, 650.1 kPa, 650.3 kPa, etc., with a fluctuation of ≤0.4 kPa, and it is determined that the pressure is stable.

[0065] When reading the pressure value, the controller performs 10 consecutive sampling (interval of 5 ms) on the stable pressure, and takes the average value as the pressure value of the air spring, for example, the left front air spring pressure value corresponding to ASV1 is calculated as (650.2+650.1+...+650.3) / 10=650.2 kPa, and the value is recorded and marked as "left front (ASV1)". According to the same process, ASV2, ASV3 and ASV4 are turned on in turn, and the pressure values of the right front, left rear and right rear air springs are read, respectively, to finally form a four-spring pressure data set, for example: "left front: 650.2 kPa; right front: 648.5 kPa; left rear: 680.3 kPa; right rear: 679.1 kPa".

[0066] The left front ASV1 and right front ASV2 pressure values are extracted from the four-spring pressure data set to calculate the front axle average pressure, and the left rear ASV3 and right rear ASV4 pressure values are extracted to calculate the rear axle average pressure, and the front and rear axle average pressure values are output; The four-spring pressure data set is stored in the order of "left front, right front, left rear, right rear", and the controller locates the required pressure value by indexing to calculate the axle average pressure, so as to eliminate the influence of the left and right pressure difference caused by the vehicle parked on uneven road or slope on the detection result.

[0067] The calculation formula of the front axle average pressure (PFA) is: PFA=(left front pressure + right front pressure) / 2. For example, the left front pressure 650.2 kPa and the right front pressure 648.5 kPa are extracted from the data set, and PFA=(650.2+648.5) / 2=649.35 kPa is calculated, and 649.4 kPa is obtained by retaining one decimal place.

[0068] The formula for calculating the rear axle average pressure (PRA) is: PRA = (left rear pressure + right rear pressure) / 2. Extracting the left rear pressure 680.3kPa and the right rear pressure 679.1kPa, the calculation result is PRA = (680.3 + 679.1) / 2 = 679.7kPa.

[0069] During the calculation process, if the pressure value of an air spring is missing (e.g., the right front pressure is not recorded due to the ASV2 not being turned on), it is determined that the axle average pressure is invalid, and the distribution valve is directly marked as abnormal. The output front and rear axle average pressure values are presented in a structured data format, including axle identification, original pressure value, and average pressure value, such as: "Front axle: left front 650.2kPa, right front 648.5kPa, average 649.4kPa; Rear axle: left rear 680.3kPa, right rear 679.1kPa, average 679.7kPa", providing a basis for the next step of pressure range comparison.

[0070] The front axle average pressure is compared with threshold values P3 and P4, and the rear axle average pressure is compared with threshold values P5 and P6. If the front axle average pressure is within the range of P3 to P4 and the rear axle average pressure is within the range of P5 to P6, it is determined that the distribution valve is normal, and the air spring detection result is generated, otherwise the abnormal distribution valve is marked.

[0071] Threshold values P3, P4, P5, and P6 are set based on whole vehicle test data, which need to cover the normal pressure range of air springs under different height levels of the vehicle. During the test, the vehicle is at the lowest, standard, and highest three height levels, respectively, and the air spring pressures of the front and rear axles at each level are measured. The minimum value of the front axle pressure at each level is taken as P3, and the maximum value is taken as P4. The minimum value of the rear axle pressure is taken as P5, and the maximum value is taken as P6, with a 5% error margin reserved. For example: The pressure range of the front axle at each height level is 620kPa~680kPa, so P3=620×95%=589kPa and P4=680×105%=714kPa. The pressure range of the rear axle at each height level is 660kPa~720kPa, so P5=660×95%=627kPa and P6=720×105%=756kPa.

[0072] The comparison process is as follows: The front axle average pressure 649.4kPa is compared with P3 (589kPa) and P4 (714kPa), and 649.4kPa is within the range of 589kPa~714kPa, so it is determined that the front axle distribution valve (ASV1, ASV2) is normal. The average pressure of the rear axle is 679.7 kPa, which is within the range of 627 kPa to 756 kPa, so it is determined that the distribution valves (ASV3 and ASV4) of the rear axle are normal.

[0073] If the average pressure of a certain axle exceeds the range, the abnormal distribution valve needs to be further located: for example, the average pressure of the front axle is 580 kPa, which is less than P3 (589 kPa), so the pressure values of the left front (ASV1) and right front (ASV2) are checked respectively. If the left front pressure is 570 kPa and the right front pressure is 590 kPa, the left front pressure is lower than the single valve threshold corresponding to P3 (589 kPa x 0.9 = 530.1 kPa, with a single valve error reserved), so ASV1 is marked as abnormal.

[0074] The generated air spring detection result includes: overall state ("normal" or "abnormal"), average pressure of front and rear axles, threshold range, pressure value and state of each distribution valve (such as "ASV1: 650.2 kPa, normal; ASV2: 648.5 kPa, normal; ASV3: 680.3 kPa, normal; ASV4: 679.1 kPa, normal"). If the overall state is normal, proceed to the next self-check; if it is abnormal, record the fault distribution valve and pressure deviation value, and turn on the instrument panel fault light.

[0075] In S204, based on the air spring detection result, all distribution valves are closed and the air path switching valve RV2 is opened, the air pump is started and the pressure value is read after waiting for a preset time T4. When the pressure value is greater than the threshold P7, it is determined that the air pump is normal, and the system self-check result is generated.

[0076] Specifically, the air spring detection result can be analyzed, and when it is determined that the distribution valve is normal, the controller sends a closing instruction to ASV1 to ASV4, confirms that all are closed through a feedback signal, and outputs a distribution valve full-closed confirmation signal. The air spring detection result includes the overall state ("normal" or "abnormal"), the average pressure of the front and rear axles, the pressure value and state identification of each distribution valve (ASV1 to ASV4). The controller reads the result through the analysis module, and when the overall state is "normal" (i.e. the average pressure of the front and rear axles is within the preset range and each distribution valve is normally opened), the closing operation of the distribution valve is triggered; if the state is "abnormal", the self-check process is terminated, and the result containing the air spring air path fault is output.

[0077] The closing instruction is designed for the characteristics of each distribution valve: ASV1 to ASV4 are normally closed solenoid valves, which need to be driven to reset the iron core. The controller sends a 12V DC voltage to the drive module of each valve (for 20ms, ensuring that the valve core resets quickly), and then switches to a 5V holding voltage (reducing coil power consumption). The closing state is fed back by the built-in Hall sensor. When the feedback voltage ≤0.5V (indicating that the valve is completely closed and the air path is cut off), and the condition is met for 5 consecutive samples (4ms apart), it is determined that the single distribution valve is closed to the position.

[0078] For example, after ASV1 receives the closing instruction, the feedback voltage gradually decreases from 5.0V at opening to 0.3V. The 5 consecutive samples are 0.3V, 0.2V, 0.3V, 0.2V, and 0.3V, all ≤0.5V, confirming that ASV1 is closed. The same process is used to confirm that ASV2, ASV3, and ASV4 are closed, with feedback voltages of 0.4V, 0.3V, and 0.2V, respectively, all meeting the requirements.

[0079] The distribution valve full-closing confirmation signal output by the controller includes the feedback voltage value of each distribution valve (e.g., "ASV1: 0.3V; ASV2: 0.4V; ASV3: 0.3V; ASV4: 0.2V"). If a distribution valve fails to close (e.g., ASV2 feedback voltage is continuously 3.0V), a fault code is recorded (e.g., "E302-ASV2 closing exception"), and the self-check is terminated.

[0080] Based on the distribution valve full-closing confirmation signal, an opening instruction is sent to the air path switching valve RV2, and the opening is confirmed by the feedback signal to make the pressure sensor pipeline and the air pump air path communicate, and output the air pump air path preparation signal; The distribution valve full-closing confirmation signal indicates that the air spring air path has been cut off, and at this time the air path needs to be switched to the air pump to prepare for detecting the performance of the air pump. The opening operation of the air path switching valve RV2 needs to ensure that the pressure sensor and the air pump air path are unobstructed, and other air paths are excluded.

[0081] The instruction to open the air path switching valve RV2 uses PWM driving: the initial duty cycle is 80% (corresponding to a drive current of 1.6A for 15ms), which makes the valve open quickly, and then reduces to a 50% duty cycle (current 0.9A) to maintain the open state. The opening state of RV2 is fed back by the Hall sensor. When the feedback voltage ≥4.8V (indicating that the valve is completely open and the air path is connected), and the condition is met for 3 consecutive samples (5ms apart), it is determined that RV2 is opened to the position.

[0082] For example, after RV2 receives the open instruction, the feedback voltage rises from 0.3V at the time of closing to 5.0V, and the continuous 3 times sampling is 5.0V, 4.9V, 5.0V, all ≥4.8V, confirming that RV2 has completely opened. At this time, the pipeline communication path of the pressure sensor is: pressure sensor→RV2→air pump, forming an independent air path, which is completely isolated from the air path of the air tank and the air spring, ensuring that the air pump detection is not affected by other components.

[0083] The air pump air path preparation signal output by the controller indicates the air path communication state (such as “pressure sensor→RV2→air pump: communication normal”). If RV2 fails to open (such as feedback voltage of 0.5V), record the fault code (such as “E303-RV2 open abnormal”), and terminate the self-check.

[0084] Start the air pump based on the air pump air path preparation signal, and simultaneously time and wait for a preset time T4, stop the air pump after reaching T4, and read the pressure value, compare it with the threshold P7, if the pressure value is greater than P7, determine that the air pump is normal, and output the air pump state signal. The air pump air path preparation signal triggers the air pump performance detection. As the power source of the closed air suspension, the air pump's inflation capacity directly affects the system's working efficiency, and it needs to be detected whether it is normal through short-time operation.

[0085] The start parameters of the air pump are set according to its characteristics: the air pump is a piston air pump driven by a DC permanent magnet motor, with a rated voltage of 12V and a rated current of 8A. When starting, it needs a large instantaneous current (10A, lasting 50ms) to overcome static friction, and then it will drop to the rated current. The controller sends a start instruction (PWM duty cycle 90%) to the air pump driving module, and simultaneously monitors the running current of the air pump (measured by a series sampling resistor, normal range 8A±1A), to ensure that there is no overload (current <12A).

[0086] The preset time T4 is set to 100ms, which is based on the inflation rate of the air pump — experimental data shows that the air pump can raise the pressure in the pressure sensor pipeline by ≥50kPa (from about 101kPa of atmospheric pressure to ≥151kPa) within 100ms, which is enough to distinguish whether the air pump is working normally. During the timing, the controller monitors the pressure change at a sampling rate of 200Hz (once every 5ms), to ensure that the pressure shows an upward trend (excluding air pump reverse rotation or air leakage).

[0087] After T4, the controller sends a stop command (duty cycle 0%) and the air pump stops running. Then the pressure value is read: 10 consecutive samples (5 ms interval) are taken from the pressure sensor, the maximum and minimum values are removed, and the average is taken as the current pressure value (denoted as Ppump). For example, the sample values are 160 kPa, 162 kPa, 159 kPa,..., 161 kPa, and after processing, Ppump = 160.5 kPa.

[0088] The threshold P7 is set to 150 kPa (101 kPa of atmospheric pressure + 50 kPa, with a 10 kPa error allowance), and the comparison logic is as follows: If Ppump > P7 (e.g., 160.5 kPa > 150 kPa), it indicates that the air pump has normal inflation capacity and can establish effective pressure in a short time, and the air pump is determined to be normal. If Ppump ≤ P7 (e.g., 145 kPa ≤ 150 kPa), the air pump is abnormal, and the possible reasons include: motor failure (unable to start), air pump leakage (loose pipe connection), and one-way valve jamming (gas backflow), which need to be further located in combination with the running current (e.g., current = 0 A indicates motor failure).

[0089] The air pump status signal is accompanied by the Ppump value (e.g., 160.5 kPa) and the T4 duration (100 ms), which provides the basis for the integration of results.

[0090] Integrate the detection results of the initial air circuit, the air tank circuit, the air spring, and the air pump to determine the normal / abnormal state of each component and generate a system self-test result.

[0091] The system self-test result needs to integrate the information of all previous detection links to form a complete self-test report, covering the status of each air circuit, valve, sensor, and air pump, and provide clear system status feedback to the driver.

[0092] The integration content includes: Initial air circuit detection results: normal / abnormal state of the basic air circuit (RV2, VV, and pipeline), comparison result of pressure value and P1; Air tank circuit detection results: normal / abnormal state of the air tank circuit (RV1 and pipeline), comparison result of pressure value and P2; Air spring detection results: normal / abnormal state of each distribution valve (ASV1 to ASV4), comparison result of front and rear axle average pressure and P3-P6; Air pump detection results: normal / abnormal state of the air pump, comparison result of pressure value and P7.

[0093] For example, the integration result of a certain self-test process is: "Initial air path: normal (P = 101 kPa < P1 = 105 kPa); gas tank air path: normal (P = 820 kPa > P2 = 810 kPa); air spring: ASV1-ASV4 are all normal (front axle average 649.4 kPa in 589-714 kPa, rear axle average 679.7 kPa in 627-756 kPa); air pump: normal (P = 160.5 kPa > P7 = 150 kPa); overall system status: normal".

[0094] If there is an anomaly, the abnormal component and fault code need to be clearly marked, for example: "air spring: ASV2 abnormal (feedback voltage 3.0V, fault code E302); overall system status: abnormal".

[0095] The generated system self-test result is stored in the non-volatile memory (such as EEPROM) of the controller in a structured form, and is sent to the instrument panel: When the overall system is normal, the instrument panel has no prompt, and only records "self-test passed" in the on-board diagnostic system (OBD); When the overall system is abnormal, the red fault light is on, the fault component is displayed (such as "ASV2 fault"), and detailed fault information is stored for maintenance personnel to read.

[0096] The result ensures that the driver knows the system status within 3 seconds after power-on (total self-test time ≤300ms), achieving the design goal of "no perceptual detection, prompt when there is an anomaly".

[0097] As can be seen, after receiving the vehicle power-on signal, the self-test is started, the air path switching valve RV2 and the air release valve VV are opened to make the pressure sensor pipeline communicate with the atmosphere, and the initial air path detection result is generated; based on the initial air path detection result, the air release valve VV is closed and the air path switching valve RV1 is opened to make the pressure sensor pipeline communicate with the gas tank, and the gas tank air path detection result is generated; based on the gas tank air path detection result, the air path switching valve RV1 is closed and each air spring distribution valve ASV1 to ASV4 is sequentially opened, and the air spring detection result is generated; based on the air spring detection result, all distribution valves are closed and the air path switching valve RV2 is opened, the air pump is started and the pressure value is read after waiting for a preset time T4, when the pressure value is greater than the threshold value P7, it is determined that the air pump is normal, and the system self-test result is generated, so that the system can be quickly and comprehensively self-tested when the vehicle is powered on, and the reliability of the vehicle is improved.

[0098] Another embodiment of the present application provides a closed air suspension system power-on self-test system, as shown in Figure 3 , which can include: The receiving module 301 is configured to start self-checking after receiving the vehicle power signal, open the air path switching valve RV2 and the air release valve VV to make the pressure sensor pipeline communicate with the atmosphere, read the pressure value after waiting for a preset time T1, determine that the basic air path is normal when the pressure value is less than a threshold P1, and generate an initial air path detection result; The closing module 302 is configured to close the air release valve VV and open the air path switching valve RV1 to make the pressure sensor pipeline communicate with the gas tank based on the initial air path detection result, read the pressure value after waiting for a preset time T2, determine that the gas tank air path is normal when the pressure value is greater than a threshold P2, and generate a gas tank air path detection result. The reading module 303 is configured to close the air path switching valve RV1 and sequentially open each air spring distribution valve ASV1 to ASV4 based on the gas tank air path detection result, read the corresponding air spring pressure value and calculate the front axle average pressure and the rear axle average pressure, determine that the distribution valve is normal when the front axle average pressure is in the range of P3 to P4 and the rear axle average pressure is in the range of P5 to P6, and generate an air spring detection result. The starting module 304 is configured to close all distribution valves and open the air path switching valve RV2 based on the air spring detection result, start the air pump, and read the pressure value after waiting for a preset time T4, determine that the air pump is normal when the pressure value is greater than a threshold P7, and generate a system self-checking result.

[0099] The embodiment of the present application also provides a storage medium, and the storage medium stores a computer program, wherein the computer program is set to execute the steps in any one of the method embodiments.

[0100] The embodiment of the present application also provides an electronic device, which comprises a memory and a processor, the memory stores a computer program, and the processor is set to execute the computer program to execute the steps in any one of the method embodiments.

[0101] Specifically, the electronic device can further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0102] The above embodiments shown in the drawings illustrate the structure, features and effects of the present application, and the above description is only the preferred embodiment of the present application, but the present application is not limited by the drawings, any change or modification made according to the idea of the present application, or the equivalent embodiment within the scope of the description and drawings, should be within the protection scope of the present application.

Claims

1. A method for power-on self-test of a closed air suspension system, the method comprising: The method comprises: After receiving a vehicle power-on signal, starting self-checking, opening the air path switching valve RV2 and the air release valve VV to make the pressure sensor pipeline communicate with the atmosphere, waiting for a preset time T1, reading the pressure value, and determining that the basic air path is normal when the pressure value is less than a threshold P1, to generate an initial air path detection result; Based on the initial air path detection result, closing the air release valve VV and opening the air path switching valve RV1 to make the pressure sensor pipeline communicate with the gas tank, waiting for a preset time T2, reading the pressure value, and determining that the gas tank air path is normal when the pressure value is greater than a threshold P2, to generate a gas tank air path detection result; Based on the gas tank air path detection result, closing the air path switching valve RV1 and sequentially opening each air spring distribution valve ASV1 to ASV4, respectively reading the corresponding air spring pressure value and calculating the front and rear axle average pressure, and determining that the distribution valve is normal when the front axle average pressure is in the range of P3 to P4 and the rear axle average pressure is in the range of P5 to P6, to generate an air spring detection result; Based on the air spring detection result, closing all distribution valves and opening the air path switching valve RV2, starting the air pump and waiting for a preset time T4, reading the pressure value, and determining that the air pump is normal when the pressure value is greater than a threshold P7, to generate a system self-checking result.

2. The method of claim 1, wherein, The method comprises: After receiving a vehicle power-on signal, starting self-checking, opening the air path switching valve RV2 and the air release valve VV to make the pressure sensor pipeline communicate with the atmosphere, waiting for a preset time T1, reading the pressure value, and determining that the basic air path is normal when the pressure value is less than a threshold P1, to generate an initial air path detection result, including: The controller receives a vehicle power-on hard-wire signal, starts a self-checking program, initializes the control modules of the pressure sensor, the air path switching valve RV2 and the air release valve VV, reads the initial communication state of each component, and outputs a self-checking initialization state table; Based on the self-checking initialization state table, the controller sends an opening instruction to the air path switching valve RV2 and the air release valve VV, confirms that the two valves are completely opened through valve feedback signals, makes the pipeline where the pressure sensor is located communicate with the atmosphere, and outputs an air path communication with the atmosphere confirmation signal; After receiving the air path communication with the atmosphere confirmation signal, a preset time T1 is started to be waited for, and the pressure sensor reading is monitored in real time during the period, and it is determined that the pressure is stable when the fluctuation amplitude is continuously in a preset small range, and a T1 after pressure stabilization signal is output; 3. The method of claim 2, wherein, Based on the T1 after pressure stabilization signal, the current pressure value is read and compared with the threshold P1, and if the pressure value is less than P1, it is determined that the basic air path including RV2, VV and the connecting pipeline is normal, and if it is not less than P1, it is determined to be abnormal, to generate an initial air path detection result. The method comprises: Analyzing the initial air path detection result, when determining that the basic air path is normal, the controller sends a closing instruction to the air release valve VV, and sends an opening instruction to the air path switching valve RV1 at the same time. The pressure sensor pipeline is connected with the air tank through feedback signals confirming that VV is closed and RV1 is opened, and an air path through air tank confirmation signal is output; After receiving the air path through air tank confirmation signal, start timing and wait for a preset time T2, during which the change rate of the pressure sensor reading is monitored in real time. When the change rate is lower than the preset low value, it is determined that the pressure is stable, and a T2 after pressure stability signal is output; Based on the T2 after pressure stability signal, read the current pressure value and compare it with the threshold value P2. If the pressure value is greater than P2, it is determined that the air tank gas path containing RV1 and the connecting pipeline is normal. If it is not greater than P2, it is determined to be abnormal, and an air tank gas path state signal is output; According to the air tank gas path state signal, integrate the action feedback information of RV1 and VV to generate the air tank gas path detection result, and clearly identify whether the air path is normal and the abnormal components.

4. The method of claim 3, wherein, Based on the air tank gas path detection result, close the air path switching valve RV1 and sequentially open each air spring distribution valve ASV1 to ASV4, respectively read the corresponding air spring pressure value and calculate the front and rear axle average pressure. When the front axle average pressure is in the range of P3 to P4 and the rear axle average pressure is in the range of P5 to P6, it is determined that the distribution valve is normal, and an air spring detection result is generated, including: Analyzing the air tank gas path detection result, when determining that the air tank gas path is normal, the controller sends a closing instruction to the air path switching valve RV1, and outputs an RV1 closing confirmation signal through feedback signals confirming that it is closed. Based on the RV1 closing confirmation signal, send opening instructions to the air spring distribution valves ASV1 to ASV4 in order. After each valve is opened, wait for a preset time T3 to stabilize the pressure, read the corresponding air spring pressure value and record it, and output a four spring pressure data set; From the four spring pressure data set, extract the front axle average pressure by calculating the left front ASV1 and right front ASV2 pressure values, and extract the rear axle average pressure by calculating the left rear ASV3 and right rear ASV4 pressure values, and output the front and rear axle average pressure values; Compare the front axle average pressure with the threshold values P3 and P4, and compare the rear axle average pressure with the threshold values P5 and P6. When the front axle average pressure is in the range of P3 to P4 and the rear axle average pressure is in the range of P5 to P6, it is determined that the distribution valve is normal, and an air spring detection result is generated. Otherwise, mark the abnormal distribution valve.

5. The method of claim 4, wherein, Based on the air spring detection result, close all distribution valves and open the air path switching valve RV2, start the air pump and read the pressure value after waiting for a preset time T4. When the pressure value is greater than the threshold value P7, it is determined that the air pump is normal, and a system self-checking result is generated, including: Analyzing the air spring detection result, when determining that the distribution valve is normal, the controller sends a closing instruction to ASV1 to ASV4, and outputs a distribution valve full-closing confirmation signal through feedback signals confirming that all are closed. Based on the distribution valve full-closing confirmation signal, an opening instruction is sent to the air path switching valve RV2, the opening is confirmed through a feedback signal, the pressure sensor pipeline is communicated with the air pump air path, and an air pump air path preparation signal is output; Based on the air pump air path preparation signal, the air pump is started, and a preset time T4 is waited for timing, after reaching, the air pump is stopped and a pressure value is read, and the pressure value is compared with a threshold P7, if the pressure value is greater than P7, it is determined that the air pump is normal, and an air pump state signal is output; The detection results of the initial air path, the air tank air path, the air spring and the air pump are integrated, the normal / abnormal state of each component is determined, and a system self-checking result is generated.

6. A closed air suspension system power-on self-test system, characterized by, The system comprises: A receiving module is configured to start self-checking after receiving a vehicle power-on signal, open an air path switching valve RV2 and a vent valve VV to communicate a pressure sensor pipeline with the atmosphere, wait for a preset time T1, read a pressure value, and determine that a basic air path is normal when the pressure value is less than a threshold P1 to generate an initial air path detection result; A closing module is configured to close the vent valve VV and open the air path switching valve RV1 to communicate the pressure sensor pipeline with an air tank based on the initial air path detection result, wait for a preset time T2, read a pressure value, and determine that an air tank air path is normal when the pressure value is greater than a threshold P2 to generate an air tank air path detection result; A reading module is configured to close the air path switching valve RV1 and sequentially open each air spring distribution valve ASV1 to ASV4 based on the air tank air path detection result, read corresponding air spring pressure values respectively, and calculate front and rear axle average pressures, and determine that the distribution valve is normal when the front axle average pressure is in a range of P3 to P4 and the rear axle average pressure is in a range of P5 to P6 to generate an air spring detection result; A starting module is configured to close all distribution valves and open the air path switching valve RV2 based on the air spring detection result, start an air pump, and read a pressure value after waiting for a preset time T4, and determine that the air pump is normal when the pressure value is greater than a threshold P7 to generate a system self-checking result.

7. The system of claim 6, wherein, The receiving module is specifically configured to: A controller receives a vehicle power-on hard-wire signal, starts a self-checking program, initializes control modules of a pressure sensor, an air path switching valve RV2 and a vent valve VV, reads initial communication states of each component, and outputs a self-checking initialization state table; Based on the self-checking initialization state table, the controller sends an opening instruction to the air path switching valve RV2 and the vent valve VV, confirms that the two valves are fully opened through valve feedback signals, communicates a pipeline where the pressure sensor is located with the atmosphere, and outputs an air path atmosphere communication confirmation signal; After receiving the air path atmosphere communication confirmation signal, a timing is started to wait for a preset time T1, and a pressure sensor reading fluctuation is monitored in real time during the timing, and it is determined that the pressure is stable when the fluctuation amplitude is continuously in a preset small range to output a T1-later pressure stability signal; Based on the T1-later pressure stability signal, a current pressure value is read, and compared with a threshold P1, if the pressure value is less than P1, it is determined that a basic air path including the RV2, the VV and a connecting pipeline is normal, and if not less than P1, it is determined to be abnormal to generate an initial air path detection result.

8. The system of claim 7, wherein, The closing module is specifically configured to: When the initial gas circuit detection result is analyzed and it is determined that the basic gas circuit is normal, the controller sends a closing instruction to the air release valve VV and an opening instruction to the gas circuit switching valve RV1. The feedback signal confirms that VV is closed and RV1 is opened, so that the pressure sensor pipeline is connected to the gas tank, and the gas circuit to the gas tank confirmation signal is output. After receiving the gas circuit to the gas tank confirmation signal, start the timing and wait for a preset time T2. During this period, the change rate of the pressure sensor reading is monitored in real time. When the change rate is lower than the preset low value, it is determined that the pressure is stable, and the T2 after pressure stabilization signal is output. Based on the T2 after pressure stabilization signal, the current pressure value is read and compared with the threshold P2. If the pressure value is greater than P2, it is determined that the gas circuit of the gas tank containing RV1 and the connecting pipeline is normal. If it is not greater than P2, it is determined to be abnormal, and the gas tank circuit state signal is output. According to the gas tank circuit state signal, the action feedback information of RV1 and VV is integrated to generate the gas tank circuit detection result, and it is determined whether the gas circuit is normal and the abnormal component.

9. A storage medium, characterized by The storage medium stores a computer program, wherein the computer program is configured to execute the method of any one of claims 1-5 when running.

10. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to execute the computer program to execute the method of any one of claims 1-5.

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