Full-active suspension system with safety redundancy, vehicle and control method

Abstract

The invention relates to a full-active suspension system with safety redundancy, a vehicle and a control method, and the full-active suspension system comprises a left active suspension hydraulic loop which comprises a left active oil cylinder which comprises a left upper oil cavity, a left lower oil cavity and a left side motor pump communicating with the left upper oil cavity and the left lower oil cavity through a hydraulic pipeline; the right active suspension hydraulic circuit comprises a right active oil cylinder, and the right active oil cylinder comprises a right upper oil cavity, a right lower oil cavity and a right side motor pump which is communicated with the right upper oil cavity and the right lower oil cavity through a hydraulic pipeline; the reversing valve comprises a port T communicated with the left upper oil cavity, a port P communicated with the left lower oil cavity, a port B communicated with the right upper oil cavity and a port A communicated with the right lower oil cavity. The left lower oil cavity of the left driving oil cylinder and the right upper oil cavity of the right driving oil cylinder are interconnected, the left upper oil cavity of the left driving oil cylinder and the right lower oil cavity of the right driving oil cylinder are interconnected, torque resisting side inclination is generated, and therefore the side inclination angle of a vehicle during turning is reduced, and the turning safety of the vehicle is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle suspension technology, and in particular to a fully active suspension system, vehicle, and control method with safety redundancy. Background Technology

[0002] The vehicle suspension system is the collective term for all components that connect the vehicle body and the moving parts. It not only elastically connects the vehicle body and the moving parts, but more importantly, it reduces and attenuates the dynamic load generated on the upper part of the vehicle body when the vehicle is driving on uneven roads, so as to reduce bumps and vibrations and ensure the smooth driving of the vehicle.

[0003] Vehicle suspension systems are divided into passive suspension and active suspension. Active suspension refers to suspension systems that dynamically and adaptively adjust stiffness and damping characteristics according to the vehicle's driving conditions, ensuring the suspension system is always in an optimal damping state. Compared to passive suspension, active systems can significantly improve vehicle ride comfort and handling stability.

[0004] Some vehicles equipped with fully active suspension systems have eliminated the front and rear stabilizer bar assemblies due to functional redundancy. Instead, they employ a scheme that uses body acceleration sensors and wheel acceleration sensors to collect signals, gathering real-time road and vehicle attitude information. The ECU calculates and outputs the required main power, and the system's built-in program verifies the required motor speed and solenoid valve current. By outputting speed and current to each of the four wheels, the actuators actively adjust the height and damping of the four wheel-side actuators, thereby controlling the vehicle's attitude and attenuating road vibrations.

[0005] When a fully active suspension system, such as the motor pump actuator, fails, but there is no external oil leakage, the lack of front and rear stabilizer bar assemblies means that the vehicle will experience significant body roll when encountering certain driving conditions, such as large-amplitude tortuous road surfaces or cornering. In these situations, the vehicle requires substantial roll force to suppress relative body movement and stabilize the vehicle, ensuring driving stability and safety. However, insufficient roll force in these conditions will result in excessive body roll, leading to inadequate chassis control and potential safety hazards. Summary of the Invention

[0006] This application provides a fully active suspension system, vehicle, and control method with safety redundancy to address the safety hazard caused by insufficient control of vehicle movement in vehicles that have eliminated front and rear stabilizer bar assemblies in related technologies when the fully active suspension system, such as the motor pump actuator, fails.

[0007] The first aspect of this application provides a fully active suspension system with safety redundancy, comprising: The left active suspension hydraulic circuit includes a left active cylinder, which includes an upper left oil chamber and a lower left oil chamber, and a left motor pump that connects the upper left oil chamber and the lower left oil chamber through a hydraulic pipeline. The right active suspension hydraulic circuit includes a right active cylinder, which includes an upper right oil chamber and a lower right oil chamber, and a right-side motor pump that connects the upper right oil chamber and the lower right oil chamber through a hydraulic pipeline. A reversing valve, the reversing valve including a T port communicating with the upper left oil chamber, a P port communicating with the lower left oil chamber, a B port communicating with the upper right oil chamber, and an A port communicating with the lower right oil chamber.

[0008] In some embodiments: the left active cylinder includes a left cylinder body and a piston slidably connected to the left cylinder body. The piston is connected to a piston rod with one end extending out of the left cylinder body. The piston divides the left cylinder body into an upper left oil chamber and a lower left oil chamber. The upper left oil chamber is a rod-type chamber, and the lower left oil chamber is a rodless chamber.

[0009] In some embodiments: the right active cylinder includes a right cylinder body and a piston slidably connected to the right cylinder body. The piston is connected to a piston rod with one end extending out of the right cylinder body. The piston divides the right cylinder body into an upper right oil chamber and a lower right oil chamber. The upper right oil chamber is a rod-type chamber, and the lower right oil chamber is a rodless chamber.

[0010] In some embodiments: the left active suspension hydraulic circuit further includes a left energy storage branch, and the left energy storage branch includes a left accumulator; A first left check valve and a left recovery chamber solenoid valve are connected between the left accumulator and the upper left oil chamber, and the first left check valve and the left recovery chamber solenoid valve are connected in parallel. A second left check valve and a left compression chamber solenoid valve are connected between the left accumulator and the left lower oil chamber, and the second left check valve and the left compression chamber solenoid valve are connected in parallel.

[0011] In some embodiments: the first left one-way valve is unidirectionally connected to the upper left oil chamber via the left accumulator, the second left one-way valve is unidirectionally connected to the lower left oil chamber via the left accumulator, and both the left recovery chamber solenoid valve and the left compression chamber solenoid valve are connected to the vehicle controller.

[0012] In some embodiments: the right active suspension hydraulic circuit further includes a right energy storage branch, and the right energy storage branch includes a right accumulator; A first right check valve and a right recovery chamber solenoid valve are connected between the right accumulator and the upper right oil chamber, and the first right check valve and the right recovery chamber solenoid valve are connected in parallel. A second right check valve and a right compression chamber solenoid valve are connected between the right accumulator and the right lower oil chamber, and the second right check valve and the right compression chamber solenoid valve are connected in parallel.

[0013] In some embodiments: the first right one-way valve is unidirectionally connected to the upper right oil chamber via the right accumulator, the second right one-way valve is unidirectionally connected to the lower right oil chamber via the right accumulator, and both the right recovery chamber solenoid valve and the right compression chamber solenoid valve are connected to the vehicle controller.

[0014] In some embodiments: the left-side motor pump includes a left drive mechanism and a left pumping mechanism, the left pumping mechanism includes a first opening and a second opening, the first opening is connected to the upper left oil chamber through a hydraulic line, and the second opening is connected to the lower left oil chamber through a hydraulic line; The left pumping mechanism is configured such that when the left drive mechanism rotates forward, the first opening serves as a fluid inlet and the second opening serves as a fluid outlet; when the left drive mechanism rotates in reverse, the second opening serves as a fluid inlet and the first opening serves as a fluid outlet.

[0015] In some embodiments: the left drive mechanism includes a left drive motor and a first speed sensor for detecting the rotational speed of the left drive motor, and the output shaft of the left drive motor is connected to the left pumping mechanism via a first reducer; A first pressure sensor is connected to the first opening, and a second pressure sensor is connected to the second opening. The reversing valve, the left drive motor, the first speed sensor, the first pressure sensor, and the second pressure sensor are all connected to the vehicle controller.

[0016] In some embodiments: the right-side motor pump includes a right drive mechanism and a right pumping mechanism, the right pumping mechanism includes a third opening and a fourth opening, the third opening is connected to the upper right oil chamber through a hydraulic line, and the fourth opening is connected to the lower right oil chamber through a hydraulic line; The right pumping mechanism is configured such that when the right drive mechanism rotates forward, the third opening serves as a fluid inlet and the fourth opening serves as a fluid outlet; when the right drive mechanism rotates in reverse, the fourth opening serves as a fluid inlet and the third opening serves as a fluid outlet.

[0017] In some embodiments: the right drive mechanism includes a right drive motor and a second speed sensor for detecting the right drive motor, and the output shaft of the right drive motor is connected to the right pumping mechanism via a second reducer; A third pressure sensor is connected to the third opening, and a fourth pressure sensor is connected to the fourth opening. The reversing valve, the right drive motor, the second speed sensor, the third pressure sensor, and the fourth pressure sensor are all connected to the vehicle controller.

[0018] A second aspect of this application provides a vehicle, including: a fully active suspension system with safety redundancy as described in any of the above embodiments; The left active cylinder of the fully active suspension system is connected between the left wheel assembly and the body assembly, and the right active cylinder of the fully active suspension system is connected between the right wheel assembly and the body assembly. The body assembly is equipped with a body deflection sensor that detects body posture information. The body deflection sensor is connected to the vehicle controller, which controls the operation of the left motor pump, right motor pump, and reversing valve of the fully active suspension system based on the body posture information.

[0019] In some embodiments: the left wheel assembly includes a left front wheel unit and a left rear wheel unit, and the right wheel assembly includes a right front wheel unit and a right rear wheel unit; The fully active suspension system has two sets. In one set, the left active cylinder of the fully active suspension system is connected between the left front wheel unit and the body assembly, and the right active cylinder is connected between the right front wheel unit and the body assembly. The left active cylinder of the other set of fully active suspension systems is connected between the left rear wheel unit and the body assembly, and the right active cylinder is connected between the right rear wheel unit and the body assembly.

[0020] In some embodiments, the vehicle body deflection sensor includes an attitude measurement sensor connected to the vehicle body assembly and / or a steering wheel angle sensor connected to the vehicle steering gear. The attitude measurement sensor is used to detect the attitude angle information of the vehicle body assembly in real time, and the steering wheel angle sensor is used to detect the rotation direction, rotation angle and rotation speed of the steering wheel in real time.

[0021] A third aspect of this application provides a control method for a fully active suspension system with safety redundancy, the method using the vehicle described in any of the above embodiments, the method comprising: When the vehicle body yaw sensor detects that the body assembly tilts to the left during vehicle operation, the vehicle controller controls the left motor pump to rotate forward and pumps hydraulic oil to the lower left oil chamber of the left active cylinder. The vehicle controller controls the right motor pump to rotate in reverse and pumps hydraulic oil to the upper right oil chamber of the right active cylinder. Or, when the vehicle body yaw sensor detects that the body assembly tilts to the right during vehicle operation, the vehicle controller controls the right motor pump to rotate forward and pumps hydraulic oil to the lower right oil chamber of the right active cylinder. The vehicle controller controls the left motor pump to rotate in reverse and pumps hydraulic oil to the upper left oil chamber of the left active cylinder. When the left or right motor pump starts running, if the vehicle body deflection sensor detects that the attitude of the vehicle body assembly has not returned to the set attitude angle, the vehicle controller determines that the left or right motor pump has failed. The vehicle controller controls the reversing valve to operate. The P port of the reversing valve is connected to the B port, and the T port is connected to the A port, so that the lower left oil chamber of the left active cylinder is connected to the upper right oil chamber of the right active cylinder, and the upper left oil chamber of the left active cylinder is connected to the lower right oil chamber of the right active cylinder.

[0022] The beneficial effects of the technical solution provided in this application include: This application provides a hydraulic fully active suspension system, vehicle, and control method with safety redundancy. The hydraulic fully active suspension system of this application includes a left active suspension hydraulic circuit, which comprises a left active cylinder, an upper left oil chamber, a lower left oil chamber, and a left-side motor pump connected to the upper left and lower left oil chambers via hydraulic lines; a right active suspension hydraulic circuit, which includes a right active cylinder, an upper right oil chamber, a lower right oil chamber, and a right-side motor pump connected to the upper right and lower right oil chambers via hydraulic lines; and a directional valve, which includes a T-port connected to the upper left oil chamber, a P-port connected to the lower left oil chamber, a B-port connected to the upper right oil chamber, and an A-port connected to the lower right oil chamber.

[0023] Therefore, in this application's hydraulically active suspension system with safety redundancy, when the vehicle tilts to the left during driving, the left motor pump rotates forward, pumping hydraulic oil to the lower left oil chamber of the left active cylinder, while the right motor pump rotates in reverse, pumping hydraulic oil to the upper right oil chamber of the right active cylinder. This causes the left and right active cylinders to generate a torque resisting vehicle roll, thus suppressing vehicle roll. Alternatively, when the vehicle tilts to the right during driving, the right motor pump rotates forward, pumping hydraulic oil to the lower right oil chamber of the right active cylinder, while the left motor pump rotates in reverse, pumping hydraulic oil to the upper left oil chamber of the left active cylinder. This causes the left and right active cylinders to generate a torque resisting vehicle roll, thus suppressing vehicle roll.

[0024] Furthermore, if the vehicle body assembly fails to return to its set attitude angle after the left or right motor pump operates, it can be determined that the left or right motor pump has failed. At this time, the reversing valve is activated, connecting its P port to its B port and its T port to its A port. This connects the lower left chamber of the left active hydraulic cylinder with the upper right chamber of the right active hydraulic cylinder, and vice versa. This interconnection generates a torque to resist roll, thereby reducing the roll angle during cornering and improving cornering safety. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the fully active suspension system according to an embodiment of this application; Figure 2 This is a structural block diagram of the fully active suspension system according to an embodiment of this application; Figure 3 This is a structural block diagram of the vehicle according to an embodiment of this application.

[0027] Figure label: 1. Left active hydraulic cylinder; 2. Left motor pump; 3. Right active hydraulic cylinder; 4. Right motor pump; 5. Reversing valve; 6. Left accumulator; 7. First left check valve; 8. Left recovery chamber solenoid valve; 9. Second left check valve; 10. Left compression chamber solenoid valve; 11. Right accumulator; 12. First right check valve; 13. Right recovery chamber solenoid valve; 14. Second right check valve; 15. Right compression chamber solenoid valve; 16. Body assembly. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0029] This application provides a fully active suspension system, vehicle, and control method with safety redundancy, which can solve the problem in related technologies where vehicles that have eliminated the front and rear stabilizer bar assemblies have insufficient control over vehicle movement, resulting in safety hazards when the fully active suspension system, such as the motor pump actuator, fails.

[0030] See Figure 1 As shown, the first aspect of this application provides a fully active suspension system with safety redundancy, comprising: The left active suspension hydraulic circuit includes a left active cylinder 1, which comprises a left upper oil chamber and a left lower oil chamber that are sealed and separated from each other, and a left-side motor pump 2 that connects the left upper oil chamber and the left lower oil chamber via hydraulic lines. The left-side motor pump 2 pumps hydraulic oil to the left upper oil chamber or the left lower oil chamber of the left active cylinder 1 through the hydraulic lines in both forward and reverse directions to regulate the oil pressure in the left upper oil chamber and the left lower oil chamber.

[0031] The right active suspension hydraulic circuit includes a right active cylinder 3, which comprises an upper right oil chamber and a lower right oil chamber, and a right-side motor pump 4 connected to the upper right and lower right oil chambers via hydraulic lines. The right-side motor pump 4 pumps hydraulic oil to the upper right or lower right oil chamber of the right active cylinder 3 via the hydraulic lines in both forward and reverse directions to regulate the oil pressure in the upper right and lower right oil chambers.

[0032] The reversing valve 5, preferably but not limited to a three-position four-way solenoid valve, includes a T-port communicating with the upper left oil chamber, a P-port communicating with the lower left oil chamber, a B-port communicating with the upper right oil chamber, and an A-port communicating with the lower right oil chamber. When the left-side motor pump 2 and the right-side motor pump 4 can effectively control the left active cylinder 1 and the right active cylinder 3 to suppress vehicle roll, the reversing valve 5 is in the neutral position, all oil ports are fully closed, and oil is not connected.

[0033] In this embodiment of the hydraulic fully active suspension system with safety redundancy, when the vehicle tilts to the left during driving, the left motor pump 2 rotates forward and pumps hydraulic oil to the lower left oil chamber of the left active cylinder 1, while the right motor pump 4 rotates in reverse and pumps hydraulic oil to the upper right oil chamber of the right active cylinder 3. This causes the left active cylinder 1 and the right active cylinder 3 to form a torque that resists the body roll and suppresses the vehicle from tilting to the left.

[0034] Alternatively, when the vehicle tilts to the right during driving, the right motor pump 4 rotates forward and pumps hydraulic oil to the lower right oil chamber of the right active cylinder 3, while the left motor pump 2 rotates in reverse and pumps hydraulic oil to the upper left oil chamber of the left active cylinder 1. This causes the left active cylinder 1 and the right active cylinder 3 to generate a torque that resists the vehicle's tilt and suppresses the vehicle from tilting to the right.

[0035] Furthermore, if the left motor pump 2 or the right motor pump 4 fails to operate or, after operation, the posture of the vehicle assembly 16 does not return to the set posture angle, it can be determined that the left motor pump 2 or the right motor pump 4 has failed. At this time, the control reversing valve 5 is activated, and the P port of the reversing valve 5 is connected to the B port and the T port is connected to the A port, so that the lower left oil chamber of the left active cylinder 1 is connected to the upper right oil chamber of the right active cylinder 3, and the upper left oil chamber of the left active cylinder 1 is connected to the lower right oil chamber of the right active cylinder 3.

[0036] Furthermore, even if the left motor pump 2 or the right motor pump 4 is not operating or fails after operation, the lower left oil chamber of the left active cylinder 1 and the upper right oil chamber of the right active cylinder 3 can still be interconnected, and the upper left oil chamber of the left active cylinder 1 and the lower right oil chamber of the right active cylinder 3 can be interconnected, generating a torque to resist the roll of the vehicle body assembly 16. This reduces the roll angle when the vehicle is turning and improves the vehicle's turning safety.

[0037] In some alternative embodiments: see Figure 1As shown in the embodiment of this application, a fully active suspension system with safety redundancy is provided. The left active cylinder 1 of the fully active suspension system includes a left cylinder body and a piston slidably connected to the left cylinder body. The piston is connected to a piston rod with one end extending out of the left cylinder body. The piston divides the left cylinder body into an upper left oil chamber and a lower left oil chamber. The upper left oil chamber is the rod-mounted chamber, and the lower left oil chamber is the rodless chamber.

[0038] The right active hydraulic cylinder 3 includes a right hydraulic cylinder body and a piston that is slidably connected to the right hydraulic cylinder body. The piston is connected to a piston rod with one end extending out of the right hydraulic cylinder body. The piston divides the right hydraulic cylinder body into an upper right oil chamber and a lower right oil chamber. The upper right oil chamber is a rod chamber and the lower right oil chamber is a rodless chamber.

[0039] In this embodiment of the application, both the left active cylinder 1 and the right active cylinder 3 are provided with pistons and piston rods connected to the pistons. The left cylinder body of the left active cylinder 1 and the right cylinder body of the right active cylinder 3 are respectively connected to the vehicle body assembly 16, and the piston rods of the left active cylinder 1 and the right active cylinder 3 are respectively connected to the left wheel assembly and the right wheel assembly.

[0040] In some alternative embodiments: see Figure 1 and Figure 2 As shown in the embodiment of this application, a fully active suspension system with safety redundancy is provided. The left active suspension hydraulic circuit of this fully active suspension system further includes a left energy storage branch, which includes a left accumulator 6. The left accumulator 6 is used to store the oil pressure of hydraulic oil. A first left check valve 7 and a left recovery chamber solenoid valve 8 are connected between the left accumulator 6 and the upper left oil chamber, and the first left check valve 7 and the left recovery chamber solenoid valve 8 are connected in parallel.

[0041] A second left check valve 9 and a left compression chamber solenoid valve 10 are connected between the left accumulator 6 and the lower left oil chamber, and are connected in parallel. A first left check valve 7 is connected unidirectionally from the left accumulator 6 to the upper left oil chamber, and a second left check valve 9 is connected unidirectionally from the left accumulator 6 to the lower left oil chamber. Both the left recovery chamber solenoid valve 8 and the left compression chamber solenoid valve 10 are connected to the vehicle controller.

[0042] In this embodiment, the left active suspension hydraulic circuit is further provided with a left energy storage branch. This left energy storage branch connects a first left check valve 7 and a left recovery chamber solenoid valve 8 between the left accumulator 6 and the upper left oil chamber. The first left check valve 7 and the left recovery chamber solenoid valve 8 are connected in parallel. A second left check valve 9 and a left compression chamber solenoid valve 10 are connected between the left accumulator 6 and the lower left oil chamber. The second left check valve 9 and the left compression chamber solenoid valve 10 are connected in parallel.

[0043] When the vehicle tilts to the left, the vehicle controller controls the left motor pump 2 to rotate forward and pumps hydraulic oil to the lower left oil chamber of the left active cylinder 1. The vehicle controller controls the left recovery chamber solenoid valve 8 to open and the left compression chamber solenoid valve 10 to close, so that the hydraulic oil in the upper left oil chamber of the left active cylinder 1 enters the left accumulator 6 through the left recovery chamber solenoid valve 8 for energy storage.

[0044] When the vehicle tilts to the right, the vehicle controller controls the left motor pump 2 to reverse and pumps hydraulic oil to the upper left oil chamber of the left active cylinder 1. The vehicle controller controls the left compression chamber solenoid valve 10 to open and the left restoration chamber solenoid valve 8 to close, so that the hydraulic oil in the lower left oil chamber of the left active cylinder 1 enters the left accumulator 6 through the left compression chamber solenoid valve 10 for energy storage.

[0045] When the vehicle is driving normally on the road, both the left recovery chamber solenoid valve 8 and the left compression chamber solenoid valve 10 are closed. When encountering bumpy road conditions, the wheels transmit vibrations to the left active cylinder 1, which excites the piston rod of the left active cylinder 1 to extend and retract. At this time, the hydraulic oil stored in the left accumulator 6 is connected to the upper left oil chamber through the first left check valve 7 and to the lower left oil chamber through the second left check valve 9. The hydraulic oil stored in the left accumulator 6 is used to buffer and consume the vibrations of the vehicle body assembly 16.

[0046] In some alternative embodiments: see Figure 1 and Figure 2 As shown in the embodiment of this application, a fully active suspension system with safety redundancy is provided. The right active suspension hydraulic circuit of this fully active suspension system further includes a right energy storage branch, which includes a right accumulator 11. The right accumulator 11 is used to store the oil pressure of hydraulic oil. A first right check valve 12 and a right recovery chamber solenoid valve 13 are connected between the right accumulator 11 and the upper right oil chamber. The first right check valve 12 and the right recovery chamber solenoid valve 13 are connected in parallel.

[0047] A second right check valve 14 and a right compression chamber solenoid valve 15 are connected between the right accumulator 11 and the lower right oil chamber, and are connected in parallel. A first right check valve 12 is connected unidirectionally from the right accumulator 11 to the upper right oil chamber, and a second right check valve 14 is connected unidirectionally from the right accumulator 11 to the lower right oil chamber. Both the right recovery chamber solenoid valve 13 and the right compression chamber solenoid valve 15 are connected to the vehicle controller.

[0048] In this embodiment, the right active suspension hydraulic circuit is further provided with a right energy storage branch. This right energy storage branch connects a first right check valve 12 and a right recovery chamber solenoid valve 13 between the right accumulator 11 and the upper right oil chamber. The first right check valve 12 and the right recovery chamber solenoid valve 13 are connected in parallel. A second right check valve 14 and a right compression chamber solenoid valve 15 are connected between the right accumulator 11 and the lower right oil chamber. The second right check valve 14 and the right compression chamber solenoid valve 15 are connected in parallel.

[0049] When the vehicle tilts to the left, the vehicle controller controls the right motor pump 4 to reverse and pumps hydraulic oil to the upper right oil chamber of the right active cylinder 3. The vehicle controller controls the right compression chamber solenoid valve 15 to open and the right restoration chamber solenoid valve 13 to close, so that the hydraulic oil in the lower right oil chamber of the right active cylinder 3 enters the right accumulator 11 through the right compression chamber solenoid valve 15 for energy storage.

[0050] When the vehicle tilts to the right, the vehicle controller controls the right motor pump 4 to rotate forward and pumps hydraulic oil to the lower right oil chamber of the right active cylinder 3. The vehicle controller controls the right recovery chamber solenoid valve 13 to open and the right compression chamber solenoid valve 15 to close, so that the hydraulic oil in the upper right oil chamber of the right active cylinder 3 enters the right accumulator 11 through the right recovery chamber solenoid valve 13 for energy storage.

[0051] When the vehicle is driving normally on the road, both the right recovery chamber solenoid valve 13 and the right compression chamber solenoid valve 15 are closed. When encountering bumpy road conditions, the wheels transmit vibrations to the right active cylinder 3, which in turn excites the piston rod of the right active cylinder 3 to extend and retract. At this time, the hydraulic oil stored in the right accumulator 11 is connected to the upper right oil chamber through the first right check valve 12 and to the lower right oil chamber through the second right check valve 14. The hydraulic oil stored in the right accumulator 11 is used to buffer and consume the vibrations of the vehicle body assembly 16.

[0052] In some alternative embodiments: see Figure 1 and Figure 2 As shown, this application embodiment provides a fully active suspension system with safety redundancy. The left motor pump 2 of the fully active suspension system includes a left drive mechanism and a left pumping mechanism. The left pumping mechanism includes a first opening and a second opening. The first opening is connected to the upper left oil chamber through a hydraulic pipeline, and the second opening is connected to the lower left oil chamber through a hydraulic pipeline.

[0053] The left pumping mechanism is configured such that when the left drive mechanism rotates forward, the first opening serves as a fluid inlet and the second opening serves as a fluid outlet; when the left drive mechanism rotates in reverse, the second opening serves as a fluid inlet and the first opening serves as a fluid outlet. The left drive mechanism includes a left drive motor and a first speed sensor for detecting the rotational speed of the left drive motor. The output shaft of the left drive motor is connected to the left pumping mechanism via a first reducer.

[0054] The first opening is connected to the first pressure sensor, and the second opening is connected to the second pressure sensor. The reversing valve 5, the left drive motor, the first speed sensor, the first pressure sensor, and the second pressure sensor are all connected to the vehicle controller.

[0055] The left-side motor pump 2 in this embodiment includes a left drive mechanism, a first reducer, and a left pumping mechanism. The left drive mechanism is used to output power and can be used to drive the left pumping mechanism to deliver hydraulic oil. The left drive mechanism is used to generate rotational driving force. The left drive mechanism transmits the speed and torque to the left pumping mechanism after the speed is reduced and the torque is increased by the first reducer to drive the left pumping mechanism to perform oil pumping.

[0056] The left pumping mechanism includes a first opening and a second opening. The first opening is connected to the upper left oil chamber of the left active cylinder 1 via a hydraulic line, and the second opening is connected to the lower left oil chamber of the left active cylinder 1 via a hydraulic line. When the left drive mechanism rotates forward, the left pumping mechanism pumps hydraulic oil from the first opening and the hydraulic line to the upper left oil chamber of the left active cylinder 1. When the left drive mechanism rotates in reverse, the left pumping mechanism pumps hydraulic oil from the second opening and the hydraulic line to the lower left oil chamber of the left active cylinder 1.

[0057] A first pressure sensor is connected to the first opening, and a second pressure sensor is connected to the second opening. When the vehicle controller controls the left drive mechanism to rotate forward, the first pressure sensor can detect whether the oil pressure at the first opening reaches the set pressure threshold, and the first speed sensor can detect whether the speed of the left drive motor reaches the set threshold.

[0058] If the first speed sensor detects that the speed of the left drive motor has not reached the set threshold, the vehicle controller determines that the left drive motor is damaged; if the first speed sensor detects that the forward speed of the left drive motor has reached the set threshold, and the first pressure sensor detects that the oil pressure at the first opening has not reached the set pressure threshold, the vehicle controller determines that the hydraulic circuit of the left active suspension is leaking oil.

[0059] If the first speed sensor detects that the reverse rotation speed of the left drive motor reaches the set threshold, and the second pressure sensor detects that the oil pressure at the second opening does not reach the set pressure threshold, the vehicle controller determines that the hydraulic circuit of the left active suspension is leaking oil.

[0060] If the first speed sensor detects that the forward rotation speed of the left drive motor reaches the set threshold, and the first pressure sensor detects that the oil pressure at the first opening reaches the set pressure threshold, then the vehicle controller determines that the hydraulic circuit of the left active suspension is operating normally.

[0061] If the first speed sensor detects that the reverse rotation speed of the left drive motor reaches the set threshold, and the second pressure sensor detects that the oil pressure at the second opening reaches the set pressure threshold, then the vehicle controller determines that the hydraulic circuit of the left active suspension is operating normally.

[0062] In some alternative embodiments: see Figure 1 and Figure 2As shown, this application embodiment provides a fully active suspension system with safety redundancy. The right motor pump 4 of the fully active suspension system includes a right drive mechanism and a right pumping mechanism. The right pumping mechanism includes a third opening and a fourth opening. The third opening is connected to the upper right oil chamber through a hydraulic pipeline, and the fourth opening is connected to the lower right oil chamber through a hydraulic pipeline.

[0063] The right pumping mechanism is configured such that when the right drive mechanism rotates forward, the third opening serves as the fluid inlet and the fourth opening serves as the fluid outlet; when the right drive mechanism rotates in reverse, the fourth opening serves as the fluid inlet and the third opening serves as the fluid outlet. The right drive mechanism includes a right drive motor and a second speed sensor for detecting the right drive motor. The output shaft of the right drive motor is connected to the right pumping mechanism via a second reducer.

[0064] The third pressure sensor is connected to the third opening, and the fourth pressure sensor is connected to the fourth opening. The reversing valve 5, the right drive motor, the second speed sensor, the third pressure sensor, and the fourth pressure sensor are all connected to the vehicle controller.

[0065] The right-side motor pump 4 in this embodiment includes a right drive mechanism, a second reducer, and a right pumping mechanism. The right drive mechanism is used to output power and can be used to drive the right pumping mechanism to deliver hydraulic oil. The right drive mechanism is used to generate rotational driving force. The right drive mechanism transmits the speed and torque to the right pumping mechanism after the speed is reduced and the torque is increased by the second reducer to drive the right pumping mechanism to pump oil.

[0066] The right pumping mechanism includes a third opening and a fourth opening. The third opening is connected to the upper right oil chamber of the right active cylinder 3 via a hydraulic line, and the fourth opening is connected to the lower right oil chamber of the right active cylinder 3 via a hydraulic line. When the right drive mechanism rotates forward, the right pumping mechanism pumps hydraulic oil from the third opening and the hydraulic line to the upper right oil chamber of the right active cylinder 3. When the right drive mechanism rotates in reverse, the right pumping mechanism pumps hydraulic oil from the fourth opening and the hydraulic line to the lower right oil chamber of the right active cylinder 3.

[0067] A third pressure sensor is connected to the third opening, and a fourth pressure sensor is connected to the fourth opening. When the vehicle controller controls the right drive mechanism to rotate forward, the third pressure sensor can detect whether the oil pressure at the third opening reaches the set pressure threshold, and the second speed sensor detects whether the speed of the right drive motor reaches the set threshold.

[0068] If the second speed sensor detects that the speed of the right drive motor has not reached the set threshold, the vehicle controller determines that the right drive motor is damaged; if the second speed sensor detects that the forward speed of the right drive motor has reached the set threshold, and the third pressure sensor detects that the oil pressure at the third opening has not reached the set pressure threshold, the vehicle controller determines that the right active suspension hydraulic circuit is leaking oil.

[0069] If the second speed sensor detects that the reverse rotation speed of the right drive motor reaches the set threshold, and the fourth pressure sensor detects that the oil pressure at the fourth opening does not reach the set pressure threshold, the vehicle controller determines that the right active suspension hydraulic circuit is leaking oil.

[0070] If the second speed sensor detects that the forward rotation speed of the right drive motor reaches the set threshold, and the third pressure sensor detects that the oil pressure at the third opening reaches the set pressure threshold, then the vehicle controller determines that the right active suspension hydraulic circuit is operating normally.

[0071] If the second speed sensor detects that the reverse rotation speed of the right drive motor reaches the set threshold, and the fourth pressure sensor detects that the oil pressure at the fourth opening reaches the set pressure threshold, then the vehicle controller determines that the right active suspension hydraulic circuit is operating normally.

[0072] See Figures 1 to 3 As shown, a second aspect of this application provides a vehicle, including: a fully active suspension system with safety redundancy as described in any of the above embodiments. The left active cylinder 1 of the fully active suspension system is connected between the left wheel assembly and the body assembly 16, and the right active cylinder 3 of the fully active suspension system is connected between the right wheel assembly and the body assembly 16.

[0073] The body assembly 16 is equipped with a body deflection sensor that detects body posture information. The body deflection sensor is connected to the vehicle controller. The vehicle controller controls the operation of the left motor pump 2, the right motor pump 4 and the reversing valve 5 of the fully active suspension system according to the body posture information.

[0074] When the vehicle tilts to the left during driving, the left motor pump 2 rotates forward and pumps hydraulic oil to the lower left oil chamber of the left active cylinder 1, while the right motor pump 4 rotates in reverse and pumps hydraulic oil to the upper right oil chamber of the right active cylinder 3. This causes the left active cylinder 1 and the right active cylinder 3 to generate a torque that resists the vehicle's tilt and suppresses the vehicle from tilting to the left.

[0075] When the vehicle tilts to the right during driving, the vehicle controller controls the right motor pump 4 to rotate forward and pumps hydraulic oil to the lower right oil chamber of the right active cylinder 3. The vehicle controller controls the left motor pump 2 to rotate in reverse and pumps hydraulic oil to the upper left oil chamber of the left active cylinder 1. This causes the left active cylinder 1 and the right active cylinder 3 to form a torque to resist the vehicle's tilt and suppress the vehicle from tilting to the right.

[0076] When the vehicle controller detects that the left motor pump 2 or the right motor pump 4 is not operating or has been operating and the body assembly 16 has not returned to the set attitude angle, the vehicle controller can determine that the left motor pump 2 or the right motor pump 4 has failed. At this time, the vehicle controller controls the reversing valve 5 to operate, connecting the P port to the B port and the T port to the A port, so that the lower left oil chamber of the left active cylinder 1 is connected to the upper right oil chamber of the right active cylinder 3, and the upper left oil chamber of the left active cylinder 1 is connected to the lower right oil chamber of the right active cylinder 3.

[0077] Furthermore, even if the left motor pump 2 or the right motor pump 4 is not operating or fails after operation, the lower left oil chamber of the left active cylinder 1 and the upper right oil chamber of the right active cylinder 3 can still be interconnected, and the upper left oil chamber of the left active cylinder 1 and the lower right oil chamber of the right active cylinder 3 can be interconnected, generating a torque to resist the roll of the vehicle body assembly 16. This reduces the roll angle when the vehicle is turning and improves the vehicle's turning safety.

[0078] In some alternative embodiments: see Figures 1 to 3 As shown, a second aspect of this application provides a vehicle whose left wheel assembly includes a left front wheel unit and a left rear wheel unit, and whose right wheel assembly includes a right front wheel unit and a right rear wheel unit. The fully active suspension system has two sets, which allow the front and rear axles of the passenger vehicle, composed of the left front wheel unit, left rear wheel unit, right front wheel unit, and right rear wheel unit, to eliminate the need for anti-roll bars.

[0079] In the two fully active suspension systems, in one system the left active cylinder 1 is connected between the left front wheel unit and the body assembly, and the right active cylinder 3 is connected between the right front wheel unit and the body assembly; in the other system the left active cylinder 1 is connected between the left rear wheel unit and the body assembly, and the right active cylinder 3 is connected between the right rear wheel unit and the body assembly.

[0080] The vehicle body yaw sensor includes an attitude measurement sensor connected to the vehicle body assembly and / or a steering wheel angle sensor connected to the vehicle steering gear. The attitude measurement sensor is used to detect the attitude angle information of the vehicle body assembly in real time, and the steering wheel angle sensor is used to detect the rotation direction, rotation angle and rotation speed of the steering wheel in real time.

[0081] An attitude measurement sensor is a device that combines a three-axis gyroscope, a three-axis accelerometer, and a three-axis electronic compass. Utilizing quaternion three-dimensional algorithms and data fusion technology, it outputs real-time three-dimensional attitude data, enabling precise detection of the vehicle assembly's attitude data and transmission to the vehicle control system. A steering wheel angle sensor can predict changes in the vehicle assembly's attitude based on the driver's steering wheel movements, allowing the vehicle controller to send control signals to the fully active suspension system in advance for rapid attitude correction.

[0082] join Figures 1 to 3 As shown, a third aspect of this application provides a control method for a fully active suspension system with safety redundancy, the method using the vehicle described in any of the above embodiments, the method comprising: Step 101: When the vehicle body yaw sensor detects that the body assembly 16 is tilted to the left during vehicle operation, the vehicle controller controls the left motor pump 2 to rotate forward and pumps hydraulic oil to the lower left oil chamber of the left active cylinder 1. The vehicle controller controls the right motor pump 4 to rotate in reverse and pumps hydraulic oil to the upper right oil chamber of the right active cylinder 3.

[0083] Step 102: When the vehicle body yaw sensor detects that the body assembly 16 is tilted to the right during vehicle operation, the vehicle controller controls the right motor pump 4 to rotate forward and pumps hydraulic oil to the lower right oil chamber of the right active cylinder 3. The vehicle controller controls the left motor pump 2 to rotate in reverse and pumps hydraulic oil to the upper left oil chamber of the left active cylinder 1.

[0084] Step 103: When the left motor pump 2 or the right motor pump 4 is running, if the vehicle body deflection sensor detects that the attitude of the vehicle body assembly has not returned to the set attitude angle, the vehicle controller determines that the left motor pump 2 or the right motor pump 4 has failed (failure includes the left motor pump 2 or the right motor pump 4 malfunctioning or exceeding performance parameters, etc.).

[0085] Step 104: The vehicle controller controls the reversing valve 5 to operate. The P port of the reversing valve 5 is connected to the B port, and the T port is connected to the A port, so that the lower left oil chamber of the left active cylinder 1 is connected to the upper right oil chamber of the right active cylinder 3, and the upper left oil chamber of the left active cylinder 1 is connected to the lower right oil chamber of the right active cylinder 3.

[0086] Working principle This application provides a fully active hydraulic suspension system with safety redundancy, a vehicle, and a control method. The fully active hydraulic suspension system of this application includes a left active suspension hydraulic circuit, which comprises a left active cylinder 1, including an upper left oil chamber and a lower left oil chamber, and a left-side motor pump 2 connected to the upper left and lower left oil chambers via hydraulic lines; a right active suspension hydraulic circuit, which includes a right active cylinder 3, including an upper right oil chamber and a lower right oil chamber, and a right-side motor pump 4 connected to the upper right and lower right oil chambers via hydraulic lines; and a reversing valve 5, which includes a T-port connected to the upper left oil chamber, a P-port connected to the lower left oil chamber, a B-port connected to the upper right oil chamber, and an A-port connected to the lower right oil chamber.

[0087] Therefore, in this application's hydraulically active suspension system with safety redundancy, when the vehicle tilts to the left during driving, the left motor pump 2 rotates forward, pumping hydraulic oil to the lower left oil chamber of the left active cylinder 1, while the right motor pump 4 rotates in reverse, pumping hydraulic oil to the upper right oil chamber of the right active cylinder 3. This causes the left active cylinder 1 and the right active cylinder 3 to generate a torque resisting vehicle roll, thus suppressing vehicle roll. Alternatively, when the vehicle tilts to the right during driving, the right motor pump 4 rotates forward, pumping hydraulic oil to the lower right oil chamber of the right active cylinder 3, while the left motor pump 2 rotates in reverse, pumping hydraulic oil to the upper left oil chamber of the left active cylinder 1. This causes the left active cylinder 1 and the right active cylinder 3 to generate a torque resisting vehicle roll, thus suppressing vehicle roll.

[0088] Furthermore, if the vehicle body assembly fails to return to its set attitude angle after the left motor pump 2 or right motor pump 4 has started operating, it can be determined that the left motor pump 2 or right motor pump 4 has failed. At this time, the reversing valve 5 is activated, connecting its P port to its B port and its T port to its A port, thereby connecting the lower left oil chamber of the left active cylinder 1 with the upper right oil chamber of the right active cylinder 3, and vice versa. This interconnection generates a torque to resist roll, thereby reducing the roll angle during vehicle cornering and improving vehicle cornering safety.

[0089] In the description of this application, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0090] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0091] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A fully active suspension system with safety redundancy, characterized in that, include: The left active suspension hydraulic circuit includes a left active cylinder (1), which includes an upper left oil chamber and a lower left oil chamber, and a left motor pump (2) that connects the upper left oil chamber and the lower left oil chamber through a hydraulic pipeline. The right active suspension hydraulic circuit includes a right active cylinder (3), which includes an upper right oil chamber and a lower right oil chamber, and a right motor pump (4) that connects the upper right oil chamber and the lower right oil chamber through a hydraulic pipeline. The reversing valve (5) includes a T port connected to the upper left oil chamber, a P port connected to the lower left oil chamber, a B port connected to the upper right oil chamber, and an A port connected to the lower right oil chamber.

2. The fully active suspension system with safety redundancy as described in claim 1, characterized in that: The left active cylinder (1) includes a left cylinder body and a piston slidably connected to the left cylinder body. The piston is connected to a piston rod with one end extending out of the left cylinder body. The piston divides the left cylinder body into the upper left oil chamber and the lower left oil chamber. The upper left oil chamber is a rod chamber and the lower left oil chamber is a rodless chamber.

3. The fully active suspension system with safety redundancy as described in claim 1, characterized in that: The right active cylinder (3) includes a right cylinder body and a piston slidably connected to the right cylinder body. The piston is connected to a piston rod with one end extending out of the right cylinder body. The piston divides the right cylinder body into the upper right oil chamber and the lower right oil chamber. The upper right oil chamber is a rod chamber and the lower right oil chamber is a rodless chamber.

4. A fully active suspension system with safety redundancy as described in claim 1, characterized in that: The left active suspension hydraulic circuit also includes a left energy storage branch, which includes a left accumulator (6). A first left check valve (7) and a left recovery chamber solenoid valve (8) are connected between the left accumulator (6) and the upper left oil chamber, and the first left check valve (7) and the left recovery chamber solenoid valve (8) are connected in parallel. A second left check valve (9) and a left compression chamber solenoid valve (10) are connected between the left accumulator (6) and the lower left oil chamber, and the second left check valve (9) and the left compression chamber solenoid valve (10) are connected in parallel.

5. A fully active suspension system with safety redundancy as described in claim 4, characterized in that: The first left one-way valve (7) is connected to the upper left oil chamber through the left accumulator (6), and the second left one-way valve (9) is connected to the lower left oil chamber through the left accumulator (6). The left recovery chamber solenoid valve (8) and the left compression chamber solenoid valve (10) are both connected to the vehicle controller.

6. A fully active suspension system with safety redundancy as described in claim 1, characterized in that: The right active suspension hydraulic circuit also includes a right energy storage branch, which includes a right accumulator (11). A first right check valve (12) and a right recovery chamber solenoid valve (13) are connected between the right accumulator (11) and the upper right oil chamber, and the first right check valve (12) and the right recovery chamber solenoid valve (13) are connected in parallel; A second right check valve (14) and a right compression chamber solenoid valve (15) are connected between the right accumulator (11) and the right lower oil chamber, and the second right check valve (14) and the right compression chamber solenoid valve (15) are connected in parallel.

7. A fully active suspension system with safety redundancy as described in claim 6, characterized in that: The first right check valve (12) is connected in one direction to the upper right oil chamber via the right accumulator (11), and the second right check valve (14) is connected in one direction to the lower right oil chamber via the right accumulator (11). The right recovery chamber solenoid valve (13) and the right compression chamber solenoid valve (15) are both connected to the vehicle controller.

8. A fully active suspension system with safety redundancy as described in claim 1, characterized in that: The left-side motor pump (2) includes a left drive mechanism and a left pumping mechanism. The left pumping mechanism includes a first opening and a second opening. The first opening is connected to the upper left oil chamber through a hydraulic pipeline, and the second opening is connected to the lower left oil chamber through a hydraulic pipeline. The left pumping mechanism is configured such that when the left drive mechanism rotates forward, the first opening serves as a fluid inlet and the second opening serves as a fluid outlet; when the left drive mechanism rotates in reverse, the second opening serves as a fluid inlet and the first opening serves as a fluid outlet.

9. A fully active suspension system with safety redundancy as described in claim 8, characterized in that: The left drive mechanism includes a left drive motor and a first speed sensor for detecting the speed of the left drive motor. The output shaft of the left drive motor is connected to the left pumping mechanism via a first reducer. A first pressure sensor is connected to the first opening, and a second pressure sensor is connected to the second opening. The reversing valve (5), the left drive motor, the first speed sensor, the first pressure sensor, and the second pressure sensor are all connected to the vehicle controller.

10. A fully active suspension system with safety redundancy as described in claim 1, characterized in that: The right-side motor pump (4) includes a right drive mechanism and a right pumping mechanism. The right pumping mechanism includes a third opening and a fourth opening. The third opening is connected to the upper right oil chamber through a hydraulic pipeline, and the fourth opening is connected to the lower right oil chamber through a hydraulic pipeline. The right pumping mechanism is configured such that when the right drive mechanism rotates forward, the third opening serves as a fluid inlet and the fourth opening serves as a fluid outlet; when the right drive mechanism rotates in reverse, the fourth opening serves as a fluid inlet and the third opening serves as a fluid outlet.

11. A fully active suspension system with safety redundancy as described in claim 10, characterized in that: The right drive mechanism includes a right drive motor and a second speed sensor for detecting the right drive motor. The output shaft of the right drive motor is connected to the right pumping mechanism via a second reducer. A third pressure sensor is connected to the third opening, and a fourth pressure sensor is connected to the fourth opening. The reversing valve (5), the right drive motor, the second speed sensor, the third pressure sensor, and the fourth pressure sensor are all connected to the vehicle controller.

12. A vehicle, characterized in that, include: A fully active suspension system with safety redundancy as described in any one of claims 1 to 11; The left active cylinder (1) of the fully active suspension system is connected between the left wheel assembly and the body assembly (16), and the right active cylinder (3) of the fully active suspension system is connected between the right wheel assembly and the body assembly (16). The body assembly (16) is equipped with a body deflection sensor that detects body posture information. The body deflection sensor is connected to the vehicle controller. The vehicle controller controls the operating status of the left motor pump (2), right motor pump (4) and reversing valve (5) of the fully active suspension system according to the body posture information.

13. A vehicle as described in claim 12, characterized in that: The left wheel assembly includes a left front wheel unit and a left rear wheel unit, and the right wheel assembly includes a right front wheel unit and a right rear wheel unit. The fully active suspension system is provided in two sets. In one set, the left active cylinder (1) of the fully active suspension system is connected between the left front wheel unit and the body assembly (16), and the right active cylinder (3) is connected between the right front wheel unit and the body assembly (16). The left active cylinder (1) of the other group of the fully active suspension system is connected between the left rear wheel unit and the body assembly (16), and the right active cylinder (3) is connected between the right rear wheel unit and the body assembly (16).

14. A vehicle as described in claim 12, characterized in that: The vehicle body deflection sensor includes an attitude measurement sensor connected to the vehicle body assembly (16) and / or a steering wheel angle sensor connected to the vehicle steering gear. The attitude measurement sensor is used to detect the attitude angle information of the vehicle body assembly (16) in real time, and the steering wheel angle sensor is used to detect the rotation direction, rotation angle and rotation speed of the steering wheel in real time.

15. A control method for a fully active suspension system with safety redundancy, characterized in that, The method uses the vehicle of claim 12, and the method includes: When the vehicle body tilt sensor detects that the body assembly (16) tilts to the left during vehicle operation, the vehicle controller controls the left motor pump (2) to rotate forward and sends the hydraulic oil pump to the lower left oil chamber of the left active cylinder (1). The vehicle controller controls the right motor pump (4) to rotate in reverse and sends the hydraulic oil pump to the upper right oil chamber of the right active cylinder (3). Or when the vehicle body tilt sensor detects that the body assembly (16) tilts to the right during vehicle operation, the vehicle controller controls the right motor pump (4) to rotate forward and sends the hydraulic oil pump to the lower right oil chamber of the right active cylinder (3), and the vehicle controller controls the left motor pump (2) to rotate in reverse and sends the hydraulic oil pump to the upper left oil chamber of the left active cylinder (1). When the left motor pump (2) or the right motor pump (4) is running, and the vehicle body deflection sensor detects that the attitude of the vehicle body assembly (16) has not returned to the set attitude angle, the vehicle controller determines that the left motor pump (2) or the right motor pump (4) has failed. The vehicle controller controls the reversing valve (5) to operate. The P port of the reversing valve (5) is connected to the B port, and the T port is connected to the A port, so that the lower left oil chamber of the left active cylinder (1) is connected to the upper right oil chamber of the right active cylinder (3), and the upper left oil chamber of the left active cylinder (1) is connected to the lower right oil chamber of the right active cylinder (3).

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