Vehicle body height recognition method, device and equipment and computer readable storage medium
By acquiring vehicle operating parameters to determine the height compensation value and correcting the height sensor signal, the problem of false signals during vehicle steering is solved, enabling accurate identification and stable control of vehicle height, and improving ride comfort and system reliability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- VOYAH AUTOMOBILE TECH CO LTD
- Filing Date
- 2026-03-13
- Publication Date
- 2026-06-09
Smart Images
Figure CN122165801A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of vehicle control technology, specifically to a vehicle body height recognition method, device, equipment, and computer-readable storage medium. Background Technology
[0002] Air suspension systems in vehicles typically rely on height sensors to detect vehicle height signals for ride height adjustment. In existing air suspension control strategies, the controller directly reads the raw signals from the height sensors at each air spring and converts them into a vehicle height value. When the vehicle height value deviates from the set height value in the target driving mode, the system controls the compressor or solenoid valve to inflate or deflate the air to adjust the vehicle to the target height.
[0003] However, when the vehicle is turning, the movement of components such as the steering tie rod may indirectly affect the linkage or mounting bracket of the height sensor through mechanical connections, causing unexpected abrupt changes in the vehicle height signal output by the height sensor. These abrupt changes are not caused by actual load changes or changes in vehicle attitude, and are considered "false height signals." Existing control strategies cannot effectively distinguish such false signals from genuine changes in vehicle height, and may drive the actuators to perform unnecessary inflation and deflation based on erroneous signals. This leads to the following problems: 1. Abnormal fluctuations in vehicle height affect ride comfort and stability; 2. Frequent operation of system components reduces reliability and generates noise; 3. In extreme cases, it may trigger system fault codes. Summary of the Invention
[0004] This application provides a vehicle body height recognition method, device, equipment, and computer-readable storage medium, which can solve the technical problem in the prior art that the vehicle body height signal output by the height sensor cannot represent the actual vehicle body height value when the vehicle is turning.
[0005] In a first aspect, embodiments of this application provide a vehicle body height recognition method, the vehicle body height recognition method comprising: The vehicle operating parameters and the vehicle height signal collected by the height sensor are acquired. The vehicle operating parameters include the steering wheel angle. The height compensation value is determined based on the vehicle operating parameters. The vehicle height value corresponding to the vehicle height signal is compensated based on the height compensation value to obtain the vehicle height recognition result.
[0006] In conjunction with the first aspect, in one implementation, determining the height compensation value based on the vehicle operating parameters includes: The system detects whether there are standard vehicle operating parameters in the compensation value mapping relationship that are consistent with the vehicle operating parameters. The compensation value mapping relationship includes multiple sets of different standard vehicle operating parameters and their corresponding standard height compensation values. If it exists, the standard height compensation value corresponding to the standard vehicle operating parameters that are consistent with the vehicle operating parameters shall be used as the height compensation value.
[0007] In conjunction with the first aspect, in one embodiment, after determining whether a standard vehicle operating parameter consistent with the vehicle operating parameter exists in the detection compensation value mapping relationship, the method further includes: If not, then search for the two standard vehicle operating parameters that are closest to the stated vehicle operating parameters from the compensation value mapping relationship; A linear function is constructed based on the two standard vehicle operating parameters and their corresponding standard height compensation values, wherein the independent variable of the linear function is the standard vehicle operating parameter and the dependent variable is the standard height compensation value; The vehicle operating parameters are substituted into the linear function as independent variables, and the resulting dependent variable is used as the height compensation value.
[0008] In conjunction with the first aspect, in one embodiment, the vehicle operating parameters further include the rate of change of steering wheel angle, vehicle speed, and duration of steering action.
[0009] In conjunction with the first aspect, in one embodiment, after determining the height compensation value based on the vehicle operating parameters, the method further includes: If the absolute value of the height compensation value is greater than a preset threshold, the vehicle height value corresponding to the vehicle height signal is compensated based on the height compensation value to obtain the vehicle height recognition result.
[0010] In conjunction with the first aspect, in one embodiment, after obtaining the vehicle height recognition result, the method further includes: When the steering condition is detected to have ended, the height compensation value is gradually reduced to zero.
[0011] In conjunction with the first aspect, in one embodiment, the height sensor is a height sensor disposed at the steering wheel.
[0012] Secondly, embodiments of this application provide a vehicle body height recognition device, the vehicle body height recognition device comprising: The acquisition module is used to acquire vehicle operating parameters and vehicle height signals collected by the height sensor. The vehicle operating parameters include the steering wheel angle. The determination module is used to determine the height compensation value based on the vehicle operating parameters; The compensation module is used to compensate the vehicle height value corresponding to the vehicle height signal based on the height compensation value, so as to obtain the vehicle height recognition result.
[0013] Thirdly, embodiments of this application provide a vehicle height recognition device, which includes a processor, a memory, and a vehicle height recognition program stored in the memory and executable by the processor, wherein when the vehicle height recognition program is executed by the processor, it implements the steps of the vehicle height recognition method as described in the first aspect.
[0014] Fourthly, embodiments of this application provide a computer-readable storage medium storing a vehicle height recognition program, wherein when the vehicle height recognition program is executed by a processor, it implements the steps of the vehicle height recognition method as described in the first aspect.
[0015] The beneficial effects of the technical solutions provided in this application include: In this embodiment, vehicle operating parameters and vehicle height signals collected by a height sensor are acquired. The vehicle operating parameters include the steering wheel angle. A height compensation value is determined based on the vehicle operating parameters. The vehicle height value corresponding to the vehicle height signal is compensated based on the height compensation value to obtain a vehicle height recognition result. Through this embodiment, the degree of interference of steering on the height sensor is identified based on vehicle operating parameters, and a corresponding compensation value is determined. This compensation value is then used to correct the original vehicle height value, thereby restoring the true vehicle height, unaffected by steering interference. Attached Figure Description
[0016] Figure 1 This is a flowchart illustrating an embodiment of the vehicle body height recognition method of this application; Figure 2 This is a detailed flowchart of step S20 in one embodiment; Figure 3 This is a detailed flowchart of step S20 in another embodiment; Figure 4 This is a functional module diagram of an embodiment of the vehicle body height recognition device of this application; Figure 5 This is a schematic diagram of the hardware structure of the vehicle height recognition device involved in the embodiments of this application. Detailed Implementation
[0017] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.
[0018] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.
[0019] In a first aspect, embodiments of this application provide a method for recognizing vehicle body height.
[0020] In one embodiment, reference is made to Figure 1 , Figure 1 This is a schematic flowchart of an embodiment of the vehicle body height recognition method of this application. Figure 1 As shown, the vehicle height recognition method includes: Step S10: Obtain vehicle operating parameters and vehicle height signal collected by height sensor, wherein the vehicle operating parameters include steering wheel angle. In this embodiment, the executing entity can be the vehicle air suspension controller. The vehicle air suspension controller does not directly accept the raw readings from the height sensor, but combines them with vehicle operating parameters (especially the steering wheel angle) to determine a compensation value, thereby outputting a clean vehicle height value that reflects the actual load change, for use by subsequent height adjustment strategies.
[0021] The vehicle air suspension controller acquires vehicle operating parameters in real time via the vehicle's CAN bus. These parameters include, at a minimum, the steering wheel angle measured by the steering wheel angle sensor. Simultaneously, the air suspension controller receives raw voltage signals (i.e., vehicle height signals) from the height sensors at each air spring and converts them into a vehicle height value. It should be noted that the height sensors typically employ the Hall effect or magnetoresistive effect to convert the air spring's extension and contraction displacement into a linearly changing voltage signal. The air suspension controller, through ADC sampling and a built-in calibration curve, can convert the voltage value into a vehicle height value in millimeters in real time. In this embodiment, the air suspension controller continuously samples the vehicle height signal from the height sensors at a preset sampling frequency (e.g., 10ms or 20ms) to ensure that transient disturbances during steering are captured.
[0022] Step S20: Determine the height compensation value based on the vehicle operating parameters; In this embodiment, the vehicle air suspension controller takes the acquired vehicle operating parameters (including at least the steering wheel angle) as input and determines the height compensation value through preset logic or algorithms. This height compensation value represents the expected amount of interference to the height sensor reading under the current steering state. It can be determined by looking up a table, calculating with a formula, or using reasoning based on a neural network model. In a specific implementation, the air suspension controller integrates a steering interference observation module. The core of this module is an interference model pre-calibrated through extensive real-vehicle experiments and simulations. The input to this model is parameters such as the steering wheel angle, and the output is the predicted interference displacement (i.e., the height compensation value). The physical significance of this model lies in quantifying the displacement transmitted from steering wheel rotation through the mechanical transmission chain such as the steering tie rod and steering knuckle to the height sensor linkage.
[0023] Step S30: Compensate the vehicle height value corresponding to the vehicle height signal based on the height compensation value to obtain the vehicle height recognition result.
[0024] In this embodiment, the vehicle height controller performs a compensation calculation. The determined height compensation value C is subtracted from (or added according to the actual situation) the vehicle height value H_raw corresponding to the vehicle height signal, resulting in the vehicle height recognition result H_comp. H_comp represents the vehicle height after eliminating steering interference, which is closer to the actual physical state. For example, if calibration shows that the left front sensor is stretched and produces an error of -10mm during a left turn, the vehicle height value H_raw obtained by the controller will be 10mm lower. By looking up a table / calculating, the height compensation value C is found to be +10mm, so the final vehicle height recognition result H_comp = H_raw + 10mm. In another example, if the vehicle turns right, the right suspension may be compressed due to the mechanical structure, causing the sensor reading to be too high. In this case, the height compensation value may be negative (e.g., -5mm), and the compensation calculation is H_comp = H_raw - 5mm. The sign of the compensation calculation depends on the specific vehicle model's mechanical structure and sensor installation method, and can be uniquely determined through the calibration process.
[0025] The subsequent air suspension height adjustment system will use this H_comp as the actual vehicle height and compare it with the set height in the target mode to determine whether to inflate or deflate the air. This avoids erroneous adjustments caused by steering interference.
[0026] In this embodiment, "vehicle operating parameters (including at least steering wheel angle)" are introduced as the basis for judgment, and a height compensation value is determined based on this to correct the original vehicle height value. Its beneficial effects are: it fundamentally solves the problems of vehicle height misidentification and air suspension misadjustment caused by steering interference, avoids unnecessary inflation and deflation actions, and ensures the accuracy and stability of vehicle height control.
[0027] Furthermore, in one embodiment, reference is made to Figure 2 , Figure 2 This is a detailed flowchart of step S20 in one embodiment. Figure 2 As shown, step S20 includes: Step S201: Detect whether there are standard vehicle operating parameters in the compensation value mapping relationship that are consistent with the vehicle operating parameters. The compensation value mapping relationship includes multiple sets of different standard vehicle operating parameters and their corresponding standard height compensation values. Step S202: If it exists, then the standard height compensation value corresponding to the standard vehicle operating parameters that are consistent with the vehicle operating parameters shall be used as the height compensation value.
[0028] In this embodiment, a compensation value mapping table is pre-stored in non-volatile memory (such as Flash or EEPROM). This table is essentially a two-dimensional or multi-dimensional lookup table. This table is obtained through extensive simulation and real-vehicle calibration, and contains multiple sets of different standard vehicle operating parameters (e.g., standard steering wheel angles θ1, θ2, θ3, etc.) and their corresponding standard height compensation values (e.g., C1, C2, C3, etc.). The calibration process is typically performed during the vehicle development phase: the vehicle is placed on a lift to simulate different steering angles, and a high-precision laser displacement sensor is used to measure the actual height change of the vehicle body. By comparing the differences in the height sensor readings, the interference compensation value at that angle can be obtained. These discrete calibration points are recorded in non-volatile memory, thus forming the compensation value mapping relationship.
[0029] When determining the compensation value, the system first checks if the currently acquired vehicle operating parameters (such as steering wheel angle θ) exist in the mapping relationship. If a standard vehicle operating parameter that perfectly matches the current θ exists, the standard height compensation value corresponding to that parameter is directly extracted and used as the final height compensation value C. For example, if the calibration table has a compensation value C1 = +5mm corresponding to θ1 = 90°, and the current θ is also 90°, then C = +5mm is directly taken. This method has a fast response speed and low computational load.
[0030] In this embodiment, the height compensation value is determined by looking up a table through a pre-stored compensation value mapping relationship. This makes the acquisition of the height compensation value simple and fast, without the need for complex real-time modeling and calculation. It also reduces the computing power requirements of the vehicle's existing controller and is easy to implement in engineering and for batch calibration.
[0031] Furthermore, in one embodiment, reference is made to Figure 3 , Figure 3 This is a detailed flowchart of step S20 in another embodiment. For example... Figure 3 As shown, after step S201, the following steps are also included: Step S203: If it does not exist, then search for the two standard vehicle operating parameters that are closest to the vehicle operating parameters from the compensation value mapping relationship; Step S204: Construct a linear function based on the two standard vehicle operating parameters and their corresponding standard height compensation values, wherein the independent variable of the linear function is the standard vehicle operating parameter and the dependent variable is the standard height compensation value; Step S205: Substitute the vehicle operating parameters as independent variables into the linear function, and use the resulting dependent variable as the height compensation value.
[0032] In this embodiment, if no standard vehicle operating parameter completely matches the vehicle operating parameters in the compensation value mapping relationship, interpolation calculation is performed. For example, taking the vehicle operating parameter as the steering wheel angle, and the steering wheel angle θ = 95°, while the table only contains θ1 = 90° (corresponding to C1 = +5mm) and θ2 = 100° (corresponding to C2 = +6mm). By searching, the two standard vehicle operating parameters closest to θ are determined, namely θ1 and θ2. Then, based on these two points (θ1, C1) and (θ2, C2), a linear function (such as a linear function C = aθ + b) is constructed. Finally, the current θ = 95° is substituted into this linear function as the independent variable, and the calculated dependent variable C (for example, the interpolation result is +5.5mm) is used as the final height compensation value. In this way, accurate compensation for continuous operating conditions can be achieved without storing an endless number of data points in the calibration table, effectively saving the controller's storage resources while ensuring compensation accuracy. It is understandable that, in addition to linear interpolation, when the vehicle operating parameters are multi-dimensional parameters, more complex interpolation algorithms such as bilinear interpolation or trilinear interpolation can also be used. This embodiment does not limit this.
[0033] Furthermore, in one embodiment, the vehicle operating parameters also include the steering wheel angle change rate, vehicle speed, and steering action duration.
[0034] In this embodiment, to more accurately describe the complex steering dynamics, the acquired vehicle operating parameters are not limited to the steering wheel angle, but also include: the rate of change of steering wheel angle (reflecting the speed of steering), vehicle speed (reflecting the vehicle's driving state), and the duration of the steering action (reflecting the cumulative effect of the disturbance). These parameters are introduced because actual mechanical disturbances are not merely static functions of the steering wheel angle, but are also related to steering speed and vehicle dynamic response. For example, when turning the steering wheel quickly at high speed, the disturbance generated may be greater than when turning the steering wheel slowly at low speed due to the transient response of the power steering system and suspension bushings; while continuous steering may cause creep in the rubber bushings, causing the disturbance value to drift slowly.
[0035] Correspondingly, the pre-calibrated compensation value mapping relationship is transformed into a multi-dimensional table or graph. For example, it is a multi-dimensional mapping that takes the standard steering wheel angle size, standard steering wheel angle change rate, standard vehicle speed, and standard steering action duration as inputs, and the standard height compensation value as output. The height compensation value is determined by querying this multi-dimensional mapping. For example, in the two conditions of high-speed sharp steering and low-speed gentle steering, even if the steering wheel angle size is the same, the determined height compensation value may be different, thus making the compensation more precise and closer to the actual physical process.
[0036] Furthermore, in one embodiment, after step S20, the method further includes: If the absolute value of the height compensation value is greater than a preset threshold, the vehicle height value corresponding to the vehicle height signal is compensated based on the height compensation value to obtain the vehicle height recognition result.
[0037] In this embodiment, after calculating the height compensation value based on the vehicle operating parameters, compensation is not necessarily performed immediately. Instead, the absolute value of the height compensation value is compared with a preset threshold. This preset threshold is a pre-calibrated, negligible upper limit of interference, for example, ±2mm.
[0038] If the absolute value of the height compensation value is less than or equal to the preset threshold, it indicates that the current steering interference is very small and can be ignored. In this case, the vehicle height value calculated based on the vehicle height signal is directly used as the vehicle height recognition result.
[0039] If the absolute value of the height compensation value is greater than a preset threshold, the interference is determined to be significant and requires compensation. Only then is the step of compensating the vehicle height value corresponding to the vehicle height signal based on the height compensation value executed to obtain the vehicle height recognition result. This avoids frequent and meaningless corrections by the system under minor interference, maintaining system stability.
[0040] Furthermore, in one embodiment, after step S30, the method further includes: When the steering condition is detected to have ended, the height compensation value is gradually reduced to zero.
[0041] In this embodiment, the air suspension controller continuously monitors vehicle operating parameters. When it detects the end of a steering condition (e.g., the steering wheel angle returns to the center position and remains there for a certain period of time), to ensure the smoothness of the control process, the controller does not immediately reduce the height compensation value to 0. Instead, it initiates a gradual process to slowly reduce the height compensation value to zero.
[0042] For example, a recovery period (e.g., 5 seconds) can be set. During the recovery period, the actual height compensation value used for correction decreases linearly or according to a certain curve to 0 from the current value. During the recovery period, the controller obtains the vehicle height recognition result based on the vehicle height value calculated from the vehicle height signal and the gradually zeroing height compensation value. After the recovery period ends, the height compensation value drops to 0, that is, the compensation mode is completely exited. This avoids abrupt changes in vehicle height control commands caused by the sudden disappearance of the height compensation value, ensuring the comfort of vehicle body adjustment.
[0043] Furthermore, in one embodiment, the height sensor is a height sensor disposed at the steering wheel.
[0044] In this embodiment, for common front-wheel steering vehicles, the mechanical structures such as the steering tie rods are mainly mechanically related to the air springs and height sensors of the left and right front wheels, while the rear wheel sensors are almost unaffected by steering. Therefore, in this embodiment, the height sensors are those located at the steering wheels. For front-wheel steering vehicles, this specifically refers to the first height sensor corresponding to the left front wheel and the second height sensor corresponding to the right front wheel. The vehicle height recognition method mainly processes the vehicle height signals collected by these two height sensors, determines the corresponding height compensation values, and performs compensation. For the rear wheel height sensors, conventional signal processing methods can be used, or their readings can be directly regarded as the true height. This approach effectively solves the core problem (front wheel interference) while simplifying the system model and reducing the computational burden on the controller.
[0045] It should be noted that this method also applies to vehicles with rear-wheel steering or four-wheel steering; simply extend the scope of "steering wheels" to include all wheels involved in steering.
[0046] Secondly, embodiments of this application also provide a vehicle body height recognition device.
[0047] In one embodiment, reference is made to Figure 4 , Figure 4 This is a functional module diagram of an embodiment of the vehicle body height recognition device of this application. Figure 4 As shown, the vehicle height recognition device includes: The acquisition module 10 is used to acquire vehicle operating parameters and vehicle height signals collected by the height sensor. The vehicle operating parameters include the steering wheel angle. The determining module 20 is used to determine the height compensation value based on the vehicle operating parameters; The compensation module 30 is used to compensate the vehicle height value corresponding to the vehicle height signal based on the height compensation value to obtain the vehicle height recognition result.
[0048] Furthermore, in one embodiment, the determining module 20 is configured to: The system detects whether there are standard vehicle operating parameters in the compensation value mapping relationship that are consistent with the vehicle operating parameters. The compensation value mapping relationship includes multiple sets of different standard vehicle operating parameters and their corresponding standard height compensation values. If it exists, the standard height compensation value corresponding to the standard vehicle operating parameters that are consistent with the vehicle operating parameters shall be used as the height compensation value.
[0049] Furthermore, in one embodiment, the determining module 20 is configured to: If not, then search for the two standard vehicle operating parameters that are closest to the stated vehicle operating parameters from the compensation value mapping relationship; A linear function is constructed based on the two standard vehicle operating parameters and their corresponding standard height compensation values, wherein the independent variable of the linear function is the standard vehicle operating parameter and the dependent variable is the standard height compensation value; The vehicle operating parameters are substituted into the linear function as independent variables, and the resulting dependent variable is used as the height compensation value.
[0050] Furthermore, in one embodiment, the vehicle operating parameters also include the steering wheel angle change rate, vehicle speed, and steering action duration.
[0051] Furthermore, in one embodiment, the compensation module 30 is also used for: If the absolute value of the height compensation value is greater than a preset threshold, the vehicle height value corresponding to the vehicle height signal is compensated based on the height compensation value to obtain the vehicle height recognition result.
[0052] Furthermore, in one embodiment, the vehicle height recognition device further includes a gradient processing module for: When the steering condition is detected to have ended, the height compensation value is gradually reduced to zero.
[0053] Furthermore, in one embodiment, the height sensor is a height sensor disposed at the steering wheel.
[0054] The functions of each module in the above-mentioned vehicle height recognition device correspond to the steps in the above-mentioned vehicle height recognition method embodiment, and their functions and implementation processes will not be described in detail here.
[0055] Thirdly, embodiments of this application provide a vehicle height recognition device, which may be a vehicle computer, air suspension controller, or other similar devices.
[0056] Reference Figure 5 , Figure 5 This is a schematic diagram of the hardware structure of the vehicle height recognition device involved in the embodiments of this application. In the embodiments of this application, the vehicle height recognition device may include a processor, a memory, a communication interface, and a communication bus.
[0057] The communication bus can be of any type and is used to interconnect the processor, memory, and communication interface.
[0058] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces used for interconnecting components within the vehicle height recognition device, as well as interfaces used for interconnecting the vehicle height recognition device with other devices (such as other computing devices or user equipment). Physical interfaces can be Ethernet interfaces, fiber optic interfaces, ATM interfaces, etc.; user equipment can be displays, keyboards, etc.
[0059] Memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.
[0060] The processor can be a general-purpose processor, which can call the vehicle height recognition program stored in the memory and execute the vehicle height recognition method provided in the embodiments of this application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed when the vehicle height recognition program is called can be referred to in the various embodiments of the vehicle height recognition method of this application, and will not be repeated here.
[0061] Those skilled in the art will understand that Figure 5The hardware structure shown does not constitute a limitation of this application and may include more or fewer components than shown, or combine certain components, or have different component arrangements.
[0062] Fourthly, embodiments of this application also provide a computer-readable storage medium.
[0063] The present application has a computer-readable storage medium storing a vehicle body height recognition program, wherein when the vehicle body height recognition program is executed by a processor, it implements the steps of the vehicle body height recognition method as described above.
[0064] The method implemented when the vehicle height recognition program is executed can be referred to in various embodiments of the vehicle height recognition method of this application, and will not be repeated here.
[0065] It should be noted that the sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.
[0066] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.
[0067] In the description of the embodiments of this application, terms such as "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a concrete manner.
[0068] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.
[0069] In some processes described in the embodiments of this application, multiple operations or steps are included in a specific order. However, it should be understood that these operations or steps may not be executed in the order they appear in the embodiments of this application, or they may be executed in parallel. The sequence number of the operation is only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed sequentially or in parallel, and these operations or steps may be combined.
[0070] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of this application.
[0071] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.
Claims
1. A method for recognizing vehicle body height, characterized in that, The vehicle height recognition method includes: The vehicle operating parameters and the vehicle height signal collected by the height sensor are acquired. The vehicle operating parameters include the steering wheel angle. The height compensation value is determined based on the vehicle operating parameters. The vehicle height value corresponding to the vehicle height signal is compensated based on the height compensation value to obtain the vehicle height recognition result.
2. The vehicle height recognition method as described in claim 1, characterized in that, The process of determining the height compensation value based on the vehicle operating parameters includes: The system detects whether there are standard vehicle operating parameters in the compensation value mapping relationship that are consistent with the vehicle operating parameters. The compensation value mapping relationship includes multiple sets of different standard vehicle operating parameters and their corresponding standard height compensation values. If it exists, the standard height compensation value corresponding to the standard vehicle operating parameters that are consistent with the vehicle operating parameters shall be used as the height compensation value.
3. The vehicle height recognition method as described in claim 2, characterized in that, After determining whether a standard vehicle operating parameter consistent with the vehicle operating parameter exists in the detection compensation value mapping relationship, the method further includes: If not, then search for the two standard vehicle operating parameters that are closest to the stated vehicle operating parameters from the compensation value mapping relationship; A linear function is constructed based on the two standard vehicle operating parameters and their corresponding standard height compensation values, wherein the independent variable of the linear function is the standard vehicle operating parameter and the dependent variable is the standard height compensation value; The vehicle operating parameters are substituted into the linear function as independent variables, and the resulting dependent variable is used as the height compensation value.
4. The vehicle height recognition method as described in claim 2, characterized in that, The vehicle operating parameters also include the rate of change of steering wheel angle, vehicle speed, and duration of steering action.
5. The vehicle height recognition method as described in claim 1, characterized in that, After determining the height compensation value based on the vehicle operating parameters, the method further includes: If the absolute value of the height compensation value is greater than a preset threshold, the vehicle height value corresponding to the vehicle height signal is compensated based on the height compensation value to obtain the vehicle height recognition result.
6. The vehicle height recognition method as described in claim 1, characterized in that, After obtaining the vehicle height recognition result, the following is also included: When the steering condition is detected to have ended, the height compensation value is gradually reduced to zero.
7. The vehicle body height recognition method as described in any one of claims 1 to 6, characterized in that, The height sensor is a height sensor installed at the steering wheel.
8. A vehicle body height recognition device, characterized in that, The vehicle height recognition device includes: The acquisition module is used to acquire vehicle operating parameters and vehicle height signals collected by the height sensor. The vehicle operating parameters include the steering wheel angle. The determination module is used to determine the height compensation value based on the vehicle operating parameters; The compensation module is used to compensate the vehicle height value corresponding to the vehicle height signal based on the height compensation value, so as to obtain the vehicle height recognition result.
9. A vehicle body height recognition device, characterized in that, The vehicle height recognition device includes a processor, a memory, and a vehicle height recognition program stored in the memory and executable by the processor, wherein when the vehicle height recognition program is executed by the processor, it implements the steps of the vehicle height recognition method as described in any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a vehicle height recognition program, wherein when the vehicle height recognition program is executed by a processor, it implements the steps of the vehicle height recognition method as described in any one of claims 1 to 7.