Vehicle suspension system, and method and vehicle

Abstract

A vehicle suspension system, and a method and a vehicle. The vehicle suspension system (100) comprises: a plurality of height sensors (10), wherein the height sensors (10) are used for measuring the height of a vehicle body. When some of the plurality of height sensors (10) fail, some suspension functions of the vehicle suspension system are kept available.

Description

Vehicle suspension system, method and vehicle

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure claims priority to Chinese patent application number 202311277861.X, filed on September 28, 2023, entitled “Vehicle Suspension System, Method, Device and Vehicle,” the entire contents of which are incorporated by reference into this disclosure. Technical Field

[0003] The present disclosure relates to the field of vehicle control technology, and more particularly, to a vehicle suspension system, method, and vehicle. Background Art

[0004] A vehicle's suspension system connects the vehicle body and tires, transferring forces between the wheels and the vehicle body. The main functions of the suspension system include cushioning, vibration filtering, and steering. Suspension systems can be categorized by control type into passive, semi-active, and fully active suspensions. Passive suspensions generally have fixed damping forces and are forced to move with the wheels. Semi-active suspensions passively adjust damping forces by incorporating electronically controlled components. Active suspensions dynamically adapt to driving conditions (such as the vehicle's motion and road conditions). For example, active suspensions can adjust vehicle height to suit road conditions.

[0005] In order to achieve closed-loop control of the active suspension and perform precise vehicle height adjustment, the suspension system will be equipped with multiple height sensors to detect the height between the vehicle body action point and the corresponding wheel. When the height sensor fails, the suspension system will suppress all suspension functions, resulting in the inability to further adjust the vehicle body status, posing a safety risk.

[0006] Public content

[0007] An object of the embodiments of the present disclosure is to provide a new technical solution for a suspension system to improve the safety of a vehicle when a height sensor fails.

[0008] According to a first aspect of the present disclosure, there is provided an embodiment of a vehicle suspension system, the system comprising:

[0009] A plurality of height sensors, each of which is used to detect the height of the vehicle body;

[0010] In the event that some of the height sensors among the plurality of height sensors fail, some suspension functions of the vehicle suspension system remain available.

[0011] Optionally, in the event of a partial height sensor failure, the number of failed height sensors is different, and the type and / or number of available suspension functions of the vehicle suspension system is different.

[0012] Optionally, the number of failed height sensors is different, and the number of available suspension functions is different; wherein, the greater the number of failed height sensors, the fewer the number of available suspension functions.

[0013] Optionally, in the event that some height sensors fail and the vehicle body can be leveled, the type and / or number of available suspension functions can be determined based on the number of failed height sensors; wherein, the vehicle body can be leveled so that the pitch angle and roll angle of the vehicle body can be adjusted to their respective corresponding angle ranges.

[0014] Optionally, in the event that some height sensors fail and the vehicle body cannot be leveled, the type of suspension function available is different from the type of suspension function available when the vehicle body can be leveled, wherein the vehicle body cannot be leveled means that either the pitch angle and the roll angle of the vehicle body cannot be adjusted to a corresponding angle range; and / or

[0015] In the event that some of the height sensors fail and the vehicle body cannot be leveled, the number of available suspension functions is less than when the vehicle body can be leveled.

[0016] Optionally, the suspension functions include: damping control functions, stiffness control functions, height adjustment functions, and height suppression adjustment functions; wherein,

[0017] The height adjustment function includes at least one of a voice height adjustment function, a manual height adjustment function, a speed-dependent height adjustment function, a camping leveling function, an ultra-high escape function, a welcoming function, a fetching function, a load balancing function, and a height return function;

[0018] The height adjustment inhibition function includes at least one of a manual height adjustment inhibition function, an automatic height adjustment inhibition function, a height adjustment stoppage inhibition function during a collision, and a height adjustment stoppage inhibition function during maintenance.

[0019] Optionally, in the event of failure of a single height sensor, the available suspension functions include some functions of the height adjustment type functions, as well as functions of inhibiting the height adjustment type functions, damping control type functions, and stiffness control type functions; or

[0020] In the event of failure of both height sensors, the available suspension functions include inhibiting height adjustment type functions and damping control type functions; or

[0021] In the event of failure of three height sensors, available suspension functions include inhibiting height adjustment type functions.

[0022] Optionally, in the event of failure of a single altitude sensor, the unavailable altitude adjustment functions include at least one of a load balancing function, an ultra-altitude escape function, a camping leveling function, and an altitude voice adjustment function.

[0023] Optionally, the height sensor fails when one of a hardware failure occurs in the height sensor and an output value exceeds a limit range.

[0024] Optionally, when the height sensor has a hardware failure and the output value exceeds a limit range for a time period that reaches a first time period, the height sensor fails.

[0025] Optionally, the vehicle suspension system further comprises a plurality of shock absorbers, each of the shock absorbers being provided corresponding to each of the height sensors;

[0026] In the event that some height sensors fail, the heights of the shock absorbers corresponding to the effective height sensors are used as a reference to adjust the heights of the shock absorbers corresponding to the failed height sensors, so as to adjust the pitch angle and roll angle of the vehicle body to their respective corresponding angle ranges.

[0027] According to a second aspect of the present disclosure, there is also provided an embodiment of a vehicle control method, the method comprising:

[0028] In the event that a portion of the height sensor of the suspension system fails, maintaining a portion of the suspension function of the vehicle suspension system available;

[0029] Wherein, the height sensor is used to detect the height of the vehicle body.

[0030] According to a third aspect of the present disclosure, an embodiment of a vehicle is provided, comprising: the vehicle suspension system as described in the first aspect, or the vehicle control device as described in the third aspect.

[0031] Optionally, an embodiment of a vehicle control device is also provided, the device comprising: a memory and a processor, the memory storing executable instructions, the instructions being used to control the processor to operate to execute the vehicle control method as described in the second aspect. One beneficial effect of the embodiment of the present disclosure is that the vehicle suspension system according to this embodiment comprises: a plurality of height sensors, the height sensors being used to detect the height of the vehicle body, and in the event that some of the height sensors among the plurality of height sensors fail, some suspension functions of the vehicle suspension system are kept available. The vehicle suspension system according to this embodiment can achieve that in the event that the height sensor fails, some functions of the vehicle suspension system are available, which can avoid the problem in the related art of the complete loss of suspension functions due to the failure of a single height sensor, which in turn leads to safety risks, thereby improving the driver's vehicle driving safety.

[0032] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0034] FIG1a is a schematic diagram of the structure of a vehicle suspension system according to some embodiments;

[0035] FIG1b is a schematic diagram of the structure of a vehicle suspension system according to some other embodiments;

[0036] FIG2 is a schematic structural diagram of a vehicle according to some embodiments (I);

[0037] FIG3 is a test principle diagram of a vehicle height sensor according to some embodiments;

[0038] FIG4 is a schematic diagram illustrating calculating a height difference of a failed height sensor according to some embodiments;

[0039] FIG5 is a schematic structural diagram of a vehicle according to some embodiments (II);

[0040] FIG6 is a flow chart of a vehicle control method according to some embodiments;

[0041] FIG7 is a flow chart of a vehicle control method according to other embodiments;

[0042] FIG8 is a schematic structural diagram of a vehicle control device according to some embodiments;

[0043] FIG9 is a schematic structural diagram of a vehicle according to some embodiments;

[0044] FIG10 is a schematic structural diagram of a vehicle according to some other embodiments. DETAILED DESCRIPTION

[0045] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure.

[0046] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0047] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0048] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0049] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0050] Embodiments of the present disclosure relate to solutions for handling height sensor failure in a vehicle suspension system. Figure 1a illustrates a schematic structural diagram of a vehicle suspension system according to some embodiments. As shown in Figure 1a, a vehicle suspension system 100 according to an embodiment of the present application includes multiple height sensors, such as a left front height sensor 10A, a right front height sensor 10B, a left rear height sensor 10C, and a right rear height sensor 10D.

[0051] The vehicle suspension system 100 also includes an active suspension, which is connected between the vehicle body and wheels. The suspension system 100 can adjust the vehicle body height, posture, etc. according to the height data detected by the height sensor.

[0052] FIG1b shows a vehicle suspension system according to some other embodiments. As shown in FIG1b , the vehicle suspension system 100 includes a height sensor 10 and an active suspension 50. FIG1b schematically illustrates only one height sensor 10 and one suspension 50, and is not intended to limit the number of height sensors and suspensions. As shown in FIG1b , the vehicle suspension system 100 may further include a control device U1, which is connected to each height sensor 10, receives height data output by the height sensor, and controls the movement of the active suspension 50 based on the height data. For example, if the active suspension is a hydraulic suspension, this may be a power component such as a pump that controls the active suspension, and various valves on the hydraulic pipeline.

[0053] In addition, as shown in Figure 1b, the vehicle suspension system may also include various sensors to detect the vehicle status and provide data support for the control device U1 to handle height sensor failure. Figure 1b shows several sensors, including a camera 40, a wheel speed sensor 60, an inertial measurement unit (IMU) 20, and an acceleration sensor 30, without limitation. In other embodiments, the vehicle suspension system may only include some of these sensors, such as the inertial measurement unit 20, etc., which is not limited here.

[0054] In Figure 1b, the camera device 40 can be used to capture road surface images to determine road surface conditions, such as the inclination of the road surface on which the vehicle is traveling and the inclination of the road surface ahead of the vehicle. The inertial measurement unit 20 can provide acceleration data, such as the vehicle's acceleration in the direction of travel, as well as angular data, such as the vehicle's pitch and roll angles. The wheel speed sensor 60 can be used to provide wheel speed data to the control device U1. The acceleration sensor 30 is used to provide acceleration data reflecting the acceleration of the suspension's motion to the control device U1.

[0055] The vehicle shown in FIG2 is equipped with the vehicle suspension system 100 shown in FIG1a or FIG1b. The vehicle has four tires: the left front tire, the right front tire, the left rear tire, and the right rear tire. The suspension system 100 includes an active suspension disposed at each of the four tires. The active suspension may be a double-wishbone active suspension. One end of the active suspension is connected to the swing arm of the corresponding wheel, and the other end is connected to the corresponding vehicle body application point.

[0056] In an embodiment where a vehicle has four independent suspensions, four height sensors 10A, 10B, 10C, and 10D correspond to the four active suspensions. The left front height sensor 10A corresponds to the vehicle's left front suspension, the right front height sensor 10B corresponds to the vehicle's right front suspension, the left rear height sensor 10C corresponds to the vehicle's left rear suspension, and the right rear height sensor 10D corresponds to the vehicle's right rear suspension. In other words, multiple height sensors are provided for each of the suspensions in the suspension system. Each height sensor is used to detect the height between its corresponding vehicle body application point and the corresponding wheel.

[0057] Figure 3 is a schematic diagram of the structure of an active suspension according to some embodiments. As shown in Figure 3, in some embodiments, each active suspension includes a shock absorber 3, with multiple shock absorbers corresponding to multiple height sensors 10, with different shock absorbers corresponding to different wheels. The vehicle body action point corresponding to the height sensor 10 is the connection point between the corresponding shock absorber and the vehicle body.

[0058] In this embodiment, the shock absorber 3 may be a hydraulic cylinder, air spring, or other suitable mechanism, without limitation. Different shock absorbers correspond to different wheels. One end of the shock absorber 3 is connected to the swing arm 2 of the corresponding wheel, and the other end is connected to the vehicle body. A height sensor 10 is provided in a one-to-one correspondence with each shock absorber 3. The height sensor 10 is used to detect the height of the shock absorber 3.

[0059] The active suspension may also include a spring. The spring and shock absorber may occupy separate installation spaces. The spring may also be mounted on the shock absorber to save installation space. The spring and shock absorber may also be connected in series, with one end of the spring connected to the wheel and the other end connected to the shock absorber. The output end of the shock absorber is connected to the vehicle body. This is not limited here. In embodiments where the active suspension includes a spring, the acceleration sensor shown in Figure 1b may be installed on the suspension spring to detect unsprung acceleration, which reflects the amount of spring runout.

[0060] In some embodiments, the height sensor 10 may be an angle sensor, positioned at the vehicle's left front, right front, left rear, and right rear shock absorbers 3. Each height sensor 10 has one bracket end fixed to the vehicle body, and the other end secured to the swing arm 2 of its corresponding wheel 1. When the shock absorber 3 applies pressure to lift the vehicle body, the swing arm 2 drives the height sensor 10, causing its swing angle to change. The height sensor 10 detects the angle θ in this state and determines the height of the shock absorber 3 corresponding to that angle.

[0061] In some embodiments, after the height sensor 10 collects the angle value θ, the DMU simulation calculation can be performed using the design principle of the entire vehicle, combined with the active suspension and the height sensor component dimensions, to obtain a preliminary height value y0. For example, it can be calculated using formula (1): y0 = k*θ + b (1),

[0062] Wherein, k and b are constant values ​​used for DMU simulation determined according to the dimensions of the double wishbone swing arm and height sensor of the active suspension.

[0063] After obtaining the preliminary height value y0, the final height value y corresponding to the angle value is obtained after calibration by the diagnostic software.

[0064] In some embodiments, the angular limit range of the corresponding height sensor may be determined according to the height limit range of the shock absorber 3 .

[0065] In some embodiments, the height sensor fails when one of a hardware failure occurs in the height sensor and an output value exceeds a limit range.

[0066] In this embodiment, the failure of the height sensor includes two failure modes. First, the height sensor has a hardware failure. In the case of a hardware failure in the four height sensors, such as a circuit diagnostic failure such as a break, short circuit, or voltage anomaly, the height sensor with the hardware failure cannot collect the angle value θ. In this case, the height sensor corresponding to the missing angle value θ fails. Second, the height sensor outputs a value outside the limit range. If the angle values ​​θ output by the four height sensors are not missing, but there may be an angle value outside the limit range among the four angle values ​​θ due to some improper collision or other reasons. In this case, the height sensor corresponding to the angle value θ outside the limit range fails.

[0067] It should be noted that both of the above height sensor failure modes can determine the number of failed height sensors and their vehicle body locations. For example, if the height sensor at the left front wheel does not output an angle value or the output value exceeds the limit range, the height sensor at the left front wheel is determined to be failed.

[0068] In some other embodiments, the height sensor fails when a hardware failure occurs in the height sensor and a duration for which the height sensor outputs a value outside a limit range reaches a first duration.

[0069] In this embodiment, the control device of the vehicle suspension system can record a failure duration when either a hardware failure of the height sensor occurs or an output value exceeds a limit range. When the failure duration reaches a first duration, the height sensor is determined to be failed, thereby improving the accuracy of failure determination.

[0070] In some embodiments, the vehicle suspension system may be configured to maintain partial suspension functions of the vehicle suspension system available in the event that some of the height sensors in the plurality of height sensors fail.

[0071] For example, if the suspension system control device determines that some height sensors have failed, it sets a corresponding suspension function level to maintain the availability of some suspension functions of the vehicle suspension system. The suspension function level indicates the available suspension functions under the current failure type. Different suspension function levels may have different at least one of the type and number of available suspension functions.

[0072] In some embodiments, the suspension functions of the suspension system may include the following categories: damping control functions, stiffness control functions, height adjustment functions, and height adjustment suppression functions.

[0073] Damping control functions refer to functions for adjusting suspension damping. Damping control functions may include at least one of roll damping control, pitch damping control, vertical damping control, and speed-dependent damping control.

[0074] Stiffness control functions refer to functions for adjusting suspension stiffness. Stiffness control functions may include at least one of roll stiffness control, pitch stiffness control, and vertical stiffness control.

[0075] Height adjustment functions refer to functions that adjust the vehicle's height through the suspension. These functions may include at least one of the following: voice-activated height adjustment, manual height adjustment, speed-dependent height adjustment, camping leveling, super-height escape, welcome function, retrieval function, load balancing, and height return. Voice-activated height adjustment allows the driver to adjust the vehicle's height using voice control. Manual height adjustment allows the driver to manually adjust the height. Speed-dependent height adjustment adjusts the vehicle's height based on vehicle speed: faster speeds lower the vehicle's height, and slower speeds raise it. Camping leveling adjusts the vehicle's posture when it's on uneven ground. Super-height escape raises the vehicle's height to its maximum height. Welcome function lowers the vehicle's height to facilitate entry. Retrieval lowers the vehicle's height to facilitate access to the trunk. Load balancing adjusts the vehicle's posture when the vehicle is stopped, correcting any tilt caused by load fluctuations. The height return function is to level the vehicle body posture when the vehicle is in motion.

[0076] The function of inhibiting height adjustment refers to a function that can inhibit height adjustment, which may include at least one of the following functions: manual height adjustment inhibition function, automatic height adjustment inhibition function, inhibition function for stopping height adjustment during collision, and inhibition function for stopping height adjustment during maintenance. Among them, the manual height adjustment inhibition function is to inhibit all height adjustment functions by manual triggering. For example, by manually triggering the "off" key of the height adjustment, all height adjustment functions are inhibited. The automatic height adjustment inhibition function is to inhibit all height adjustment functions when the set conditions are met. For example, when the depth of the brake pedal exceeds the depth threshold, or the depth of the accelerator pedal exceeds the depth threshold, all height adjustment functions are inhibited. The inhibition function for stopping height adjustment during collision refers to inhibiting all height adjustment functions during a collision. The inhibition function for stopping height adjustment during maintenance means that all height adjustment functions can be inhibited by this function when the vehicle is in maintenance state.

[0077] In some embodiments, in the event of a partial height sensor failure, the number of failed height sensors varies, and the type of suspension functionality available to the vehicle suspension system varies.

[0078] Correspondingly, when some of the height sensors fail, the control device of the vehicle suspension system can determine the corresponding suspension function level based on the number of failed height sensors, wherein different numbers of failed height sensors correspond to different suspension function levels. When the number of failed height sensors is 1, for example, height sensor 10A in FIG5 fails, the corresponding suspension function level is 3. When the number of failed height sensors is 2, for example, height sensor 10A and height sensor 10C shown in FIG5 fail, or height sensor 10A and height sensor 10D fail, the corresponding suspension function level is 2. When the number of failed height sensors is 3, for example, height sensor 10A, height sensor 10B, and height sensor 10C in FIG5 fail, the corresponding suspension function level is 1.

[0079] Different suspension function levels correspond to different types of available suspension functions of the suspension system.

[0080] In some embodiments, in the event of a single height sensor failure, the available suspension functions include some height adjustment functions, as well as suppression of height adjustment functions, damping control functions, and stiffness control functions; or, in the event of two height sensors failing, the available suspension functions include suppression of height adjustment functions and damping control functions; or, in the event of three height sensors failing, the available suspension functions include suppression of height adjustment functions.

[0081] In this embodiment, different numbers of failure height sensors correspond to different suspension function levels, and different suspension function levels correspond to different types of available suspension functions of the suspension system.

[0082] The suspension function level corresponding to the failure of a single height sensor is 3. The types of available suspension functions of the suspension system corresponding to suspension function level 3 include: some functions of the height adjustment type, as well as height adjustment suppression type functions, damping control type functions and stiffness control type functions.

[0083] The suspension function level corresponding to the failure of the two height sensors is 2. The types of available suspension functions of the suspension system corresponding to the suspension function level 2 include: height adjustment suppression type functions and damping control type functions.

[0084] The suspension function level corresponding to the failure of the three height sensors is 1. The types of available suspension functions of the suspension system corresponding to the suspension function level 1 include functions such as suppressing height adjustment.

[0085] Those skilled in the art should understand that the correspondence between the suspension function levels and the types of available suspension functions in this embodiment is for illustrative purposes only and cannot be used as a limitation to the embodiments of the present application.

[0086] In a further embodiment, in the event of a single altitude sensor failure, the unavailable altitude adjustment functions include at least one of a load balancing function, an ultra-altitude escape function, a camping leveling function, and an altitude voice adjustment function.

[0087] In this embodiment, if the available suspension functions of the suspension system corresponding to suspension function level 3 include some functions in the height adjustment category, the unavailable height adjustment functions in the height adjustment category may be less frequently used height adjustment functions. For example, at least one of the following: load balancing, ultra-high escape, camping leveling, and height voice adjustment. Those skilled in the art will appreciate that the specific unavailable height adjustment functions in the height adjustment category when suspension function level 3 is set are not limited.

[0088] In other embodiments, in the event of a partial height sensor failure, the number of failed height sensors varies, and the number of available suspension functions of the vehicle suspension system varies.

[0089] Correspondingly, if some of the multiple height sensors fail, the vehicle suspension system's control device can determine the corresponding suspension function level based on the number of failed height sensors. If a single height sensor fails, the corresponding suspension function level is 3; if two height sensors fail, the corresponding suspension function level is 2; and if three height sensors fail, the corresponding suspension function level is 1.

[0090] Different suspension function levels correspond to different numbers of available suspension functions of the suspension system.

[0091] In some embodiments, the number of failed height sensors varies, and the number of available suspension functions varies, wherein a greater number of failed height sensors results in a smaller number of available suspension functions.

[0092] Correspondingly, the vehicle suspension system control device can determine a corresponding suspension function level based on the number of failed height sensors. The suspension function level reflects the ratio of available suspension function to the total suspension function of the suspension system. The greater the number of failed height sensors, the lower the suspension function level, the smaller the ratio of available suspension function to the total suspension function of the suspension system, and the less available suspension function.

[0093] In some examples, the correspondence between the suspension functionality level and the percentage of available suspension functionality of the suspension system is as follows:

[0094] Suspension function level 3: 75% to 85% of the suspension functions are available.

[0095] Suspension function level 2: 35% to 50% of the suspension function is available.

[0096] Suspension function level 1: 10% to 15% of the suspension function is available.

[0097] In yet other embodiments, in the event of a partial height sensor failure, the number of failed height sensors is different, and the type and number of available suspension functions of the vehicle suspension system are different.

[0098] Correspondingly, the control device of the vehicle suspension system can determine the suspension function level according to the number of failed height sensors, wherein the number of failed height sensors is different, the corresponding suspension function level is different, and the number and type of available suspension functions of different suspension function levels are different.

[0099] In some examples, the number and type of suspension functions corresponding to different suspension function levels are as follows:

[0100] In the event of failure of a single height sensor, the available suspension functions include: manual height adjustment function, speed-dependent height adjustment function, welcome function, object-taking function, and height return function in the height adjustment category; manual height adjustment inhibition function, automatic height adjustment inhibition function, inhibition function for stopping height adjustment during collision, and inhibition function for stopping height adjustment during maintenance in the height adjustment inhibition category; pitch damping control, roll damping control, vertical damping control, and speed-dependent damping control in the damping control category; and pitch stiffness control, roll stiffness control, and vertical stiffness control in the stiffness control category.

[0101] In the event that two height sensors fail, the available suspension functions include: pitch damping control, roll damping control, vertical damping control and speed-dependent damping control in the damping control type functions; and manual height adjustment inhibition function, automatic height adjustment inhibition function, inhibition function for stopping height adjustment during collision, and inhibition function for stopping height adjustment during maintenance in the height adjustment inhibition type functions.

[0102] In the event of failure of the three height sensors, the available suspension functions include: manual height adjustment inhibition function in the height adjustment inhibition category, automatic height adjustment inhibition function, inhibition function for stopping height adjustment during collision, and inhibition function for stopping height adjustment during maintenance.

[0103] According to an embodiment of the present application, by keeping some suspension functions of the vehicle suspension system available when some height sensors fail among multiple height sensors, the problem of loss of suspension function due to failure of a single height sensor in related technologies, which in turn causes safety risks, can be avoided, thereby improving the driver's vehicle driving safety.

[0104] In some embodiments, the vehicle suspension system further includes a plurality of shock absorbers, each of the shock absorbers being disposed corresponding to each of the height sensors.

[0105] In this embodiment, as shown in Figure 3, the shock absorber 3 is provided with a height sensor, which is used to detect the height of the shock absorber 3. The working principle of the height sensor detecting the height of the shock absorber 3 has been described above and will not be elaborated here to avoid repetition.

[0106] In some embodiments, when some height sensors fail, the vehicle suspension system can be used to adjust the height of the shock absorber corresponding to the failed height sensor based on the height of the shock absorber corresponding to the effective height sensor, so as to adjust the pitch angle and roll angle of the vehicle body to their respective corresponding angle ranges.

[0107] In this embodiment, the action may be executed by, for example, a control device of the suspension system.

[0108] In some embodiments, adjusting the height of the shock absorber corresponding to the failed height sensor based on the height of the shock absorber corresponding to the valid height sensor includes: step S1100 and step S1200.

[0109] Step S1100 , obtaining a height difference between the height of the shock absorber corresponding to the failed height sensor and a target height based on the height value of the shock absorber detected by the effective height sensor and posture data reflecting the posture of the vehicle body.

[0110] In this embodiment, as shown in FIG2 , an inertial measurement unit 20 (IMU) is set at the center of mass of the vehicle. A spatial rectangular coordinate system is established with the center of mass of the vehicle as the origin O, the front-to-back direction of the vehicle body as the x-axis, the left-to-right direction of the vehicle body as the y-axis, and the up-down direction of the vehicle body as the z-axis. The six-axis posture of the IMU in the current state of the vehicle (IMU_Ax, IMU_Ay, IMU_Az, IMU_pitch, IMU_roll, IMU_yaw) can be obtained through the IMU. Among them, IMU_Ax is the acceleration along the x-axis, IMU_Ay is the acceleration along the y-axis, IMU_Az is the acceleration along the z-axis, IMU_pitch is the pitch angle, IMU_roll is the roll angle, and IMU_yaw is the yaw angle.

[0111] The posture data reflecting the vehicle body posture is determined by the pitch angle IMU_pitch, roll angle IMU_roll and yaw angle IMU_yaw of the IMU six-axis posture data. Based on the posture data, the three-axis full rotation matrix M can be determined ZYXThe height difference between the height of the shock absorber corresponding to the failed height sensor and the target height can be obtained based on the three-axis full rotation matrix and the target height. The target height can be the height value of the shock absorber detected by the effective height sensor.

[0112] In one embodiment, if a single height sensor fails, the target height may be the shock absorber height value detected by any one of the other three valid height sensors. Alternatively, the target height may be the average of the shock absorber height values ​​detected by the other three valid height sensors. This is not limited here.

[0113] The three-axis full rotation matrix M ZYX It can be calculated by the following formula:

[0114] The following takes the case where two height sensors fail as an example to describe in detail the process of calculating the height difference between the height of the shock absorber corresponding to the failed height sensor and the target height.

[0115] In the case of two height sensors failing, as shown in Figure 4, the height sensors at points A and C fail. The height data detected by the height sensors in the valid state are the position coordinates B (x2, y2, z2) corresponding to point B and the position coordinates D (x4, y4, z4) corresponding to point D. Based on the position coordinates of point B or point D, the position coordinates of A (x1, y1, z1) and C (x3, y3, z3), that is, the target height, can be determined. The three-axis full rotation matrix M is then determined based on the IMU attitude data. ZYX and through M ZYX The coordinates of points A and C are transformed to obtain the position coordinates of points A′ and C′, and then the height difference between the height of the shock absorber corresponding to the failed height sensor and the target height is determined.

[0116] Step S1200 : According to the height difference, controlling the active suspension action corresponding to the failed height sensor to adjust the height of the shock absorber corresponding to the failed height sensor.

[0117] After adjusting the height of the shock absorber corresponding to the failed height sensor, check whether the pitch angle IMU_pitch and roll angle IMU_roll determined by the IMU six-axis attitude data are within their respective corresponding angle ranges.

[0118] After adjusting the vehicle's posture, the corresponding steps are performed based on whether the vehicle's current pitch and roll angles are within their respective ranges. If the vehicle's pitch and roll angles are within their respective ranges, the corresponding failure control mode is determined. For example, failure control mode 1 corresponds to a single height sensor failure, failure control mode 2 corresponds to two height sensors failing, and failure control mode 3 corresponds to three height sensors failing.

[0119] If either the pitch angle or the roll angle of the vehicle body is not within the corresponding angle range, step S2100 and step S2200 are executed.

[0120] In step S2100 , the vehicle suspension system may be configured to update the height difference based on the height value of the shock absorber detected by the effective height sensor and the posture data reflecting the posture of the vehicle body when either the pitch angle or the roll angle of the vehicle body is not within the corresponding angle range.

[0121] In this embodiment, after controlling the active suspension to adjust the vehicle's posture, posture data reflecting the vehicle's posture is acquired to determine whether the current vehicle posture is tilted. If either the pitch angle or the roll angle in the posture data reflecting the vehicle's posture is outside the corresponding angular range, it indicates that the vehicle's posture, after leveling, is still tilted. At this point, the height difference between the shock absorber height corresponding to the inoperative height sensor and the target height is updated based on the shock absorber height value detected by the active height sensor and the posture data reflecting the current vehicle posture. The method for updating the height difference here is the same as that described in step S1100 above, differing only in the posture data reflecting the vehicle's posture, which will not be further described here.

[0122] Step S2200: According to the updated height difference and the set compensation amount, the active suspension action corresponding to the failed height sensor is controlled to adjust the body posture of the vehicle; wherein the compensation amount is related to the tilt angle of the vehicle body.

[0123] In this embodiment, the compensation amount is related to the vehicle's pitch and roll angles. For example, after controlling the active suspension to adjust the vehicle's posture, if the pitch and roll angles still differ significantly from their respective angular ranges, the corresponding compensation amount is determined based on the current pitch and roll angles, and the number of updates is recorded. After the compensation amount is determined, the updated height difference and the set compensation amount are used as the measured height difference. Based on this measured height difference, the active suspension action corresponding to the failed height sensor is controlled to adjust the vehicle's posture.

[0124] According to an embodiment of the present application, when either the pitch angle or the roll angle of the vehicle body is not within the corresponding angle range, the height difference is updated based on the height value of the shock absorber detected by the effective height sensor and the posture data reflecting the vehicle body posture. Based on the updated height difference and the set compensation amount, the active suspension action corresponding to the failed height sensor is controlled to adjust the vehicle body posture, thereby realizing automatic control of the vehicle body posture and ensuring the safety of vehicle driving.

[0125] In some embodiments, the vehicle suspension system may be configured to increase the angular ranges corresponding to the pitch angle and the roll angle by a set step size when the number of updates of the height difference is greater than or equal to a first number threshold.

[0126] In this embodiment, the action can be specifically performed by the control device of the vehicle suspension system. In order to improve the efficiency of the vehicle body posture adjustment, a first number threshold is preset. For example, the first number threshold is preset to 5.

[0127] If the number of height difference updates is less than a first threshold, the vehicle's posture is determined by whether the pitch and roll angles are within their respective angular ranges. If the number of height difference updates is greater than or equal to the first threshold, the pitch and roll angle ranges are increased by a set step size, and the increased angular ranges are used to determine whether the vehicle is level, thereby improving vehicle leveling efficiency.

[0128] In some embodiments, the vehicle suspension system may be configured to stop adjusting the vehicle body posture when the number of times the height difference is updated is greater than a second threshold.

[0129] In this embodiment, the action can be specifically performed by the control device of the vehicle suspension system. A threshold for the number of vehicle posture adjustments is preset, that is, a second number threshold. For example, the second number threshold is preset to 10.

[0130] If the number of height difference updates exceeds the second threshold, it indicates that when the number of vehicle adjustments is less than or equal to the second threshold, either the pitch angle or the roll angle of the vehicle body is outside the corresponding angle range, that is, the vehicle body cannot be leveled, and vehicle posture adjustment is stopped. Otherwise, it indicates that the vehicle body can be leveled.

[0131] In some embodiments, a vehicle suspension system may be configured such that, when some height sensors fail and the vehicle body is capable of being leveled, at least one of the type and number of available suspension functions may be different, as determined by the number of height sensors that fail; wherein, the vehicle body may be leveled such that the pitch angle and roll angle of the vehicle body may be adjusted to within respective corresponding angular ranges.

[0132] In this embodiment, the action can be performed by the control device of the vehicle suspension system, for example. The control device of the vehicle suspension system determines the corresponding failure control mode after adjusting the vehicle body posture. After determining the suspension function level according to the number of failed height sensors, if the number of vehicle body posture adjustments is less than or equal to the second number threshold, the pitch angle and roll angle of the vehicle body can be adjusted to their respective corresponding angle ranges, indicating that the vehicle body can be leveled. That is, the failed height sensor has little effect on the leveling of the vehicle body posture. In this case, the suspension function level in the determined failure control mode corresponds to the number of failed height sensors. That is, the suspension function level in the failure control mode is the same as the suspension function level determined according to the number of failed height sensors.

[0133] For example, if a single height sensor fails, the corresponding suspension function level is 3. If the vehicle body can be leveled, failure control mode 1 is determined, and the suspension function level under failure control mode 1 is 3. If two height sensors fail, the corresponding suspension function level is 2. If the vehicle body can be leveled, failure control mode 2 is determined, and the suspension function level under failure control mode 2 is 2. If three height sensors fail, the corresponding suspension function level is 1. If the vehicle body can be leveled, failure control mode 3 is determined, and the suspension function level under failure control mode 3 is 1.

[0134] In some embodiments, the number of height sensors that fail is different, and at least one of the type and number of available suspension functions of the vehicle suspension system is different.

[0135] In this embodiment, different numbers of failed height sensors correspond to different suspension function levels. Different types and / or quantities of available suspension functions corresponding to different suspension function levels have been described in detail above and will not be repeated here.

[0136] In other embodiments, the vehicle suspension system can be used to configure the type of available suspension functions to be different from at least one of the type and quantity of available suspension functions when the vehicle body can be leveled when some height sensors fail and the vehicle body cannot be leveled, wherein the inability to level the vehicle body means that either the pitch angle and the roll angle of the vehicle body cannot be adjusted to the corresponding angular range.

[0137] For example, in a situation where some height sensors fail and the vehicle body cannot be leveled, the number of available suspension functions is less than the number of available suspension functions when the vehicle body can be leveled.

[0138] In this embodiment, this action can be specifically performed by the vehicle suspension system's control device. If some height sensors fail and the vehicle body cannot be leveled, the vehicle suspension system's control device reduces the suspension's functional level. During vehicle posture adjustment, if the number of height difference updates exceeds a second threshold, this indicates that when the number of height difference updates is less than or equal to the second threshold, either the pitch angle or the roll angle of the vehicle body is outside the corresponding angle range, and the vehicle body cannot be leveled. The failed height sensor significantly impacts the vehicle body's posture, posing a significant safety risk. In this case, the suspension's functional level is reduced.

[0139] Continuing with the above example, if a single height sensor fails, the corresponding suspension function level is 3. If the vehicle body cannot be leveled, Failure Control Mode 2 is determined, and the corresponding suspension function level is 2. If two height sensors fail, the corresponding suspension function level is 2. If the vehicle body cannot be leveled, Failure Control Mode 3 is determined, and the corresponding suspension function level for Failure Control Mode 3 is 1. If three height sensors fail, the corresponding suspension function level is 1. If the vehicle body cannot be leveled, Failure Control Mode 4 is determined. The suspension function level under Failure Control Mode 4 is 0, and all available suspension functions of the suspension system are disabled.

[0140] In some embodiments, the number of failed height sensors, the level of suspension functionality, and the type and / or number of available suspension functions of the vehicle suspension system are different. The corresponding relationships have been described in detail above and will not be elaborated on here to avoid repetition.

[0141] In some embodiments, the vehicle suspension system can be used to execute the available suspension function by calculating the height value of the shock absorber corresponding to the failed height sensor after determining the specific control mode. The calculation method can be referred to the description in conjunction with Figure 4 and will not be repeated here.

[0142] In some embodiments, this action can be specifically performed by a control device of a vehicle suspension system. In the event that some height sensors fail, driving state information of the vehicle is obtained; wherein the driving state information includes at least one of driving speed information, driving acceleration information, and road inclination information; and when the driving state information matches a failure handling condition corresponding to a current failure type, the height of the shock absorber corresponding to the failed height sensor is adjusted based on the height of the shock absorber corresponding to the valid height sensor; wherein the current failure type is related to the number of failed height sensors on the vehicle.

[0143] In this embodiment, when some height sensors fail, the vehicle's driving state information is acquired to determine whether the vehicle meets the failure processing conditions.

[0144] In some embodiments, the acceleration information may be IMU_Ax in the IMU six-axis attitude data, or the unsprung acceleration value and the acceleration value of IMU_Ax may be obtained by four unsprung acceleration sensors 30 to determine the vehicle's driving acceleration information.

[0145] The speed information is determined by the speedometer of the wheel, as shown in Figure 2, and the road inclination information can be determined based on the road image obtained by installing a camera device 40 in a forward position of the vehicle body. Those skilled in the art should understand that this is only an example of obtaining driving status information and cannot be used as a limitation to the embodiments of the present application.

[0146] After obtaining the driving status information, the driving status information is compared with the failure handling conditions corresponding to the current failure type. The current failure type is related to the number of failed height sensors on the vehicle. If the number of failed height sensors is one, the current failure type is a single height sensor failure. If the number of failed height sensors is two, the current failure type is a two-height sensor failure. If the number of failed height sensors is three, the current failure type is a three-height sensor failure.

[0147] In some embodiments, since the vehicle body position where the failed height sensor is located can also be obtained when determining the failed height sensor in the failed state, the current failure type can also be determined based on the number of failed height sensors and the vehicle body position where they are located.

[0148] If the number of failed height sensors is one, the failure type is a single height sensor failure. If the number of failed height sensors is two, and both are diagonally located, the failure type is a failure of both diagonally located height sensors. If the number of failed height sensors is two, and both are on the same side, the failure type is a failure of both height sensors on the same side. If the number of failed height sensors is three, the failure type is a failure of three height sensors.

[0149] The failure processing condition corresponding to the failure type includes at least one of a driving speed limit, a driving acceleration limit, and a road inclination threshold.

[0150] For example, the failure processing conditions corresponding to the failure of a single sensor are: road slope threshold, and 0<A x <a1&&vehicle speed 0kpm<V0<65kpm. Failure handling conditions corresponding to failure of two diagonal height sensors: 0<A x <a1&&vehicle speed 0kpm<V0<50kpm. Failure handling conditions corresponding to failure of two height sensors on the same side: 0<A x<a1&&vehicle speed 0kpm<V0<30kpm. Failure processing conditions corresponding to failure of three height sensors: 0=A x &&Vehicle speed V0=0kpm.

[0151] If the number of failed height sensors is three, the corresponding failure type is three height sensor failures. If the driving acceleration is zero and the driving speed V0 is zero, then the driving state information is determined to match the failure handling condition corresponding to the failure type, and the height of the shock absorber corresponding to the failed height sensor is adjusted based on the height of the shock absorber corresponding to the valid height sensor.

[0152] According to an embodiment of the present application, in the event that some height sensors fail, by obtaining the vehicle's driving status information, and when the driving status information matches the failure processing conditions corresponding to the current failure type, the step of adjusting the height of the shock absorber corresponding to the failed height sensor based on the height of the shock absorber corresponding to the valid height sensor is executed. This can further improve the accuracy of vehicle body posture adjustment while ensuring driving safety.

[0153] Based on the vehicle suspension system of the embodiments of the present disclosure, the present disclosure also provides embodiments of a vehicle control method. FIG6 illustrates a vehicle control method according to some embodiments. The vehicle control method can be implemented by a control device of the suspension system. As shown in FIG6 , the vehicle control method can include the following steps S6100 and S6200:

[0154] Step S6100: Determine whether some height sensors of the suspension system have failed.

[0155] In step S6100, for each height sensor of the suspension system, whether the height sensor is invalid can be determined based on whether a hardware failure occurs or an output value exceeds a limit range.

[0156] Step S6200: When some height sensors of the suspension system fail, keep some suspension functions of the vehicle suspension system available; wherein the height sensors are used to detect the height of the vehicle body.

[0157] That is, in the case that part of the height sensor fails, the available suspension function of the vehicle suspension system is determined, that is, the suspension function level of the vehicle suspension system is determined to keep part of the suspension function of the vehicle suspension system available.

[0158] Taking a suspension system with four height sensors as an example, in the event that one, two or three height sensors of the suspension system fail, some suspension functions can remain available.

[0159] Figure 7 shows a vehicle control method according to some other embodiments, which can also be implemented by a control device of a suspension system. As shown in Figure 7 , the vehicle control method can include steps S1 to S17.

[0160] Step S1, for each height sensor, determine whether the height sensor has a hardware failure or the output value exceeds the limit range. If so, execute step S2; if not, continue to execute step S1 to monitor the status of the height sensor.

[0161] In another embodiment, if the height sensor does not have a hardware failure and the output value does not exceed the limit range, it is also possible to detect whether the height sensor has other failure conditions, which is not limited here.

[0162] Step S2: record the expiration time.

[0163] Step S3, determine whether the expiration time reaches the first time, if so, execute step S4; if not, execute step S2.

[0164] Step S4: Determine whether the height sensor is in a failed state.

[0165] Step S5: setting the suspension function level according to the number of failed height sensors.

[0166] In this embodiment, different suspension function levels differ in the type and / or number of available suspension functions. In some examples, the greater the number of failed height sensors, the lower the suspension function level and the fewer the number of available suspension functions.

[0167] For example, in the event of failure of a single height sensor, available suspension functions include partial height adjustment functions, as well as inhibiting height adjustment functions, damping control functions, and stiffness control functions.

[0168] In some examples, in the event of a single altitude sensor failure, unavailable altitude adjustment functions include at least one of a load balancing function, an ultra-altitude escape function, a camping leveling function, and an altitude voice adjustment function.

[0169] For another example, in the event that two height sensors fail, available suspension functions include inhibiting height adjustment functions and damping control functions.

[0170] For another example, in the event that three height sensors fail, available suspension functions include inhibiting height adjustment functions.

[0171] In the event that all height sensors fail, all suspension functions can be disabled for safety.

[0172] Step S6: Acquire the vehicle's driving status information.

[0173] Step S7: Check whether the driving status information matches the failure handling condition corresponding to the current failure type; if yes, proceed to step S8; if not, proceed to step S6.

[0174] Step S8, adjusting the height of the shock absorber corresponding to the failed height sensor based on the height of the shock absorber corresponding to the effective height sensor. After executing step S8, execute step S9.

[0175] Step S9, obtaining the current pitch angle and roll angle of the vehicle body to execute step S10.

[0176] In step S10 , are the pitch angle and roll angle of the vehicle body within their respective corresponding angle ranges? If so, proceed to step S11 . If not, that is, if either the pitch angle or the roll angle of the vehicle body is not within the corresponding angle range, proceed to step S12 .

[0177] Step S11: determining the failure control mode and the suspension function level.

[0178] In this embodiment, the failure control mode is determined by the height sensor failure parameter. When the pitch angle and the bank angle can be adjusted to within the first angle range, the determined suspension function level is the initial suspension function level set in step S6.

[0179] After determining the failure control mode and the suspension function level, available suspension functions may be executed according to the failure control mode, for example, a control mode in which the left front height sensor fails.

[0180] Step S12: updating the height difference according to the height value of the shock absorber detected by the effective height sensor and the posture data reflecting the posture of the vehicle body.

[0181] Step S13 , according to the updated height difference and the set compensation amount, controlling the active suspension action corresponding to the failed height sensor to adjust the body posture of the vehicle.

[0182] When executing step S12 and step S13, the number of times the height difference is updated is recorded, and step S14 and step S15 are executed to determine the number of times the height difference is updated.

[0183] Step S14: Check whether the number of times the height difference is updated is greater than or equal to the first number threshold. If so, go to step S15; otherwise, go to step S9.

[0184] In step S15, is the number of times the height difference is updated less than or equal to the second threshold? If so, proceed to step S17; if not, proceed to step S16.

[0185] Step S16: Increase the angle ranges corresponding to the pitch angle and the roll angle by the set step size, and then execute step S9.

[0186] In this embodiment, the angle ranges corresponding to the pitch angle and the roll angle are increased by a set step size for use in the determination in step S10.

[0187] Step S17: stop adjusting the vehicle body posture and lower the suspension function level.

[0188] After step S17 , step S11 may be executed to determine the current failure control mode and suspension function level, wherein the determined suspension function level is a downgraded suspension function level.

[0189] According to an embodiment of the present application, by keeping some functions of the suspension system available when some height sensors fail among multiple height sensors, the problem of loss of suspension function due to failure of a single height sensor in the related art, which in turn leads to safety risks, can be avoided, thereby improving the driver's vehicle driving safety.

[0190] In some embodiments, as shown in Figure 8, a vehicle control device 800 is also provided. The device 800 includes a memory 801 and a processor 802. The memory 801 is used to store executable instructions, and the instructions are used to control the processor 802 to operate to execute the vehicle control method described in the embodiment of the present application.

[0191] In some embodiments, a vehicle 900 is further provided, as shown in FIG9 . The vehicle 900 includes the vehicle suspension system 100 as shown in FIG1 .

[0192] In other embodiments, as shown in FIG. 10 , a vehicle 900 includes the vehicle control device shown in FIG. 8 .

[0193] The present disclosure may be a system, method and / or computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present disclosure.

[0194] A computer-readable storage medium can be a tangible device that can hold and store instructions for use by an instruction execution device. A computer-readable storage medium can be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination thereof. As used herein, a computer-readable storage medium is not to be construed as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through an electrical wire.

[0195] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions to be stored in the computer-readable storage medium in each computing / processing device.

[0196] The computer program instructions for performing the operations of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, and conventional procedural programming languages ​​such as "C" language or similar programming languages. Computer-readable program instructions may be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., utilizing an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be personalized by utilizing the state information of the computer-readable program instructions. The electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present disclosure.

[0197] Various aspects of the present disclosure are described herein with reference to flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present disclosure. It should be understood that each block of the flowcharts and / or block diagrams, and combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer-readable program instructions.

[0198] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device is generated that implements the functions / actions specified in one or more blocks in the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium, where these instructions cause the computer, programmable data processing device, and / or other device to operate in a specific manner. Thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing various aspects of the functions / actions specified in one or more blocks in the flowchart and / or block diagram.

[0199] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operational steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more blocks in the flowchart and / or block diagram.

[0200] The flowcharts and block diagrams in the accompanying drawings show the possible implementation architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, program segment or part of an instruction, and the module, program segment or part of the instruction contains one or more executable instructions for implementing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are all equivalent.

[0201] The embodiments of the present disclosure have been described above. The above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terms used herein are chosen to best explain the principles of the embodiments, practical applications, or technical improvements to technologies in the marketplace, or to enable other persons skilled in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims

1. A vehicle suspension system, comprising: A plurality of height sensors, wherein the height sensors are used to detect the height of the vehicle body; In the event that some of the height sensors among the plurality of height sensors fail, some suspension functions of the vehicle suspension system are kept available.

2. The vehicle suspension system according to claim 1, wherein: In the event of a partial height sensor failure, the number of height sensors that fail may vary, and the type and / or number of available suspension functions of the vehicle suspension system may vary.

3. The vehicle suspension system according to claim 2, wherein: The number of failed height sensors is different, and the number of available suspension functions is different; wherein, the more the number of failed height sensors is, the fewer the number of available suspension functions is.

4. The vehicle suspension system according to any one of claims 1 to 3, wherein: In the event that some height sensors fail and the vehicle body can be leveled, the type and / or number of available suspension functions is determined based on the number of failed height sensors; wherein, the vehicle body can be leveled so that the pitch angle and roll angle of the vehicle body can be adjusted to their respective corresponding angle ranges.

5. The vehicle suspension system according to claim 4, wherein: In the case where some height sensors fail and the vehicle body cannot be leveled, the type of suspension function available is different from the type of suspension function available when the vehicle body can be leveled, wherein the vehicle body cannot be leveled means that any one of the pitch angle and the roll angle of the vehicle body cannot be adjusted to a corresponding angle range; and / or In the event that some height sensors fail and the vehicle body cannot be leveled, the number of available suspension functions is less than when the vehicle body can be leveled.

6. The vehicle suspension system according to any one of claims 1 to 5, wherein: The suspension functions include: damping control functions, stiffness control functions, height adjustment functions and height suppression adjustment functions; wherein, The height adjustment function includes at least one of a voice height adjustment function, a manual height adjustment function, a speed-dependent height adjustment function, a camping leveling function, an ultra-high escape function, a welcoming function, a fetching function, a load balancing function, and a height return function; The height adjustment inhibition function includes at least one of a manual height adjustment inhibition function, an automatic height adjustment inhibition function, a height adjustment stoppage inhibition function during a collision, and a height adjustment stoppage inhibition function during maintenance.

7. The vehicle suspension system according to claim 6, wherein: In the event of a single height sensor failure, the available suspension functions include some of the height adjustment type functions, as well as inhibiting the height adjustment type functions, damping control type functions and stiffness control type functions; or In the event of failure of both height sensors, the available suspension functions include inhibiting height adjustment type functions and damping control type functions; or In the event of failure of three height sensors, available suspension functions include inhibiting height adjustment type functions.

8. The vehicle suspension system of claim 7, wherein: In the case of a single altitude sensor failure, unavailable altitude adjustment functions include at least one of a load balancing function, an ultra-altitude escape function, a camping leveling function, and an altitude voice adjustment function.

9. The vehicle suspension system according to any one of claims 1 to 8, wherein: When a hardware failure occurs in the height sensor and an output value exceeds one of the limit ranges, the height sensor fails.

10. The vehicle suspension system of claim 9, wherein: When the height sensor has a hardware failure and the duration for which the output value exceeds a limit range reaches a first duration, the height sensor fails.

11. The vehicle suspension system according to any one of claims 1 to 10, wherein: The vehicle suspension system further comprises a plurality of shock absorbers, each of the shock absorbers being arranged corresponding to each of the height sensors; In the event that some height sensors fail, the height of the shock absorber corresponding to the effective height sensor is used as a reference to adjust the height of the shock absorber corresponding to the failed height sensor, so as to adjust the pitch angle and roll angle of the vehicle body to their respective corresponding angle ranges.

12. A vehicle control method, comprising: In the event of failure of a partial height sensor of the suspension system, maintaining partial suspension functions of the vehicle suspension system available; Wherein, the height sensor is used to detect the height of the vehicle body.

13. A vehicle comprising the vehicle suspension system according to any one of claims 1 to 11. 14 . The vehicle according to claim 13 , comprising a control device, the control device comprising a memory and a processor, the memory storing executable instructions for controlling the processor to operate so as to execute the vehicle control method according to claim 12 .

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