阅读说明：本技术 车辆悬架系统的故障分级预警方法、装置和计算机设备 (Fault grading early warning method and device for vehicle suspension system and computer equipment ) 是由 王晓莲 张学博 吴晓涛 于 2021-07-21 设计创作，主要内容包括：本申请涉及一种车辆悬架系统的故障分级预警方法、装置、计算机设备和存储介质。所述方法包括：获取车辆的悬架系统的动态承载力与实际承载力；其中,所述动态承载力基于所述悬架系统的固有参数、以及实时采集的所述悬架系统相对于承载式车身的垂直动态位移确定得到,所述实际承载力基于传感器实时采集得到；当检测到所述动态承载力与实际承载力的受力差大于第一阈值时,输出一级预警信息；当检测到所述受力差的变化率大于第二阈值时,输出二级预警信息,并输出限扭信息；所述限扭信息用于强制降低车辆的速度,以警示驾驶员停止行驶。采用本方法能够快速对悬架系统的异常进行检测和预警。(The application relates to a fault grading early warning method and device for a vehicle suspension system, computer equipment and a storage medium. The method comprises the following steps: acquiring dynamic bearing capacity and actual bearing capacity of a suspension system of a vehicle; the dynamic bearing capacity is determined and obtained on the basis of inherent parameters of the suspension system and real-time acquired vertical dynamic displacement of the suspension system relative to the load-bearing type vehicle body, and the actual bearing capacity is acquired in real time on the basis of a sensor; when the difference between the bearing force of the dynamic bearing force and the actual bearing force is larger than a first threshold value, outputting primary early warning information; when the change rate of the bearing force difference is larger than a second threshold value, outputting secondary early warning information and outputting torque limit information; the torque limit information is used for forcibly reducing the speed of the vehicle to warn the driver to stop running. By adopting the method, the abnormity of the suspension system can be rapidly detected and early warned.)

1. A method for fault classification early warning of a vehicle suspension system, the method comprising:

acquiring dynamic bearing capacity and actual bearing capacity of a suspension system of a vehicle; the dynamic bearing capacity is determined and obtained on the basis of inherent parameters of the suspension system and real-time acquired vertical dynamic displacement of the suspension system relative to the load-bearing type vehicle body, and the actual bearing capacity is acquired in real time on the basis of a sensor;

when the difference between the bearing force of the dynamic bearing force and the actual bearing force is larger than a first threshold value, outputting primary early warning information;

when the change rate of the bearing force difference is larger than a second threshold value, outputting secondary early warning information and outputting torque limit information; the torque limit information is used for forcibly reducing the speed of the vehicle to warn the driver to stop running.

2. The method of claim 1, wherein the step of obtaining the dynamic load capacity of the suspension system of the vehicle comprises:

acquiring the vertical dynamic displacement of a suspension system relative to a load-bearing vehicle body in real time based on a displacement sensor arranged between the load-bearing vehicle body and the suspension system;

carrying out differential processing on the vertical dynamic displacement data to obtain a vertical dynamic speed and a vertical dynamic acceleration;

and calculating the dynamic bearing capacity of the suspension system according to the intrinsic parameters of the suspension system, the vertical dynamic speed and the vertical dynamic acceleration.

3. The method of claim 2, wherein the suspension system intrinsic parameters include spring element static stiffness value, damping element damping value, and load bearing mass; the calculating the dynamic bearing capacity of the suspension system according to the intrinsic parameters of the suspension system, the vertical dynamic speed and the vertical dynamic acceleration comprises the following steps:

taking the product of the static stiffness value of the elastic element and the vertical dynamic displacement as a first intermediate value;

taking the product of the load bearing mass of the suspension system and the vertical dynamic acceleration as a second intermediate value;

taking the product of the damping value of the damping element and the vertical dynamic velocity as a third intermediate value;

and determining the dynamic bearing capacity of the suspension system according to the sum of the first intermediate value, the second intermediate value and the third intermediate value.

4. The method of claim 1, further comprising:

when the fact that the vehicle stops running is detected, determining a fault element in the suspension system according to the difference between the static stiffness value of an elastic element of the suspension system and a stiffness threshold value; the failure element includes an elastic element and a damping element.

5. The method of claim 4, wherein determining a faulty element in the suspension system based on a difference between a static stiffness value of an elastic element of the suspension system and a stiffness threshold after detecting that the vehicle has stopped driving comprises:

when the fact that the vehicle stops driving is detected, collecting vertical static displacement and static bearing capacity of the suspension system;

determining a static stiffness value of an elastic element of the suspension system according to the vertical static displacement and the static bearing capacity;

if the static stiffness value is smaller than the stiffness threshold value, determining that a fault element of the suspension system is an elastic element;

and if the static rigidity value is not smaller than the rigidity threshold value, determining that a fault element of the suspension system is a damping element.

6. The method of claim 1, wherein outputting primary warning information comprises: and sending a primary alarm instruction to early warning equipment so that the early warning equipment prompts a driver of the vehicle that the suspension system is abnormal.

7. The method of claim 1, wherein outputting secondary warning information and outputting torque limit information comprises:

sending a secondary alarm instruction to early warning equipment so that the early warning equipment prompts a driver of a vehicle that a suspension system is seriously abnormal;

and transmitting torque limit information to the engine, wherein the torque limit information is used for indicating that the engine slows down or stops running.

8. A fault-classification warning device for a vehicle suspension system, the device comprising:

the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring the dynamic bearing capacity and the actual bearing capacity of a suspension system of a vehicle; the dynamic bearing capacity is determined and obtained on the basis of inherent parameters of the suspension system and real-time acquired vertical dynamic displacement of the suspension system relative to the load-bearing type vehicle body, and the actual bearing capacity is acquired in real time on the basis of a sensor;

the processing module is used for outputting primary early warning information when detecting that the difference between the bearing force of the dynamic bearing capacity and the actual bearing force is greater than a first threshold value;

the processing module is further used for outputting secondary early warning information and outputting torque limit information when the change rate of the bearing force difference is larger than a second threshold value; the torque limit information is used for forcibly reducing the speed of the vehicle to warn the driver to stop running.

9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.

Technical Field

The application relates to the technical field of vehicles, in particular to a fault grading early warning method and device for a vehicle suspension system, computer equipment and a storage medium.

Background

Along with the market competition of commercial vehicles, the light-weight requirement is gradually shown, and in order to achieve the aim of light weight, the suspension system is gradually expanded to the fields of new materials and new processes, so that a single-leaf spring suspension system is developed. Although the single-leaf spring suspension system can achieve the aim of light weight, the single-leaf spring suspension system is not high in reliability and has obvious potential safety hazard compared with the traditional leaf spring.

The traditional leaf spring suspension system is at least provided with two leaf springs, and when one leaf spring fails, the rest leaf springs still can play a bearing role of the elastic element. If the spring leaf is a single spring leaf, if the spring leaf is fatigued and fails and is suddenly broken in the driving process, the vehicle can be directly paralyzed, even traffic accidents can be caused in serious conditions, and huge potential safety hazards exist.

Therefore, a method for early warning of a failure of a vehicle suspension system is needed, so that an early warning can be quickly and timely issued when the suspension system fails.

Disclosure of Invention

In view of the above, there is a need to provide a method, an apparatus, a computer device and a storage medium for a fault classification warning of a vehicle suspension system, which can provide a quick classification warning when the suspension system fails.

A method of fault classification warning for a vehicle suspension system, the method comprising:

acquiring dynamic bearing capacity and actual bearing capacity of a suspension system of a vehicle; the dynamic bearing capacity is determined and obtained on the basis of inherent parameters of the suspension system and real-time acquired vertical dynamic displacement of the suspension system relative to the load-bearing type vehicle body, and the actual bearing capacity is acquired in real time on the basis of a sensor;

when the difference between the bearing force of the dynamic bearing force and the actual bearing force is larger than a first threshold value, outputting primary early warning information;

when the change rate of the bearing force difference is larger than a second threshold value, outputting secondary early warning information and outputting torque limit information; the torque limit information is used for forcibly reducing the speed of the vehicle to warn the driver to stop running.

In one embodiment, the acquiring the dynamic bearing capacity and the actual bearing capacity of the suspension system of the vehicle includes:

acquiring the vertical dynamic displacement of a suspension system relative to a load-bearing vehicle body in real time based on a displacement sensor arranged between the load-bearing vehicle body and the suspension system;

carrying out differential processing on the vertical dynamic displacement data to obtain a vertical dynamic speed and a vertical dynamic acceleration;

and calculating the dynamic bearing capacity of the suspension system according to the intrinsic parameters of the suspension system, the vertical dynamic speed and the vertical dynamic acceleration.

In one embodiment, the intrinsic parameters of the suspension system include an elastic element static stiffness value, a damping element damping value, and a load bearing mass; the calculating the dynamic bearing capacity of the suspension system according to the intrinsic parameters of the suspension system, the vertical dynamic speed and the vertical dynamic acceleration comprises the following steps:

taking the product of the static stiffness value of the elastic element and the vertical dynamic displacement as a first intermediate value;

taking the product of the load bearing mass of the suspension system and the vertical dynamic acceleration as a second intermediate value;

taking the product of the damping value of the damping element and the vertical dynamic velocity as a third intermediate value;

and determining the dynamic bearing capacity of the suspension system according to the sum of the first intermediate value, the second intermediate value and the third intermediate value.

In one embodiment, the method further comprises:

when the fact that the vehicle stops running is detected, determining a fault element in the suspension system according to the difference between the static stiffness value of an elastic element of the suspension system and a stiffness threshold value; the failure element includes an elastic element and a damping element.

In one embodiment, the determining the faulty element of the suspension system according to the difference between the static stiffness value of the elastic element of the suspension system and the stiffness threshold value after the vehicle is detected to stop running comprises:

when the fact that the vehicle stops driving is detected, collecting vertical static displacement and static bearing capacity of the suspension system;

determining a static stiffness value of an elastic element of the suspension system according to the vertical static displacement and the static bearing capacity;

if the static stiffness value is smaller than the stiffness threshold value, determining that a fault element of the suspension system is an elastic element;

and if the static rigidity value is not smaller than the rigidity threshold value, determining that a fault element of the suspension system is a damping element.

In one embodiment, the outputting primary warning information includes: and sending a primary alarm instruction to early warning equipment so that the early warning equipment prompts a driver of the vehicle that the suspension system is abnormal.

In one embodiment, the outputting the secondary warning information and the outputting the torque limit information includes:

sending a secondary alarm instruction to early warning equipment so that the early warning equipment prompts a driver of a vehicle that a suspension system is seriously abnormal;

and transmitting torque limit information to the engine, wherein the torque limit information is used for indicating that the engine slows down or stops running.

A fail-safe warning device for a vehicle suspension system, the device comprising:

the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring the dynamic bearing capacity and the actual bearing capacity of a suspension system of a vehicle; the dynamic bearing capacity is determined and obtained on the basis of inherent parameters of the suspension system and real-time acquired vertical dynamic displacement of the suspension system relative to the load-bearing type vehicle body, and the actual bearing capacity is acquired in real time on the basis of a sensor;

the processing module is used for outputting primary early warning information when detecting that the difference between the bearing force of the dynamic bearing capacity and the actual bearing force is greater than a first threshold value;

the processing module is further used for outputting secondary early warning information and outputting torque limit information when the change rate of the bearing force difference is larger than a second threshold value; the torque limit information is used for forcibly reducing the speed of the vehicle to warn the driver to stop running.

A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:

acquiring dynamic bearing capacity and actual bearing capacity of a suspension system of a vehicle; the dynamic bearing capacity is determined and obtained on the basis of inherent parameters of the suspension system and real-time acquired vertical dynamic displacement of the suspension system relative to the load-bearing type vehicle body, and the actual bearing capacity is acquired in real time on the basis of a sensor;

when the difference between the bearing force of the dynamic bearing force and the actual bearing force is larger than a first threshold value, outputting primary early warning information;

when the change rate of the bearing force difference is larger than a second threshold value, outputting secondary early warning information and outputting torque limit information; the torque limit information is used for forcibly reducing the speed of the vehicle to warn the driver to stop running.

A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:

acquiring dynamic bearing capacity and actual bearing capacity of a suspension system of a vehicle; the dynamic bearing capacity is determined and obtained on the basis of inherent parameters of the suspension system and real-time acquired vertical dynamic displacement of the suspension system relative to the load-bearing type vehicle body, and the actual bearing capacity is acquired in real time on the basis of a sensor;

when the difference between the bearing force of the dynamic bearing force and the actual bearing force is larger than a first threshold value, outputting primary early warning information;

when the change rate of the bearing force difference is larger than a second threshold value, outputting secondary early warning information and outputting torque limit information; the torque limit information is used for forcibly reducing the speed of the vehicle to warn the driver to stop running.

According to the fault grading early warning method, the fault grading early warning device, the computer equipment and the storage medium of the vehicle suspension system, the dynamic bearing capacity and the actual bearing capacity of the suspension system of the vehicle are obtained, the force difference between the dynamic bearing capacity and the actual bearing capacity is calculated, and when the force difference between the dynamic bearing capacity and the actual bearing capacity is detected to be larger than a first threshold value, primary early warning information is output, so that abnormality occurs to the suspension system of a driver; meanwhile, when the change rate of the bearing force difference is detected to be larger than a second threshold value, secondary early warning information is output, so that serious abnormity occurs to a suspension system of a driver; and the torque limit information is output, so that traffic accidents are avoided.

Drawings

FIG. 1 is a schematic flow chart of a fault classification warning method for a vehicle suspension system according to an embodiment;

FIG. 2 is a schematic flow chart illustrating the steps for obtaining the dynamic load bearing capacity and the actual load bearing capacity of a suspension system of a vehicle according to one embodiment;

FIG. 3 is a schematic flow chart illustrating the steps for calculating the dynamic load bearing capacity of the suspension system based on the intrinsic parameters of the suspension system, the vertical dynamic velocity and the vertical dynamic acceleration in one embodiment;

FIG. 4 is a logic flow diagram of an emulated real world time in one embodiment;

FIG. 5 is a block flow diagram of a fault classification warning method for a vehicle suspension system in one embodiment;

FIG. 6 is a schematic flow chart illustrating the steps for determining a failed element of a suspension system based on a difference between a static stiffness value of a resilient element of the suspension system and a stiffness threshold in one embodiment;

FIG. 7 is a block flow diagram of the steps for terminal diagnosing a malfunctioning component of the suspension system in one embodiment;

FIG. 8 is a logic flow diagram of the steps in one embodiment of a terminal diagnosing a failed component of a suspension system when simulation is implemented;

FIG. 9 is a schematic flow diagram illustrating the hierarchical early warning and fault diagnosis in one embodiment;

FIG. 10 is a block diagram showing a fail-safe warning device of a suspension system of a vehicle according to an embodiment;

FIG. 11 is a diagram illustrating an internal structure of a computer device in one embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

In one embodiment, as shown in fig. 1, a fault classification warning method for a vehicle suspension system is provided, and this embodiment is illustrated by applying the method to a terminal, and it is to be understood that the method may also be applied to a server, and may also be applied to a system including a terminal and a server, and is implemented by interaction between the terminal and the server. Illustratively, the terminal is, for example, an in-vehicle terminal of a vehicle, or an electric control device provided on the vehicle, or the like. It can be understood that the method can be applied to a traditional steel plate spring system, a spiral spring system, an air suspension system, an oil-gas spring system of an engineering vehicle and the like, so that fault detection and grading early warning of the suspension system are realized.

In this embodiment, the method includes the steps of:

step S102, acquiring dynamic bearing capacity and actual bearing capacity of a suspension system of the vehicle.

The suspension system is a general name of a force transmission device and a connecting device between a frame and an axle of a vehicle, is used for transmitting force and torque between wheels and the frame, attenuates impact force and righteast force transmitted to the frame or the vehicle body by the ground in the driving process, and ensures stable driving of the vehicle. The frame is a frame structure bridged on the front axle and the rear axle of the vehicle and is used for supporting each assembly of the vehicle, also called a bearing type vehicle body.

The dynamic bearing capacity is determined and obtained based on the inherent parameters of the suspension system and the vertical dynamic displacement of the suspension system acquired in real time relative to the bearing type vehicle body, and the actual bearing capacity is acquired in real time based on the sensor. Illustratively, the actual load bearing capacity is acquired by a force sensor.

Specifically, the terminal acquires the dynamic bearing capacity and the actual bearing capacity of the suspension system based on a sensor arranged on the vehicle. In some embodiments, as shown in fig. 2, the step of obtaining the dynamic load capacity of the suspension system of the vehicle comprises:

step S202, acquiring the vertical dynamic displacement of the suspension system relative to the load-bearing vehicle body in real time based on a displacement sensor arranged between the load-bearing vehicle body and the suspension system.

And step S204, carrying out differential processing on the vertical dynamic displacement data to obtain a vertical dynamic speed and a vertical dynamic acceleration.

And step S206, calculating the dynamic bearing capacity of the suspension system according to the intrinsic parameters, the vertical dynamic speed and the vertical dynamic acceleration of the suspension system.

The vehicle is provided with a displacement sensor between the bearing type vehicle body and the suspension system, and the displacement sensor is used for acquiring the vertical dynamic displacement of the suspension system relative to the bearing type vehicle body in real time. In order to ensure that the error is within the tolerance range, the arrangement position of the force sensor for acquiring the actual bearing capacity is close to the arrangement position of the displacement sensor. The intrinsic parameters of the suspension system include the spring element static stiffness value, the damping element damping value, and the load bearing mass.

Specifically, the terminal acquires the vertical dynamic displacement of the suspension system acquired by the displacement sensor relative to the vehicle body. Then, the terminal performs differential processing on the vertical dynamic displacement twice to obtain a vertical dynamic velocity and a vertical dynamic acceleration respectively. And calculating the dynamic bearing capacity of the suspension system by the terminal according to the obtained vertical dynamic speed and vertical dynamic acceleration and the inherent parameters of the suspension system.

Illustratively, the terminal performs differential processing on the vertical dynamic displacement X to obtain a vertical dynamic velocity V and a vertical dynamic acceleration a. The intrinsic parameters of the suspension system include an elastic element static stiffness value k, a damping element damping value c and a load bearing mass m. Therefore, the terminal calculates the dynamic bearing force F of the suspension system based on Newton's second law.

In the embodiment, the vertical dynamic displacement of the suspension relative to the bearing type vehicle body in the driving process of the vehicle is collected in real time by using the displacement sensor arranged between the bearing type vehicle body and the suspension system, and the real-time dynamic bearing capacity of the suspension system is obtained through calculation according to the vertical dynamic displacement, so that the real-time load of the suspension system in the driving process can be conveniently and accurately obtained in time, and the fault early warning and diagnosis of the suspension system are more accurate.

In some embodiments, as shown in fig. 3, calculating the dynamic load capacity of the suspension system according to the intrinsic parameters of the suspension system, the vertical dynamic velocity and the vertical dynamic acceleration comprises:

step S302, taking the product of the static rigidity value and the vertical dynamic displacement of the elastic element as a first intermediate value;

step S304, taking the product of the bearing mass of the suspension system and the vertical dynamic acceleration as a second intermediate value;

step S306, taking the product of the damping value of the damping element and the vertical dynamic speed as a third intermediate value;

and step S308, determining the dynamic bearing capacity of the suspension system according to the sum of the first intermediate value, the second intermediate value and the third intermediate value.

Specifically, the terminal calculates the dynamic bearing capacity of the suspension system according to the intrinsic parameters, the vertical dynamic speed and the vertical dynamic acceleration of the suspension system based on Newton's second law. Illustratively, the terminal calculates, as a first intermediate value, a product kX of the static stiffness value k of the elastic element and the vertical dynamic displacement X, according to the formula F ═ ma + kX + cV; calculating a product ma of the bearing mass m and the vertical dynamic acceleration a of the suspension system as a second intermediate value; calculating a product cV of the damping value c of the damping element and the vertical dynamic velocity V as a third intermediate value; and adding the first intermediate value, the second intermediate value and the third intermediate value, and taking the sum of the first intermediate value, the second intermediate value and the third intermediate value as the dynamic bearing capacity F of the suspension system.

In the embodiment, the vertical dynamic displacement of the suspension relative to the bearing type vehicle body in the driving process of the vehicle is collected in real time by using the displacement sensor arranged between the bearing type vehicle body and the suspension system, and the real-time dynamic bearing capacity of the suspension system is obtained through calculation according to the vertical dynamic displacement, so that the real-time load of the suspension system in the driving process can be conveniently and accurately obtained in time, and the fault early warning and diagnosis of the suspension system are more accurate. And step S104, outputting primary early warning information when the difference between the dynamic bearing capacity and the actual bearing capacity is greater than a first threshold value.

Specifically, the terminal compares the calculated dynamic bearing capacity with the actual bearing capacity actually acquired by the force sensor, and calculates the difference between the two bearing capacities. The terminal compares the stress difference with a preset threshold (for the sake of distinction, referred to as a first threshold) and if the stress difference is within the threshold range, the suspension system is normal and has no fault; and if the difference of the bearing force is larger than the threshold value, indicating that the suspension system is in failure. For example, when an elastic element of the suspension system fails or malfunctions, the static stiffness value of the elastic element is reduced, and the load actually carried by the suspension system does not change, so that the deformation of the elastic element is increased by the suspension system, and the vertical dynamic displacement acquired by the displacement sensor is increased. Therefore, the dynamic bearing capacity calculated by the terminal is increased, and the corresponding bearing force difference is increased immediately until the bearing force difference is larger than the threshold value, which indicates that the suspension system is in failure. At this time, the terminal outputs primary warning information.

In some embodiments, the terminal outputting the primary warning information includes: and sending a primary alarm instruction to the early warning equipment so that the early warning equipment prompts the driver of the vehicle that the suspension system is abnormal. The early warning device includes but is not limited to a warning light, a warning bell and the like. When the early warning equipment receives a primary warning instruction, the suspension system is not in a failure state, and only the early warning equipment prompts the driver of the vehicle that the suspension system is abnormal and needs to be overhauled. For example, after the terminal sends the primary early warning information, the early warning device receives the primary early warning information and only alarms through a warning lamp in a cab, so that a driver is prompted.

In the above embodiment, the early warning device is enabled to prompt the driver of the vehicle that the suspension system is abnormal by outputting the primary early warning information to the early warning device, so that the driver can know the fault condition of the suspension system of the vehicle in time, and the potential safety hazard is avoided.

Step S106, outputting secondary early warning information and outputting torque limit information when detecting that the change rate of the bearing force difference is greater than a second threshold value; the torque limit information is used to forcibly reduce the speed of the vehicle to warn the driver to stop driving.

The primary early warning information only prompts a driver that the suspension system is abnormal, the vehicle can still normally drive at the moment, but in order to avoid further damage to the suspension system caused by the driver in the driving process, the abnormality of the suspension system is further serious, and the vehicle cannot continuously drive, after the primary early warning, the terminal continuously detects the dynamic bearing capacity and the actual bearing capacity of the suspension system, and calculates the stress difference and the change rate of the stress difference of the suspension system and the actual bearing capacity in real time. When the terminal detects that the change rate of the bearing force difference is too high, the failure of the suspension system is serious, and the driving must be stopped immediately, otherwise, a traffic accident can be caused.

Specifically, the terminal outputs the secondary warning information when detecting that the change rate of the bearing force difference is greater than a preset threshold (referred to as a second threshold at this time). In some embodiments, the terminal sends a secondary warning instruction to the early warning device to enable the early warning device to prompt a driver of the vehicle that the suspension system is seriously abnormal. For example, after the terminal sends out the second-level warning information, the warning device receives the second-level warning information, and a warning lamp and a warning bell in a cab simultaneously give a warning, so that a driver is prompted. Meanwhile, the terminal sends torque limit information to the engine, and the torque limit information is used for indicating the engine to slow down or stop running, so that the speed of the vehicle is reduced forcibly until the vehicle stops driving and the vehicle speed is 0. In the embodiment, the secondary early warning information is output to the early warning device, so that the early warning device can prompt a driver of the vehicle that the suspension system is seriously abnormal, the driver can not continue driving at the moment, the operation of the engine is limited, the speed of the vehicle is forcibly reduced, traffic accidents caused by neglecting faults of the driver are avoided, and potential safety hazards are avoided.

Illustratively, part of the above steps may be implemented by the terminal running the program code. FIG. 4 illustrates a logic flow diagram of the program code when implemented in simulation. The terminal takes the obtained vertical dynamic displacement X as input, performs two-time differentiation, and performs product calculation on the vertical dynamic displacement X and results obtained in the two-time differentiation processes with the static stiffness value k, the damping value c and the bearing mass m respectively to obtain three intermediate values respectively, and sums the three intermediate values to obtain the dynamic bearing capacity F (not shown in the figure) of the suspension system. Then, a known parameter acquired by a sensor, namely the actual bearing capacity F1 of the suspension system is input, and the difference delta F between the two is calculated by the terminal to be F-F1, so that the bearing force difference delta F between the dynamic bearing capacity and the actual bearing capacity is obtained. Meanwhile, the terminal can further differentiate the stress difference delta F to obtain the change rate d delta F/dt of the stress difference.

In an actual application scenario, as shown in fig. 5, the above steps may be described as follows: the sensor collects vertical dynamic displacement X, and the vertical dynamic displacement X is used for multiplying a rigidity value k to obtain a first intermediate value kX. Meanwhile, the vertical dynamic displacement X is subjected to first differentiation dX/dt to obtain a vertical dynamic speed V, and the vertical dynamic speed V is multiplied by a damping value c to obtain a third intermediate value cV. The vertical dynamic velocity is then further differentiated dV/dt to obtain a vertical dynamic acceleration a, which is multiplied by the mass m to obtain a second intermediate value ma. And obtaining the dynamic bearing force F of the suspension system by using the formula F ═ ma + cV + kX according to the first intermediate value kX, the second intermediate value ma and the third intermediate value cV. And calculating the difference value delta F of the vertical dynamic actual stress F1 (namely the actual bearing force F1) acquired by the sensor to be F-F1, thereby obtaining the stress difference delta F. And comparing the stress difference delta F with a threshold value delta F, if the stress difference delta F < [ delta F ] indicates that the suspension system is normal, returning to the step of acquiring the vertical dynamic displacement X by the sensor and continuing to execute. If the delta F is more than or equal to the delta F, the suspension system is abnormal, at the moment, primary early warning is carried out (namely primary early warning information is sent out), and the step of acquiring the vertical dynamic displacement X by the sensor is returned to be continuously executed. Meanwhile, under the condition that the difference delta F is larger than or equal to the delta F, namely under the condition that the suspension system is abnormal, the difference delta F of the bearing force is further differentiated to obtain the change rate d delta F/dt of the difference delta F of the bearing force, and the change rate d delta F/dt is compared with the change rate threshold value [ d delta F/dt ]. If d Δ F/dt < [ d Δ F/dt ], the abnormality of the suspension system is shown, but the abnormality is not serious abnormality, and the vehicle can still normally drive at the moment, so that only primary early warning is carried out. If d delta F/dt is more than or equal to d delta F/dt, the suspension system is seriously abnormal, and potential safety hazards may exist when the suspension system continues to run, so that secondary early warning is performed (namely secondary early warning information is output), and torque limit information is output to limit the torque of the engine. According to the fault grading early warning method for the vehicle suspension system, the dynamic bearing capacity and the actual bearing capacity of the vehicle suspension system are obtained, the difference between the dynamic bearing capacity and the actual bearing capacity is calculated, and when the difference between the dynamic bearing capacity and the actual bearing capacity is detected to be larger than a first threshold value, primary early warning information is output, so that abnormality occurs to the driver suspension system; meanwhile, when the change rate of the bearing force difference is detected to be larger than a second threshold value, secondary early warning information is output, so that serious abnormity occurs to a suspension system of a driver; and the torque limit information is output, so that traffic accidents are avoided. Meanwhile, by setting the hierarchical early warning, the early warning of different levels is provided for the fault degree of the detected suspension system, so that a driver can know the current reliability and safety of the suspension system constantly in the driving process, and the driver can know the time node for overhauling or replacing the suspension system conveniently. In addition, serious damage to the suspension system is avoided, and the service life of the suspension system is prolonged.

In some embodiments, the method further comprises the step of diagnosing the faulty element: when the fact that the vehicle stops running is detected, determining a fault element in the suspension system according to the difference between the static stiffness value of an elastic element of the suspension system and a stiffness threshold value; the failure element includes an elastic element and a damping element.

Specifically, after the vehicle stops driving, the terminal acquires data of the suspension system in a static state, and calculates to obtain a static stiffness value of an elastic element of the suspension system. And then, the terminal compares the static stiffness value with a stiffness threshold value, and determines that the element with the fault in the suspension system is an elastic element or a damping element according to the difference between the static stiffness value and the stiffness threshold value.

In the above embodiment, the suspension system is further detected after the vehicle stops driving, and the specific failed element of the suspension system is determined, so that the driver can know the specific failure condition of the suspension system, the suspension system is convenient to overhaul or replace in time, and the potential safety hazard caused by forced driving of the driver is avoided.

In some embodiments, as shown in fig. 6, when it is detected that the vehicle stops running, determining a faulty element in the suspension system according to a difference between a static stiffness value of an elastic element of the suspension system and a stiffness threshold value includes:

step S602, when the vehicle is detected to stop driving, acquiring the vertical static displacement and the static bearing capacity of a suspension system;

step S604, determining a static stiffness value of an elastic element of the suspension system according to the vertical static displacement and the static bearing capacity;

step S606, if the static stiffness value is smaller than the stiffness threshold value, determining that a fault element of the suspension system is an elastic element;

step S608, if the static stiffness value is not less than the stiffness threshold, determining that the faulty element of the suspension system is a damping element.

Specifically, as shown in fig. 7, the terminal monitors the speed information of the vehicle in real time, and after the vehicle stops running (i.e. the vehicle speed is 0), the terminal acquires the vertical static displacement x of the suspension system at that time by using the displacement sensor, and acquires the static bearing force f1 (i.e. the vertical static load f1 in the figure) of the suspension system by using the force sensor. And (4) utilizing the vertical static displacement and the static bearing capacity, and calculating a static stiffness value k1 of the elastic element of the suspension system by the terminal. Illustratively, the terminal calculates the negative exponential power 1/x of the vertical static displacement x according to the vertical static displacement x, and multiplies the negative exponential power 1/x by the static bearing force f1 to obtain the static stiffness value k1 ═ f1/x of the elastic element of the suspension system. Then, the terminal compares the static stiffness value with a preset stiffness threshold value [ k ] so as to carry out three-level diagnosis, thereby determining a corresponding fault element in the suspension system. If the static stiffness value is less than the stiffness threshold (k1< [ k ]), indicating that the elastic element is failed or fails, the terminal determines that the failed element of the suspension system is an elastic element. And if the static rigidity value is not less than the rigidity threshold value (k1 ≧ k), indicating that the damping element is in failure or failure, determining the failed element of the suspension system as the damping element.

Illustratively, the above steps may be implemented by the terminal running the program code. FIG. 8 illustrates a logic flow diagram of the program code when implemented in simulation. The terminal uses the obtained vertical static displacement x as an input, and utilizes a mathematical function module carried by simulation software to calculate by using the vertical static displacement x and the static bearing force f1, so as to obtain a static stiffness value k (not shown in the figure) of an elastic element of the suspension system. Then, a known parameter k, namely a rigidity threshold value [ k ] of the suspension system is input, and the difference Δ k of the two is calculated by the terminal, so that the fault element of the suspension system is determined to be an elastic element or a damping element according to the difference between the static rigidity value and the rigidity threshold value.

In the above embodiment, the suspension system is further detected after the vehicle stops driving, and the specific failed element of the suspension system is determined, so that the driver can know the specific failure condition of the suspension system, the suspension system is convenient to overhaul or replace in time, and the potential safety hazard caused by forced driving of the driver is avoided.

For example, in an actual application scenario, part or all of the steps in the above embodiments may be integrated into a program code, and applied to an electrical early warning device, where the electrical early warning device may perform a hierarchical early warning according to a failure degree of a suspension system, and may further diagnose a specific failure of the suspension system. FIG. 9 is a flow diagram that illustrates the hierarchical early warning and fault diagnosis in one embodiment. For the specific processes and steps, reference is made to the foregoing embodiments, which are not repeated herein.

It should be understood that although the various steps in the flowcharts of fig. 1-3 and 6 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1-3 and 6 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or in alternation with other steps or at least some of the other steps or stages.

In one embodiment, as shown in fig. 10, there is provided a fail-safe warning apparatus 1000 of a vehicle suspension system, including: an acquisition module 1010 and a processing module 1020, wherein:

an obtaining module 1010, configured to obtain a dynamic bearing capacity and an actual bearing capacity of a suspension system of a vehicle; the dynamic bearing capacity is determined and obtained based on the inherent parameters of the suspension system and the vertical dynamic displacement of the suspension system acquired in real time relative to the bearing type vehicle body, and the actual bearing capacity is acquired in real time based on the sensor.

And the processing module 1020 is configured to output primary warning information when it is detected that the difference between the dynamic bearing capacity and the actual bearing capacity is greater than a first threshold.

The processing module 1020 is further configured to output secondary early warning information and output torque limit information when it is detected that the change rate of the bearing force difference is greater than a second threshold; the torque limit information is used to forcibly reduce the speed of the vehicle to warn the driver to stop driving.

In one embodiment, the acquisition module 1010 is further configured to acquire, in real time, a vertical dynamic displacement of the suspension system relative to the body based on a displacement sensor disposed between the body and the suspension system; carrying out differential processing on the vertical dynamic displacement data to obtain a vertical dynamic speed and a vertical dynamic acceleration; and calculating the dynamic bearing capacity of the suspension system according to the intrinsic parameters, the vertical dynamic speed and the vertical dynamic acceleration of the suspension system.

In one embodiment, the intrinsic parameters of the suspension system include an elastic element static stiffness value, a damping element damping value, and a load bearing mass; the obtaining module 1010 is further configured to take a product of the static stiffness value and the vertical dynamic displacement of the elastic element as a first intermediate value; taking the product of the bearing mass of the suspension system and the vertical dynamic acceleration as a second intermediate value; taking the product of the damping value of the damping element and the vertical dynamic velocity as a third intermediate value; and determining the dynamic bearing capacity of the suspension system according to the sum of the first intermediate value, the second intermediate value and the third intermediate value.

In one embodiment, the vehicle control system further comprises a detection module, wherein the detection module is used for determining a fault element in the suspension system according to the difference between the static stiffness value of the elastic element of the suspension system and the stiffness threshold value after the vehicle is detected to stop running; the failure element includes an elastic element and a damping element.

In one embodiment, the detection module is further used for acquiring the vertical static displacement and the static bearing capacity of the suspension system after the vehicle is detected to stop driving; determining the static stiffness value of an elastic element of the suspension system according to the vertical static displacement and the static bearing capacity; if the static stiffness value is smaller than the stiffness threshold value, determining that a fault element of the suspension system is an elastic element; and if the static stiffness value is not less than the stiffness threshold value, determining a fault element of the suspension system as a damping element.

In one embodiment, the processing module is further configured to send a primary alarm instruction to the early warning device, so that the early warning device prompts a driver of the vehicle that the suspension system is abnormal.

In one embodiment, the processing module is further configured to send a secondary warning instruction to the early warning device, so that the early warning device prompts a driver of the vehicle that the suspension system is seriously abnormal; and transmitting torque limit information to the engine, wherein the torque limit information is used for indicating that the engine is in slow operation or stop operation.

For specific limitations of the fault classification early warning device of the vehicle suspension system, reference may be made to the above limitations of the fault classification early warning method of the vehicle suspension system, and details are not repeated here. All or part of each module in the fault grading early warning device of the vehicle suspension system can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, a computer device is provided, and the computer device may be the terminal in the foregoing embodiments, and its internal structure diagram may be as shown in fig. 11. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used to store data such as vertical dynamic displacement, dynamic bearing capacity, and actual bearing capacity. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a fault classification warning method for a vehicle suspension system.

Those skilled in the art will appreciate that the architecture shown in fig. 11 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program: acquiring dynamic bearing capacity and actual bearing capacity of a suspension system of a vehicle; the dynamic bearing capacity is determined and obtained based on the inherent parameters of the suspension system and the vertical dynamic displacement of the suspension system relative to the bearing type vehicle body acquired in real time, and the actual bearing capacity is acquired in real time based on the sensor; when the difference between the dynamic bearing capacity and the actual bearing capacity is detected to be larger than a first threshold value, outputting primary early warning information; when the change rate of the bearing force difference is detected to be larger than a second threshold value, outputting secondary early warning information and outputting torque limit information; the torque limit information is used to forcibly reduce the speed of the vehicle to warn the driver to stop driving.

In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring the vertical dynamic displacement of the suspension system relative to the load-bearing vehicle body in real time based on a displacement sensor arranged between the load-bearing vehicle body and the suspension system; carrying out differential processing on the vertical dynamic displacement data to obtain a vertical dynamic speed and a vertical dynamic acceleration; and calculating the dynamic bearing capacity of the suspension system according to the intrinsic parameters, the vertical dynamic speed and the vertical dynamic acceleration of the suspension system.

In one embodiment, the processor, when executing the computer program, further performs the steps of: taking the product of the static rigidity value and the vertical dynamic displacement of the elastic element as a first intermediate value; taking the product of the bearing mass of the suspension system and the vertical dynamic acceleration as a second intermediate value; taking the product of the damping value of the damping element and the vertical dynamic velocity as a third intermediate value; and determining the dynamic bearing capacity of the suspension system according to the sum of the first intermediate value, the second intermediate value and the third intermediate value.

In one embodiment, the processor, when executing the computer program, further performs the steps of: when the fact that the vehicle stops running is detected, determining a fault element in the suspension system according to the difference between the static stiffness value of an elastic element of the suspension system and a stiffness threshold value; the failure element includes an elastic element and a damping element.

In one embodiment, the processor, when executing the computer program, further performs the steps of: when the fact that the vehicle stops driving is detected, collecting vertical static displacement and static bearing capacity of a suspension system; determining the static stiffness value of an elastic element of the suspension system according to the vertical static displacement and the static bearing capacity; if the static stiffness value is smaller than the stiffness threshold value, determining that a fault element of the suspension system is an elastic element; and if the static stiffness value is not less than the stiffness threshold value, determining a fault element of the suspension system as a damping element.

In one embodiment, the processor, when executing the computer program, further performs the steps of: and sending a primary alarm instruction to the early warning equipment so that the early warning equipment prompts the driver of the vehicle that the suspension system is abnormal.

In one embodiment, the processor, when executing the computer program, further performs the steps of: sending a secondary alarm instruction to the early warning equipment so that the early warning equipment prompts a driver of the vehicle that the suspension system is seriously abnormal; and transmitting torque limit information to the engine, wherein the torque limit information is used for indicating that the engine slows down or stops running.

The computer equipment acquires the dynamic bearing capacity and the actual bearing capacity of a suspension system of a vehicle, calculates the difference between the two bearing capacities, and outputs primary early warning information when detecting that the difference between the bearing capacities is larger than a first threshold value, so that the abnormality occurs to the suspension system of a driver; meanwhile, when the change rate of the bearing force difference is detected to be larger than a second threshold value, secondary early warning information is output, so that serious abnormity occurs to a suspension system of a driver; and the torque limit information is output, so that traffic accidents are avoided. Meanwhile, by setting the hierarchical early warning, the early warning of different levels is provided for the fault degree of the detected suspension system, so that a driver can know the current reliability and safety of the suspension system constantly in the driving process, and the driver can know the time node for overhauling or replacing the suspension system conveniently. In addition, serious damage to the suspension system is avoided, and the service life of the suspension system is prolonged.

In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: acquiring dynamic bearing capacity and actual bearing capacity of a suspension system of a vehicle; the dynamic bearing capacity is determined and obtained based on the inherent parameters of the suspension system and the vertical dynamic displacement of the suspension system relative to the bearing type vehicle body acquired in real time, and the actual bearing capacity is acquired in real time based on the sensor; when the difference between the dynamic bearing capacity and the actual bearing capacity is detected to be larger than a first threshold value, outputting primary early warning information; when the change rate of the bearing force difference is detected to be larger than a second threshold value, outputting secondary early warning information and outputting torque limit information; the torque limit information is used to forcibly reduce the speed of the vehicle to warn the driver to stop driving.

In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring the vertical dynamic displacement of the suspension system relative to the load-bearing vehicle body in real time based on a displacement sensor arranged between the load-bearing vehicle body and the suspension system; carrying out differential processing on the vertical dynamic displacement data to obtain a vertical dynamic speed and a vertical dynamic acceleration; and calculating the dynamic bearing capacity of the suspension system according to the intrinsic parameters, the vertical dynamic speed and the vertical dynamic acceleration of the suspension system.

In one embodiment, the computer program when executed by the processor further performs the steps of: taking the product of the static rigidity value and the vertical dynamic displacement of the elastic element as a first intermediate value; taking the product of the bearing mass of the suspension system and the vertical dynamic acceleration as a second intermediate value; taking the product of the damping value of the damping element and the vertical dynamic velocity as a third intermediate value; and determining the dynamic bearing capacity of the suspension system according to the sum of the first intermediate value, the second intermediate value and the third intermediate value.

In one embodiment, the computer program when executed by the processor further performs the steps of: when the fact that the vehicle stops running is detected, determining a fault element in the suspension system according to the difference between the static stiffness value of an elastic element of the suspension system and a stiffness threshold value; the failure element includes an elastic element and a damping element.

In one embodiment, the computer program when executed by the processor further performs the steps of: when the fact that the vehicle stops driving is detected, collecting vertical static displacement and static bearing capacity of a suspension system; determining the static stiffness value of an elastic element of the suspension system according to the vertical static displacement and the static bearing capacity; if the static stiffness value is smaller than the stiffness threshold value, determining that a fault element of the suspension system is an elastic element; and if the static stiffness value is not less than the stiffness threshold value, determining a fault element of the suspension system as a damping element.

In one embodiment, the computer program when executed by the processor further performs the steps of: and sending a primary alarm instruction to the early warning equipment so that the early warning equipment prompts the driver of the vehicle that the suspension system is abnormal.

In one embodiment, the computer program when executed by the processor further performs the steps of: sending a secondary alarm instruction to the early warning equipment so that the early warning equipment prompts a driver of the vehicle that the suspension system is seriously abnormal; and transmitting torque limit information to the engine, wherein the torque limit information is used for indicating that the engine slows down or stops running.

The computer readable storage medium obtains the dynamic bearing capacity and the actual bearing capacity of a suspension system of a vehicle, calculates the difference between the two bearing capacities, and outputs primary early warning information when detecting that the difference between the bearing capacities is larger than a first threshold value, so that the abnormality occurs to the suspension system of a driver; meanwhile, when the change rate of the bearing force difference is detected to be larger than a second threshold value, secondary early warning information is output, so that serious abnormity occurs to a suspension system of a driver; and the torque limit information is output, so that traffic accidents are avoided. Meanwhile, by setting the hierarchical early warning, the early warning of different levels is provided for the fault degree of the detected suspension system, so that a driver can know the current reliability and safety of the suspension system constantly in the driving process, and the driver can know the time node for overhauling or replacing the suspension system conveniently. In addition, serious damage to the suspension system is avoided, and the service life of the suspension system is prolonged.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.