CN112995309A - Internet-connected cloud-control intelligent line-control chassis control system and control method thereof - Google Patents
Internet-connected cloud-control intelligent line-control chassis control system and control method thereof Download PDFInfo
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Abstract
The invention discloses a control system and a control method of an internet-connected cloud-control intelligent line-control chassis, wherein the control system comprises: the system comprises a line control chassis control terminal, an intelligent traffic infrastructure, a cloud computing platform and a communication network; the drive-by-wire chassis control terminal, the cloud computing platform and the intelligent traffic infrastructure realize data transmission through a communication network; the cloud computing platform processes data transmitted by the line-control chassis control terminal and the intelligent traffic infrastructure, and sends data instructions generated after processing to the line-control chassis control terminal through a communication network to realize real-time dynamic control of the chassis, and meanwhile, the cloud computing platform also dynamically monitors the working state of the vehicle chassis; the virtual digital twin model of the physical line control chassis built in the invention can continuously change along with the data collected in the running process of the line control chassis, reflects the running condition of the line control chassis in the full life cycle, and can predict the actual failure risk and failure of the physical line control chassis entity.
Description
Technical Field
The invention belongs to the technical field of automobile wire-controlled chassis control and cloud computing, and particularly relates to a network-connected cloud-controlled intelligent wire-controlled chassis control system and a control method thereof.
Background
In recent years, with the development and maturity of C-V2X communication technology, cloud computing technology, and intelligent control technology, research on intelligent networked vehicles has entered a new stage. The research on the control method of the chassis is an important direction, the chassis is used as an actuating mechanism of the intelligent networked vehicle, and the networking and intelligent degree of the chassis has a significant influence on the performance of the intelligent networked vehicle. At present, the traditional vehicle chassis is difficult to adapt to the development requirements of future vehicle electromotion and intellectualization, the wire control chassis becomes the development trend of the vehicle chassis, compared with the traditional vehicle chassis, the wire control chassis has high electrification degree, can realize more accurate control on vehicle motion than the traditional chassis, and has advantages in the aspects of safety, energy conservation, intelligence and the like. However, in the existing control scheme of the vehicle line-control chassis, a vehicle controller or a domain controller is adopted to control each part of the chassis, for example, a power chassis domain control architecture proposed in the chinese patent application No. CN201811251327.0 entitled "a power chassis domain control architecture and an automobile", the control architecture can only control the vehicle line-control chassis by means of a single control algorithm preset in the vehicle controller or the domain controller, cannot realize real-time dynamic control on the line-control chassis, is difficult to meet the control requirements of the future intelligent networked vehicle on chassis networking and intellectualization, and in addition, in the aspect of fault monitoring, the control architecture cannot dynamically monitor and risk predict the working state of the chassis.
The digital twin technology is used as a technology for mapping a physical entity to a digital model, can well simulate and simulate various characteristics of the physical entity, realizes intelligent monitoring of the full life cycle of the physical entity, and is applied to many fields. In addition, with the development of cloud computing technology, wireless communication technology, and machine learning algorithms, it becomes possible to transmit and process a large amount of data generated while a computing vehicle is running.
Based on the above contents, the invention establishes a digital twin model of the line control chassis through the cloud and carries out data analysis and processing, and carries out fault dynamic monitoring and intelligent control on the line control chassis.
Disclosure of Invention
In view of the defects of the prior art, the invention aims to provide a network-connected cloud-control intelligent line-control chassis control system and a control method thereof, so as to solve the problems that the current line-control chassis control scheme cannot realize real-time dynamic control on a line-control chassis and lacks dynamic monitoring on chassis faults.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the invention relates to a network connection type cloud control intelligent line control chassis control system, which comprises: the system comprises a line control chassis control terminal, an intelligent traffic infrastructure, a cloud computing platform and a communication network; the drive-by-wire chassis control terminal, the cloud computing platform and the intelligent traffic infrastructure realize data transmission through a communication network;
the cloud computing platform processes data transmitted by the wire-controlled chassis control terminal and the intelligent traffic infrastructure, and sends data instructions generated after processing to the wire-controlled chassis control terminal through a communication network to realize real-time dynamic control of the chassis, and meanwhile, the cloud computing platform also dynamically monitors the working state of the vehicle chassis;
the line control chassis control terminal is used for sending the acquired vehicle-mounted sensing data and the real-time running data of the line control chassis to the cloud computing platform and controlling the line control chassis according to a data instruction sent by the cloud computing platform;
the intelligent traffic infrastructure is used for acquiring roadside data and performing data transmission with the line control chassis control terminal and the cloud computing platform; it includes: the system comprises a Road Side Unit (RSU) and road side sensing equipment, wherein the road side sensing equipment is used for collecting road side data; the Road Side Unit (RSU) is used for realizing data transmission between the road side sensing equipment and the drive-by-wire chassis control terminal and the cloud computing platform and positioning the vehicle;
the cloud computing platform is used for computing and acquiring a drive-by-wire chassis control strategy; the intelligent traffic control system comprises a central cloud computing platform and an edge cloud computing platform, wherein the edge cloud computing platform performs data fusion processing on data sent by a drive-by-wire chassis control terminal and an intelligent traffic infrastructure to complete a path planning decision, sends the obtained path planning decision to the drive-by-wire chassis control terminal, and sends the received data to the central cloud computing platform; the central cloud computing platform generates an urban real-time traffic data map according to data sent by each edge cloud computing platform, and meanwhile, a digital twin model of the line control chassis is established, so that the working state of the chassis is dynamically monitored in real time, and possible fault risks of the line control chassis are predicted;
and the communication network is used for realizing data transmission among the line control chassis control terminal, the intelligent traffic infrastructure and the cloud computing platform.
Further, the drive-by-wire chassis control strategy is specifically as follows: according to data collected by a cloud computing platform, a multi-objective optimization algorithm is utilized to calculate indexes (including but not limited to smoothness indexes, economic indexes and energy-saving indexes) of a line-control chassis, an optimization objective function is solved, an optimization range of control quantities (including but not limited to driving motor current, steering motor current and braking motor current) of the line-control chassis controller at the moment is obtained, a group of specific control quantities are selected as actual control quantities in the optimization range by utilizing random numbers, and the actual control quantities are compiled by the cloud computing platform and then sent to a line-control chassis control terminal in a control command mode.
Further, the drive-by-wire chassis control terminal includes: the system comprises a sensor module, a network communication module, an execution module, a display module, a line-control chassis domain controller and a Flex Ray bus, wherein the sensor module, the network communication module, the execution module and the display module are respectively connected with the line-control chassis domain controller through the Flex Ray bus, and transmit data and control commands of the line-control chassis controller.
Further, the sensor module includes: laser radar, camera, motor monitoring sensor, suspension sensor, stopper temperature sensor, battery monitoring sensor.
Further, the vehicle-mounted sensing data is external road environment information acquired by a vehicle-mounted camera and a laser radar in real time; the real-time operation data of the wire-controlled chassis is real-time operation data of each actuating mechanism of the wire-controlled chassis, and comprises but is not limited to suspension damping, power rotating speed of a driving motor, brake temperature and battery SOH parameters.
Furthermore, the network communication module is a vehicle-mounted wireless communication device and is used for realizing data communication between the chassis control terminal and the cloud computing platform and between the chassis control terminal and the intelligent traffic infrastructure, sending the acquired vehicle-mounted sensing data and the real-time operation data of the drive-by-wire chassis to the cloud computing platform and the intelligent traffic infrastructure and receiving data computing results from the cloud computing platform and roadside sensing information of the intelligent traffic infrastructure.
Further, the execution module is used for executing a control command issued by the drive-by-wire chassis domain controller, and comprises: the device comprises a suspension system, a battery system, a driving motor, a brake and a steering mechanism.
Further, the display module is used for displaying monitoring information and risk prompt information of the chassis by the cloud computing platform, and comprises a vehicle combination instrument panel and a central control screen.
Furthermore, the wire control chassis domain controller is positioned in the middle of the vehicle chassis, is connected with the Flex Ray bus, and is used for processing data acquired by the sensor module and outputting a control command to the execution module according to a received calculation result of the cloud computing platform.
Furthermore, the road side unit adopts municipal alternating current power supply, and a communication interface supports Ethernet, high-speed optical fiber, PC5 direct connection and mobile cellular network, supports GPS and Beidou positioning system, and is provided with a communication encryption chip.
Further, the roadside sensing device includes: laser radar, camera, meteorological monitoring device, the trackside perception equipment passes through optic fibre and links to each other with the trackside unit, and the trackside data that will gather passes through optic fibre transmission to the trackside unit.
Furthermore, the central cloud computing platform consists of a server located in a city or regional traffic scheduling center, and the central cloud computing platform and the edge cloud computing platform complete data transmission through a mobile cellular data network.
Furthermore, the edge cloud computing platform is composed of a plurality of entity or virtual servers on edge nodes which are close to the roadside and accessed into the cellular mobile data communication network, supports flexible configuration of CPUs (central processing units), memories and bandwidths, and supports management of edge nodes with different computing power.
Further, the edge cloud computing platforms are arranged on two sides of the road.
Further, the communication network is based on a 5G/6G communication technology, wherein data transmission between the drive-by-wire chassis control terminal and the intelligent traffic infrastructure and between the drive-by-wire chassis control terminal and the cloud computing platform is carried out through a mobile cellular data network, and data transmission between the intelligent traffic infrastructure and the edge cloud computing platform is carried out through optical fibers.
The invention discloses a control method of a networked cloud-control intelligent line-control chassis control system, which comprises the following steps:
1) the drive-by-wire chassis control terminal sends vehicle-mounted sensing data and real-time running data of the drive-by-wire chassis to the edge cloud computing center, and simultaneously sends vehicle speed, acceleration and spatial position data to the road side unit, and the road side unit uploads collected road side sensing information and received data sent by different drive-by-wire chassis control terminals to the edge cloud computing platform; the edge cloud computing platform uploads the received data to the central cloud computing platform;
2) the edge cloud computing platform performs fusion processing on the vehicle-mounted sensing data and the road side data to obtain a digital three-dimensional traffic map of the region, completes regional traffic planning and dynamic speed limit planning calculation based on the digital three-dimensional traffic map to obtain decision instructions for control terminals of line control chassis of different vehicles, and sends the decision instructions to the control terminals of the line control chassis; meanwhile, the edge cloud computing platform uploads the digital three-dimensional traffic map, the decision instruction and the real-time operation data of the drive-by-wire chassis of the area to the central cloud computing platform;
3) the method comprises the steps that a central cloud computing platform carries out fusion processing on digital three-dimensional traffic maps of different areas uploaded by an edge cloud computing platform to obtain an urban real-time traffic data map, the urban real-time traffic data map is used for completing the calculation of traffic flow and signal lamp duration of different roads, the calculation result is sent to the edge cloud computing platform, and the edge cloud computing platform corrects a decision instruction of a wire control chassis control terminal according to the calculation result; meanwhile, a central cloud computing platform constructs a digital twin model matched with the wire control chassis, and the central cloud computing platform carries out digital modeling according to the pre-loaded physical entity information of the wire control chassis;
4) the central cloud computing platform configures a simulation operation environment for a digital twin model of the wire control chassis according to data uploaded by the edge cloud computing platform, performs simulation operation, performs data fusion processing on collected real-time operation data generated by the physical operation of the wire control chassis and virtual operation data generated by the digital twin model, obtains a wire control chassis state analysis report and a driving suggestion according to a data fusion processing result, and sends the wire control chassis state analysis report and the driving suggestion to the edge cloud computing platform;
5) the center cloud computing platform extracts the characteristics of the analyzed and fused data, establishes a line control chassis control model according to the extracted characteristic data, performs multi-target optimization based on the current working state of the line control chassis to obtain a line control chassis control strategy under the current control model, and sends the control strategy to the edge cloud computing platform;
6) the edge cloud computing platform compiles the control strategy and then sends the control strategy to the drive-by-wire chassis control terminal, the drive-by-wire chassis control terminal changes the operation control of a chassis system according to the received control strategy and simultaneously displays a chassis state analysis report and a driving suggestion to a driver through a display module;
7) and the wire control chassis control terminal feeds back the physical entity data after the control strategy is operated to the cloud computing platform, the cloud computing platform performs data fusion analysis processing on the synchronously changed virtual model data and the physical entity data again, and repeats the steps 1) to 6), so as to form optimized iterative processing calculation of the data and realize the dynamic optimal control on the wire control chassis.
Further, the digital twin model is a digital virtual drive-by-wire chassis model which is built on a central cloud computing platform based on a digital twin technology and is matched with a physical drive-by-wire chassis; the establishing process is based on physical entity information of the line control chassis, and the physical line control chassis entity is formed by digitally modeling by adopting a CAD digital modeling technology and a finite element method; the digital twin model is completely consistent with the drive-by-wire chassis entity in terms of physical and electrical properties.
Further, the physical information of the drive-by-wire chassis is technical information used when the drive-by-wire chassis is manufactured, and includes, but is not limited to, structural information, material information, size information, and connection relation of each component of the drive-by-wire chassis.
Furthermore, the drive-by-wire chassis control model is established according to the extracted feature data, reflects the relationship between the controlled quantity and the controlled quantity, and provides a basis for the following multi-objective optimization.
Further, in the step 3), CAD modeling, CAE assisted analysis and finite element method are adopted to digitally model the drive-by-wire chassis.
Further, the central cloud computing platform performs data fusion processing on real-time operation data and digital twin model data generated by the operation of the drive-by-wire chassis by adopting one or more combined algorithms including but not limited to a convolutional neural network algorithm, a BP neural network algorithm and machine learning.
The invention has the beneficial effects that:
the invention builds a virtual digital twin model and a simulation working environment of a physical drive-by-wire chassis entity based on a digital twin technology, builds a drive-by-wire chassis control model by collecting and analyzing operation data of the physical drive-by-wire chassis entity and the virtual digital twin model, dynamically adjusts a control strategy obtained based on the drive-by-wire chassis control model along with real-time data collected by a drive-by-wire chassis control terminal, and realizes the dynamic optimal control of the drive-by-wire chassis; the problems that the existing control scheme of the wire control chassis is intelligent and low in networking degree, cannot adapt to the trend of future cooperative intelligent driving, cannot realize real-time dynamic control on the wire control chassis and lacks dynamic monitoring on chassis faults are solved, and the networking and intelligent degree of the wire control chassis is greatly improved.
The virtual digital twin model of the physical line control chassis built in the invention can continuously change along with the data collected in the running process of the line control chassis, reflects the running condition of the line control chassis in the full life cycle, so that the virtual digital twin model can predict the actual failure risk and failure of the physical line control chassis entity, and can remind a driver through the display module to guide the driver to perform targeted maintenance on the line control chassis, thereby greatly improving the safety reliability and the service life of the line control chassis.
Drawings
FIG. 1 is a block diagram of the architecture of the system of the present invention;
FIG. 2 is a flow chart of a control method according to the present invention.
Detailed Description
In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention.
Referring to fig. 1, the internet-connected cloud-controlled intelligent line-controlled chassis control system of the present invention includes: the system comprises a line control chassis control terminal, an intelligent traffic infrastructure, a cloud computing platform and a communication network; the drive-by-wire chassis control terminal, the cloud computing platform and the intelligent traffic infrastructure realize data transmission through a communication network;
the cloud computing platform processes data transmitted by the wire-controlled chassis control terminal and the intelligent traffic infrastructure, and sends data instructions generated after processing to the wire-controlled chassis control terminal through a communication network to realize real-time dynamic control of the chassis, and meanwhile, the cloud computing platform also dynamically monitors the working state of the vehicle chassis;
the line control chassis control terminal is used for sending the acquired vehicle-mounted sensing data and the real-time running data of the line control chassis to the cloud computing platform and controlling the line control chassis according to a data instruction sent by the cloud computing platform; the wire-controlled chassis control terminal includes: the system comprises a sensor module, a network communication module, an execution module, a display module, a line-control chassis domain controller and a Flex Ray bus, wherein the sensor module, the network communication module, the execution module and the display module are respectively connected with the line-control chassis domain controller through the Flex Ray bus and used for transmitting data and control commands of the line-control chassis controller;
wherein the sensor module includes: laser radar, camera, motor monitoring sensor, suspension sensor, stopper temperature sensor, battery monitoring sensor.
The vehicle-mounted sensing data is external road environment information acquired by a vehicle-mounted camera and a laser radar in real time; the real-time operation data of the wire-controlled chassis is real-time operation data of each actuating mechanism of the wire-controlled chassis, and comprises but is not limited to suspension damping, power rotating speed of a driving motor, brake temperature and battery SOH parameters.
The network communication module is a vehicle-mounted wireless communication device and is used for realizing data communication among the chassis control terminal, the cloud computing platform and the intelligent traffic infrastructure, sending the acquired vehicle-mounted sensing data and the real-time running data of the drive-by-wire chassis to the cloud computing platform and the intelligent traffic infrastructure and receiving data computing results from the cloud computing platform and roadside sensing information of the intelligent traffic infrastructure.
The execution module is used for executing a control command sent by the drive-by-wire chassis domain controller, and comprises: the device comprises a suspension system, a battery system, a driving motor, a brake and a steering mechanism.
The display module is used for displaying monitoring information and risk prompt information of the cloud computing platform on the chassis, and comprises a vehicle combination instrument panel and a central control screen.
The wire control chassis domain controller is positioned in the middle of the vehicle chassis, is connected with the Flex Ray bus, and is used for processing data acquired by the sensor module and outputting a control command to the execution module according to a received calculation result of the cloud computing platform.
The intelligent traffic infrastructure is used for acquiring roadside data and performing data transmission with the line control chassis control terminal and the cloud computing platform; it includes: the system comprises a Road Side Unit (RSU) and road side sensing equipment, wherein the road side sensing equipment is used for collecting road side data; the Road Side Unit (RSU) is used for realizing data transmission between the road side sensing equipment and the drive-by-wire chassis control terminal and the cloud computing platform and positioning the vehicle;
the roadside unit adopts municipal alternating current power supply, a communication interface supports Ethernet, high-speed optical fiber, PC5 direct connection and a mobile cellular network, supports GPS and a Beidou positioning system, and is provided with a communication encryption chip;
the roadside sensing device includes: laser radar, camera, meteorological monitoring device, the trackside perception equipment passes through optic fibre and links to each other with the trackside unit, and the trackside data that will gather passes through optic fibre transmission to the trackside unit.
The cloud computing platform is used for computing and acquiring a drive-by-wire chassis control strategy; the intelligent traffic control system comprises a central cloud computing platform and an edge cloud computing platform, wherein the edge cloud computing platform performs data fusion processing on data sent by a drive-by-wire chassis control terminal and an intelligent traffic infrastructure to complete a path planning decision, sends the obtained path planning decision to the drive-by-wire chassis control terminal, and sends the received data to the central cloud computing platform; the central cloud computing platform generates an urban real-time traffic data map according to data sent by each edge cloud computing platform, and meanwhile, a digital twin model of the line control chassis is established, so that the working state of the chassis is dynamically monitored in real time, and possible fault risks of the line control chassis are predicted;
the central cloud computing platform consists of servers located in urban or regional traffic scheduling centers, and the central cloud computing platform and the edge cloud computing platform complete data transmission through a mobile cellular data network.
The edge cloud computing platform consists of a plurality of entity or virtual servers on edge nodes which are close to the road side and accessed into the cellular mobile data communication network, supports the elastic configuration of a CPU (Central processing Unit), a memory and a bandwidth, and supports the management of the edge nodes with different computing power.
The edge cloud computing platforms are arranged on two sides of the road.
The communication network is used for realizing data transmission among the line control chassis control terminal, the intelligent traffic infrastructure and the cloud computing platform; the communication network is based on a 5G/6G communication technology, wherein data transmission between the wire control chassis control terminal and the intelligent traffic infrastructure and between the wire control chassis control terminal and the cloud computing platform is carried out through a mobile cellular data network, and data transmission between the intelligent traffic infrastructure and the edge cloud computing platform is carried out through optical fibers.
In addition, the drive-by-wire chassis control strategy is specifically as follows: according to data collected by a cloud computing platform, a multi-target particle swarm algorithm, a multi-target genetic algorithm, an ant colony algorithm, a simulated annealing algorithm or a neural network algorithm is utilized to calculate indexes (including but not limited to smoothness indexes, economic indexes and energy-saving indexes) of a wire-controlled chassis controller, an optimized objective function is solved, an optimized range of control quantities (including but not limited to driving motor current, steering motor current and braking motor current) of the wire-controlled chassis controller at the moment is obtained, a group of specific control quantities are selected in the optimized range by utilizing a random number to serve as actual control quantities, and the actual control quantities are compiled by the cloud computing platform and then sent to a wire-controlled chassis control terminal in a control command mode.
Referring to fig. 2, the control method of the networked cloud-control intelligent line-control chassis control system according to the present invention includes the following steps:
1) the drive-by-wire chassis control terminal sends vehicle-mounted sensing data and real-time running data of the drive-by-wire chassis to the edge cloud computing center, and simultaneously sends vehicle speed, acceleration and spatial position data to the road side unit, and the road side unit uploads collected road side sensing information and received data sent by different drive-by-wire chassis control terminals to the edge cloud computing platform; the edge cloud computing platform uploads the received data to the central cloud computing platform;
2) the edge cloud computing platform performs fusion processing on the vehicle-mounted sensing data and the road side data to obtain a digital three-dimensional traffic map of the region, completes regional traffic planning and dynamic speed limit planning calculation based on the digital three-dimensional traffic map to obtain decision instructions for control terminals of line control chassis of different vehicles, and sends the decision instructions to the control terminals of the line control chassis; meanwhile, the edge cloud computing platform uploads the digital three-dimensional traffic map, the decision instruction and the real-time operation data of the drive-by-wire chassis of the area to the central cloud computing platform;
3) the method comprises the steps that a central cloud computing platform carries out fusion processing on digital three-dimensional traffic maps of different areas uploaded by an edge cloud computing platform to obtain an urban real-time traffic data map, the urban real-time traffic data map is used for completing the calculation of traffic flow and signal lamp duration of different roads, the calculation result is sent to the edge cloud computing platform, and the edge cloud computing platform corrects a decision instruction of a wire control chassis control terminal according to the calculation result; meanwhile, a central cloud computing platform constructs a digital twin model matched with the wire control chassis, and the central cloud computing platform carries out digital modeling according to the pre-loaded physical entity information of the wire control chassis;
the digital twin model is a digital virtual drive-by-wire chassis model which is set up on a central cloud computing platform based on a digital twin technology and is matched with a physical drive-by-wire chassis; the establishing process is based on physical entity information of the line control chassis, and the physical line control chassis entity is formed by digitally modeling by adopting a CAD digital modeling technology and a finite element method; the digital twin model is completely consistent with the drive-by-wire chassis entity in the aspect of physical electrical properties;
the physical information of the drive-by-wire chassis is technical information used when the drive-by-wire chassis is produced and manufactured, and comprises but is not limited to structure information, material information, size information and connection relation of all components of the drive-by-wire chassis.
And 3) carrying out digital modeling on the drive-by-wire chassis by adopting CAD modeling, CAE auxiliary analysis and a finite element method.
4) The central cloud computing platform configures a simulation operation environment for a digital twin model of the wire control chassis according to data uploaded by the edge cloud computing platform, performs simulation operation, performs data fusion processing on collected real-time operation data generated by the physical operation of the wire control chassis and virtual operation data generated by the digital twin model, obtains a wire control chassis state analysis report and a driving suggestion according to a data fusion processing result, and sends the wire control chassis state analysis report and the driving suggestion to the edge cloud computing platform;
5) the center cloud computing platform extracts the characteristics of the analyzed and fused data, establishes a line control chassis control model according to the extracted characteristic data, performs multi-target optimization based on the current working state of the line control chassis to obtain a line control chassis control strategy under the current control model, and sends the control strategy to the edge cloud computing platform;
the characteristic data is critical data which is related to the operation of the drive-by-wire chassis and can represent the operation condition of an actuating mechanism, and the critical data comprises but is not limited to a temperature parameter of a driving motor, a SOH parameter of a battery, a temperature parameter of a brake, a deformation parameter of a suspension component and the like;
the line control chassis control model is a control model established according to the extracted characteristic data and is used for reflecting the relation between the control quantity and the controlled quantity; the drive-by-wire chassis control model comprises a chassis dynamics mathematical model and a suspension system control submodel, a battery system control submodel, a driving motor control submodel, a brake control submodel and a steering mechanism control submodel which correspond to an execution module in the drive-by-wire chassis control terminal, wherein each submodel is embodied in a transfer function form between a control quantity and a controlled quantity, and the transfer function is obtained by adopting an automatic control theory basic principle according to the mechanical structure and the electrical characteristics of a corresponding execution mechanism. The chassis dynamics mathematical model is a chassis dynamics equation set containing controlled quantity of each control sub-model, parameters in the equation set are related to the extracted characteristic data, and when the wire-controlled chassis control model is established, the cloud computing platform determines the parameters of the chassis dynamics equation set according to the extracted characteristic data to complete establishment of the wire-controlled chassis control model.
6) The edge cloud computing platform compiles the control strategy and then sends the control strategy to the drive-by-wire chassis control terminal, the drive-by-wire chassis control terminal changes the operation control of a chassis system according to the received control strategy and simultaneously displays a chassis state analysis report and a driving suggestion to a driver through a display module;
7) and the wire control chassis control terminal feeds back the physical entity data after the control strategy is operated to the cloud computing platform, the cloud computing platform performs data fusion analysis processing on the synchronously changed virtual model data and the physical entity data again, and repeats the steps 1) to 6), so as to form optimized iterative processing calculation of the data and realize the dynamic optimal control on the wire control chassis.
The central cloud computing platform adopts one or more combined algorithms including but not limited to a convolutional neural network algorithm, a BP neural network algorithm and machine learning to perform data fusion processing on real-time operation data and digital twin model data generated by the operation of the wire control chassis.
While the invention has been described in terms of its preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (9)
1. The utility model provides a networking formula cloud accuse intelligence drive-by-wire chassis control system which characterized in that includes: the system comprises a line control chassis control terminal, an intelligent traffic infrastructure, a cloud computing platform and a communication network; the drive-by-wire chassis control terminal, the cloud computing platform and the intelligent traffic infrastructure realize data transmission through a communication network;
the cloud computing platform processes data transmitted by the wire-controlled chassis control terminal and the intelligent traffic infrastructure, and sends data instructions generated after processing to the wire-controlled chassis control terminal through a communication network to realize real-time dynamic control of the chassis, and meanwhile, the cloud computing platform also dynamically monitors the working state of the vehicle chassis;
the line control chassis control terminal is used for sending the acquired vehicle-mounted sensing data and the real-time running data of the line control chassis to the cloud computing platform and controlling the line control chassis according to a data instruction sent by the cloud computing platform;
the intelligent traffic infrastructure is used for acquiring roadside data and performing data transmission with the line control chassis control terminal and the cloud computing platform; it includes: the system comprises a road side unit and road side sensing equipment, wherein the road side sensing equipment is used for collecting road side data; the road side unit is used for realizing data transmission between the road side sensing equipment and the line control chassis control terminal and between the road side sensing equipment and the cloud computing platform and positioning the vehicle;
the cloud computing platform is used for computing and acquiring a drive-by-wire chassis control strategy; the intelligent traffic control system comprises a central cloud computing platform and an edge cloud computing platform, wherein the edge cloud computing platform performs data fusion processing on data sent by a drive-by-wire chassis control terminal and an intelligent traffic infrastructure to complete a path planning decision, sends the obtained path planning decision to the drive-by-wire chassis control terminal, and sends the received data to the central cloud computing platform; the central cloud computing platform generates an urban real-time traffic data map according to data sent by each edge cloud computing platform, and meanwhile, a digital twin model of the line control chassis is established, so that the working state of the chassis is dynamically monitored in real time, and possible fault risks of the line control chassis are predicted;
and the communication network is used for realizing data transmission among the line control chassis control terminal, the intelligent traffic infrastructure and the cloud computing platform.
2. The networked cloud-controlled intelligent line-controlled chassis control system according to claim 1, wherein the line-controlled chassis control strategy is specifically: according to data collected by the cloud computing platform, a multi-objective optimization algorithm is utilized to calculate indexes of the line control chassis, an optimization objective function is solved to obtain an optimization range of the control quantity of the line control chassis controller at the moment, a group of specific control quantity is selected as an actual control quantity in the optimization range by utilizing random numbers, and the actual control quantity is compiled by the cloud computing platform and then sent to a line control chassis control terminal in a control command mode.
3. The networked cloud-controlled intelligent chassis-by-wire control system according to claim 1, wherein the chassis-by-wire control terminal comprises: the system comprises a sensor module, a network communication module, an execution module, a display module, a line-control chassis domain controller and a Flex Ray bus, wherein the sensor module, the network communication module, the execution module and the display module are respectively connected with the line-control chassis domain controller through the Flex Ray bus, and transmit data and control commands of the line-control chassis controller.
4. The system of claim 1, wherein the network communication module is a vehicle-mounted wireless communication device, and is configured to implement data communication between the chassis control terminal and the cloud computing platform and the smart traffic infrastructure, and send the acquired vehicle-mounted sensing data and the real-time operation data of the drive-by-wire chassis to the cloud computing platform and the smart traffic infrastructure and receive data computation results from the cloud computing platform and roadside sensing information of the smart traffic infrastructure.
5. The networked cloud-control intelligent line-control chassis control system according to claim 1, wherein the road side units are powered by municipal alternating current, communication interfaces support Ethernet, high-speed optical fibers, PC5 direct connection and a mobile cellular network, GPS and Beidou positioning systems are supported, and communication encryption chips are arranged.
6. The networked cloud-controlled intelligent drive-by-wire chassis control system according to claim 1, wherein the roadside sensing device comprises: laser radar, camera, meteorological monitoring device, the trackside perception equipment passes through optic fibre and links to each other with the trackside unit, and the trackside data that will gather passes through optic fibre transmission to the trackside unit.
7. A control method of a networked cloud-control intelligent line-control chassis control system is based on the system of any one of claims 1 to 6, and is characterized by comprising the following steps:
1) the drive-by-wire chassis control terminal sends vehicle-mounted sensing data and real-time running data of the drive-by-wire chassis to the edge cloud computing center, and simultaneously sends vehicle speed, acceleration and spatial position data to the road side unit, and the road side unit uploads collected road side sensing information and received data sent by different drive-by-wire chassis control terminals to the edge cloud computing platform; the edge cloud computing platform uploads the received data to the central cloud computing platform;
2) the edge cloud computing platform performs fusion processing on the vehicle-mounted sensing data and the road side data to obtain a digital three-dimensional traffic map of the region, completes regional traffic planning and dynamic speed limit planning calculation based on the digital three-dimensional traffic map to obtain decision instructions for control terminals of line control chassis of different vehicles, and sends the decision instructions to the control terminals of the line control chassis; meanwhile, the edge cloud computing platform uploads the digital three-dimensional traffic map, the decision instruction and the real-time operation data of the drive-by-wire chassis of the area to the central cloud computing platform;
3) the method comprises the steps that a central cloud computing platform carries out fusion processing on digital three-dimensional traffic maps of different areas uploaded by an edge cloud computing platform to obtain an urban real-time traffic data map, the urban real-time traffic data map is used for completing the calculation of traffic flow and signal lamp duration of different roads, the calculation result is sent to the edge cloud computing platform, and the edge cloud computing platform corrects a decision instruction of a wire control chassis control terminal according to the calculation result; meanwhile, a central cloud computing platform constructs a digital twin model matched with the wire control chassis, and the central cloud computing platform carries out digital modeling according to the pre-loaded physical entity information of the wire control chassis;
4) the central cloud computing platform configures a simulation operation environment for a digital twin model of the wire control chassis according to data uploaded by the edge cloud computing platform, performs simulation operation, performs data fusion processing on collected real-time operation data generated by the physical operation of the wire control chassis and virtual operation data generated by the digital twin model, obtains a wire control chassis state analysis report and a driving suggestion according to a data fusion processing result, and sends the wire control chassis state analysis report and the driving suggestion to the edge cloud computing platform;
5) the center cloud computing platform extracts the characteristics of the analyzed and fused data, establishes a line control chassis control model according to the extracted characteristic data, performs multi-target optimization based on the current working state of the line control chassis to obtain a line control chassis control strategy under the current control model, and sends the control strategy to the edge cloud computing platform;
6) the edge cloud computing platform compiles the control strategy and then sends the control strategy to the drive-by-wire chassis control terminal, the drive-by-wire chassis control terminal changes the operation control of a chassis system according to the received control strategy and simultaneously displays a chassis state analysis report and a driving suggestion to a driver through a display module;
7) and the wire control chassis control terminal feeds back the physical entity data after the control strategy is operated to the cloud computing platform, the cloud computing platform performs data fusion analysis processing on the synchronously changed virtual model data and the physical entity data again, and repeats the steps 1) to 6), so as to form optimized iterative processing calculation of the data and realize the dynamic optimal control on the wire control chassis.
8. The control method of the networked cloud-control intelligent line-control chassis control system according to claim 7, wherein the digital twin model is a digital virtual line-control chassis model which is built on a central cloud computing platform based on a digital twin technology and is matched with a physical line-control chassis; the establishing process is based on the physical entity information of the line control chassis, and the physical line control chassis entity is formed by carrying out digital modeling on the physical line control chassis entity by adopting a CAD digital modeling technology and a finite element method.
9. The control method of the networked cloud-control intelligent line-control chassis control system according to claim 7, wherein the central cloud computing platform performs data fusion processing on real-time operation data and digital twin model data generated by line-control chassis operation by adopting one or more combined algorithms including but not limited to a convolutional neural network algorithm, a BP neural network algorithm and machine learning.
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