CN110549871A - vehicle control unit based on distributed driving vehicle and control method - Google Patents

vehicle control unit based on distributed driving vehicle and control method Download PDF

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Publication number
CN110549871A
CN110549871A CN201910989824.9A CN201910989824A CN110549871A CN 110549871 A CN110549871 A CN 110549871A CN 201910989824 A CN201910989824 A CN 201910989824A CN 110549871 A CN110549871 A CN 110549871A
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module
vehicle
software
external
sensor
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CN110549871B (en
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初亮
朱鹏昊
张垚
王嘉伟
许炎武
王引航
常城
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Jilin University
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Jilin University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/28—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed without contact making and breaking, e.g. using a transductor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/14—Acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/24—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2250/00—Driver interactions
    • B60L2250/26—Driver interactions by pedal actuation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

Abstract

The invention discloses a vehicle control unit based on a distributed driving vehicle and a control method, wherein the vehicle control unit comprises an external sensor signal processing module, an external communication signal processing module, an external sensor and indicator lamp power supply module, an external switch state identification module, a first power supply module, a second power supply module, an MCU, a first information storage module and a second information storage module, wherein the external sensor signal processing module, the external communication signal processing module, the external sensor and indicator lamp power supply module, the external switch state identification module, the first information storage module and the second information storage module are all connected with the MCU, and the control method comprises the following steps: the software architecture is a layered structure, is divided into three layers, and sequentially comprises an application layer, a signal transmission layer and a driving layer from top to bottom; has the advantages that: the whole vehicle controller and the control method applied to the distributed driving vehicle are brand new.

Description

Vehicle control unit based on distributed driving vehicle and control method
Technical Field
The invention relates to a vehicle control unit and a control method, in particular to a vehicle control unit based on a distributed driving vehicle and a control method.
Background
At present, with the increasing severity of environmental pollution, the pollution problem brought by the traditional fuel oil automobile is not ignored, and the new energy automobile is in the process of rapid development. For an electric automobile in a new energy automobile, the electric automobile can be divided into a single-shaft driving electric automobile, a double-shaft driving electric automobile and a distributed driving electric automobile according to different driving schemes of the electric automobile. The distributed driving electric automobile is characterized in that driving motors of the automobile are integrated in four wheels of the automobile, and the four wheel hub motors respectively drive the wheels to rotate so as to drive the automobile to run. Because the driving form of the distributed driving vehicle is greatly different from that of the traditional automobile, the traditional vehicle controller cannot meet the use requirement of the distributed driving vehicle, so that a vehicle controller based on the distributed driving vehicle is necessary to be provided to realize driving, braking, steering and active safety control of the distributed driving vehicle.
currently, research on a vehicle control unit based on a distributed driving vehicle is less, a more detailed controller topological structure for the distributed driving vehicle is not provided, and particularly, research on the vehicle control unit based on the distributed driving vehicle is limited to that the vehicle control unit only performs upper computer control on four hub motor controllers, but does not perform upper computer control on a braking system and a steering system of the vehicle, so that dynamic control of the vehicle is not facilitated.
The invention CN 108482364 provides an electric vehicle distributed drive controller, and the distributed drive controller only performs upper computer control on a wheel side motor controller of a vehicle, and is not a whole vehicle controller in a strict sense.
The vehicle controller of the current vehicle carries out information interaction with other controllers of the vehicle through a vehicle CAN bus, and because the quantity of information transmitted by the vehicle controller of the distributed driving vehicle at the same time is huge, the requirement on the reliability of information transmission is high, and the information interaction mode is not limited to the vehicle CAN bus, and CAN also be a CANFD mode, an Ethernet mode and the like.
Disclosure of Invention
The invention aims to solve the problems of the conventional vehicle control unit of a distributed driving vehicle in the using process, and provides the vehicle control unit based on the distributed driving vehicle and a control method.
The vehicle control unit based on the distributed driving vehicle comprises an external sensor signal processing module, an external communication signal processing module, an external sensor and indicator light power supply module, an external switch state identification module, a first power supply module, a second power supply module, an MCU, a first information storage module and a second information storage module, wherein the external sensor signal processing module, the external communication signal processing module, the external sensor and indicator light power supply module, the external switch state identification module, the first information storage module and the second information storage module are all connected with the MCU, the external sensor signal processing module is electrically connected with a vehicle sensor, the external sensor signal processing module can receive and process signals of the vehicle sensor, the external sensor signal processing module transmits the processed signals of the vehicle sensor to the MCU, and the MCU is responsible for receiving the processed signals of the vehicle sensor and carrying out logic operation, the intention of a driver and the current vehicle state are further judged, the external communication signal processing module receives external communication signals sent by other vehicle controllers on one hand, the external communication signals are transmitted to the MCU after being processed by the external communication signal processing module, and the MCU synthesizes the external communication signals sent by other vehicle controllers to carry out logic judgment; the external communication signal processing module receives communication signals from the MCU on the other hand, the communication signals are sent to other vehicle controllers after being processed by the external communication signal processing module, the other vehicle controllers receive upper computer signals sent by the MCU to carry out corresponding response, the external sensor and indicator lamp power supply module are respectively electrically connected with the vehicle sensor and the indicator lamp, the external sensor and indicator lamp power supply module supplies power to the vehicle sensor needing power supply and the indicator lamp needing power supply, the external switch state identification module is connected with the external switch, the first power supply module and the second power supply module are respectively an external sensor signal processing module, an external communication signal processing module, an external sensor and indicator lamp power supply module, an external switch state identification module, the MCU, the first information storage module and the second information storage module, and the first power supply module is connected with a first external power supply line, the second power supply module is connected with a second external power supply circuit.
The first power supply module and the second power supply module are both ECU power supply modules.
The first information storage module and the second information storage module are both ECU information storage modules.
The vehicle sensor comprises a vehicle key sensor, a left front wheel speed sensor, a right front wheel speed sensor, a left rear wheel speed sensor, a right rear wheel speed sensor, a steering wheel angle sensor, a brake pedal opening sensor, an accelerator pedal opening sensor, a vehicle acceleration sensor and a vehicle angular acceleration sensor, wherein the vehicle key sensor, the left front wheel speed sensor, the right front wheel speed sensor, the left rear wheel speed sensor, the right rear wheel speed sensor, the steering wheel angle sensor, the brake pedal opening sensor, the accelerator pedal opening sensor, the vehicle acceleration sensor and the vehicle angular acceleration sensor are connected with an external sensor signal processing module and an external sensor and indicator lamp power supply module.
Other vehicle controllers comprise a front axle electronic power steering controller, a rear axle electronic power steering controller, a left front electronic mechanical brake controller, a right front electronic mechanical brake controller, a left rear electronic mechanical brake controller, a right rear electronic mechanical brake controller, a left front wheel hub motor controller, a right front wheel hub motor controller, a left rear wheel hub motor controller, a right rear wheel hub motor controller, a gear controller and a vehicle power battery controller, wherein the front axle electronic power steering controller, the rear axle electronic power steering controller, the left front electronic mechanical brake controller, the right front electronic mechanical brake controller, the left rear electronic mechanical brake controller, the right rear electronic mechanical brake controller, the left front wheel hub motor controller, the right front wheel hub motor controller, the left rear wheel hub motor controller, the right rear wheel hub motor controller, the gear controller and the vehicle power battery controller can all use an external communication signal to carry out external communication signal processing module And (4) communication.
The external communication signals comprise CAN signals, CAN FD signals and Ethernet signals, and the CAN signals, the CAN FD signals and the Ethernet signals CAN be in communication connection with the external communication signal processing module.
The indicating lamp includes instrument indicating lamp and switch pilot lamp, and the instrument indicating lamp is installed on vehicle instrument, plays warning effect and work suggestion effect, and the switch pilot lamp is installed on external switch, plays work suggestion effect, and instrument indicating lamp and switch pilot lamp all are connected with external sensor and pilot lamp power module.
The external switch comprises a parking switch, a VDC switch, a reset tire pressure monitoring switch and a driving mode switch, and the parking switch, the VDC switch, the reset tire pressure monitoring switch and the driving mode switch are all connected with the external switch state identification module.
the invention provides a control method based on a distributed driving vehicle, which comprises the following steps:
The vehicle control unit controls a vehicle through a software architecture, wherein the software architecture is a layered structure and is divided into three layers, namely an application layer, a signal transmission layer and a driving layer from top to bottom;
The application layer in the software architecture is a core part of the whole vehicle controller software, the application layer in the software architecture comprises application layer control algorithm software, and the application layer control algorithm software integrates control strategies and control algorithms of all the whole vehicle controllers;
A signal transmission layer in a software framework provides a real-time operation environment for vehicle controller software, provides a signal interface for an application layer and a driving layer and realizes real-time monitoring of vehicle controller faults, the signal transmission layer in the software framework comprises fault monitoring software and signal transmission software, the fault monitoring software monitors the fault state of the vehicle controller in real time and gives an alarm in time, the signal transmission software is responsible for building the signal interface between the application layer and the driving layer to realize communication between the application layer and the driving layer, the software of the vehicle controller runs on the signal transmission layer in real time, when a software task of the vehicle controller runs to the condition that the application layer software works or the bottom layer driving software works, the application layer software or the bottom layer driving software carries out operation and further transmits an operation result to the signal transmission layer, and the signal transmission layer integrates received information to monitor the fault state, After the information transmission is finished, the signal transmission layer waits until the vehicle controller needs to perform the next software task, and the signal transmission layer starts the next working cycle;
The driving layer in the software framework comprises external sensor signal processing software, external sensor and indicator lamp power supply software, ECU power supply software, external communication signal processing software, diagnosis and refresh software and external switch state identification software, wherein the external sensor signal processing software and an external sensor signal processing module of the whole vehicle controller realize the corresponding relation between the software and the hardware, the external sensor and indicator lamp power supply software and an external sensor and indicator lamp power supply module of the whole vehicle controller realize the corresponding relation between the software and the hardware, the external communication signal processing software and an external communication signal processing module of the whole vehicle controller realize the corresponding relation between the software and the hardware, the external switch state recognition software and the external switch state recognition module of the vehicle control unit realize the corresponding relation between the software and the hardware, and in addition, the ECU power supply software and the first power supply module and the second power supply module of the vehicle control unit realize the corresponding relation between the software and the hardware.
An application layer in a software architecture is a core part of the whole vehicle controller software, and the application layer control algorithm software integrates control strategies and control algorithms of all the whole vehicle controllers, and the specific method is as follows:
The application layer control algorithm software receives an external input signal of the vehicle control unit from the driving layer and an alarm signal of the vehicle control unit from the signal transmission layer, the external input signal is firstly transmitted to the driver driving intention identification module and the driver braking intention identification module, the driver driving intention identification module judges the current driving intention of the driver to the vehicle by processing the external input signal, and then the driver driving intention identification module transmits a vehicle driving mode to the driving mode judging module; the driver braking intention recognition module judges the current braking intention of the driver to the vehicle by processing an external input signal, and then the driver braking intention recognition module transmits a vehicle braking mode to the driving mode judgment module;
the driving mode distinguishing module receives an external input signal, a vehicle driving mode from the driver driving intention identifying module and a vehicle braking mode from the driver braking intention identifying module, and distinguishes the current driving mode of the vehicle through logical operation, the vehicle driving mode is divided into seven modes of a P/N gear mode, a D gear driving mode, an R gear driving mode, a braking mode, a parking mode, a flameout mode and a limping mode, wherein the D gear driving mode is further divided into a D gear idling mode and a D gear sliding mode, the R gear driving mode is further divided into an R gear idling mode and an R gear sliding mode, the driving mode distinguishing module obtains a preliminary target braking torque, a preliminary target driving torque, a preliminary wheel rotation angle, a preliminary target parking torque and a preliminary parking state flag bit according to the driving mode entered by the vehicle, and transmits a signal of the preliminary target braking torque to the preliminary braking module, transmitting a preliminary target driving torque signal to a driving module, transmitting a preliminary target wheel rotation angle signal to a steering module, and transmitting a preliminary target parking torque and a preliminary parking state zone bit to a parking module;
the braking module receives an external input signal and a primary target braking torque from the driving mode judging module, the braking module sequentially comprises a regenerative braking module, a sliding braking module, a braking anti-lock module and a four-wheel braking torque coordinating module from inside to outside, when software runs to the braking module, the innermost module is run firstly, the external modules are sequentially operated, the regenerative braking module and the sliding braking module are two software modules at the same level, only one of the two software modules can be operated at the same time according to the state of the vehicle, the braking module finally obtains the target electromechanical braking torque of each wheel and the target regenerative braking torque of each wheel through calculation, and the braking module sends the target electromechanical braking torque signal of each wheel and the target regenerative braking torque signal of each wheel to the output signal integration module;
The driving module receives an external input signal and a primary target driving moment from the driving mode judging module, the driving module sequentially comprises a driving anti-skid module, a driving electronic differential module and a four-wheel driving moment coordinating module from inside to outside, when software runs to the driving module, the innermost module is run firstly, then the external module is run sequentially, the driving module finally obtains the target driving moment of each wheel through calculation, and the driving module sends a target driving moment signal of each wheel to the output signal integrating module;
the method comprises the steps that a steering module receives an external input signal and a primary target wheel turning angle signal from a driving mode judging module, the steering module sequentially comprises a steering electronic differential module and a VDC module from inside to outside, when software runs to the steering module, the innermost module runs at first, then the external module runs sequentially, the steering module finally obtains a front axle wheel turning angle and a rear axle wheel turning angle through calculation, and the steering module sends the front axle wheel turning angle signal and the rear axle wheel turning angle signal to an output signal integrating module;
The parking module receives an external input signal, and a preliminary target parking torque and a preliminary parking state flag bit from the driving mode judging module, the parking module comprises a static parking module and a dynamic parking module, the static parking module and the dynamic parking module are two software modules at the same level, only one of the two software modules can be operated at the same time according to the state of the vehicle, the parking module finally obtains the target parking torque and the parking state flag bit through calculation, and further the parking module sends the target parking torque signal and the parking state flag bit signal to the output signal integrating module;
The tire pressure monitoring module receives an external input signal, and specifically comprises a reset tire pressure monitoring switch signal, a wheel speed signal, a gear signal, an ignition signal and a motor torque signal in the external input signal, the tire pressure monitoring module mainly judges whether four wheels of a current vehicle are in an air shortage state by identifying and processing the wheel speed signal, if a certain wheel or certain wheels of the vehicle are identified to be in the air shortage state, the tire pressure monitoring module immediately gives an alarm, in addition, the tire pressure monitoring module judges whether a driver needs to recalibrate initial tire pressure by identifying the reset tire pressure monitoring switch signal, if the tire pressure monitoring module identifies that the reset tire pressure monitoring switch is in a pressed state, the tire pressure monitoring module starts to recalibrate the initial tire pressure until the calibration is completed, and the tire pressure monitoring module sends the tire pressure alarm flag bit of each wheel to the output signal integration module after judging the wheel deflation state;
The output signal integration module receives signals from the brake module, the drive module, the steering module, the parking module and the tire pressure monitoring module, the output signal integration module classifies and integrates all received signals into proper signal interfaces, and then transmits the signals to the signal transmission layer, the signal transmission layer distributes the signal interfaces, the signals are further transmitted to the drive layer, and the drive layer executes the transmission of the signals, so that the control of the whole vehicle controller on upper computers of other controllers of the vehicle is realized.
the working principle of the invention is as follows:
the vehicle control unit based on the distributed driving vehicle is electrically connected with the vehicle sensor, the indicator lamp and the external switch respectively. The vehicle control unit supplies power to a vehicle sensor needing power supply, an instrument needing power supply and a switch indicator lamp. The vehicle control unit receives the electric signal transmitted by the vehicle sensor, further, the vehicle control unit judges the intention of the driver and the current vehicle state after processing the electric signal of the vehicle sensor, and sends a control instruction to other controllers of the vehicle through logical operation. In addition, the vehicle control unit also judges the external switch state in real time and starts the corresponding function of the vehicle control unit according to the switch state.
The vehicle controller and other controllers of the vehicle CAN perform real-time communication, and the communication mode is any signal form capable of ensuring stable communication quality, including a CAN (controller area network) signal, a CAN with flexible Data-Rate (CAN) signal, an ethernet signal, and the like.
And the vehicle control unit is respectively communicated with the front axle electronic power-assisted steering controller and the rear axle electronic power-assisted steering controller in real time. The front axle electronic power-assisted steering controller controls a front axle electronic power-assisted steering of the vehicle to drive two wheels of a front axle of the vehicle to rotate around a main pin, so that the front wheels of the vehicle are steered; the rear axle electronic power-assisted steering controller controls a rear axle electronic power-assisted steering of the vehicle to drive two wheels of a rear axle of the vehicle to rotate around the main pin, so that the rear wheel steering of the vehicle is realized. The vehicle control unit calculates a front axle wheel turning angle and a rear axle wheel turning angle required by a current vehicle by receiving signals of a steering wheel turning angle sensor, the vehicle control unit sends target front axle wheel turning angle signals to a front axle electronic power steering controller, the front axle electronic power steering controller controls a front axle electronic power steering booster of the vehicle to drive wheels to rotate to reach the target front axle wheel turning angle, meanwhile, the vehicle control unit sends target rear axle wheel turning angle signals to a rear axle electronic power steering controller, and the rear axle electronic power steering controller controls a rear axle electronic power steering booster of the vehicle to drive the wheels to rotate to reach the target rear axle wheel turning angle. In addition, the front axle electronic power steering controller and the rear axle electronic power steering controller respectively receive electric signals of a steering wheel steering angle sensor, when the whole vehicle controller cannot communicate with the front axle electronic power steering controller or the rear axle electronic power steering controller, the front axle electronic power steering controller and the rear axle electronic power steering controller can respectively calculate a front axle wheel steering angle and a rear axle wheel steering angle required by a vehicle by receiving steering wheel steering angle signals, and the steering of the vehicle is realized by controlling the electronic steering booster, so that the redundant backup of a vehicle steering control system is realized.
The left front electromechanical brake controller controls the electromechanical brake calipers positioned at the edges of the left front wheel to act so as to provide brake torque for the left front wheel of the vehicle, so that the left front wheel of the vehicle is reduced in rotating speed until the left front wheel stops rotating, and meanwhile, the left front electromechanical brake controller can also control the electromechanical brake calipers of the left front wheel to act so as to lock the left front wheel of the vehicle so that the left front wheel cannot rotate, so that the parking of the vehicle is realized. In order to avoid the situation that the vehicle cannot decelerate due to the failure of a brake system of a loop, each wheel is provided with a corresponding electromechanical brake controller and an electromechanical brake caliper, and the working principle of the other three electromechanical brake controllers and the electromechanical brake calipers is consistent with that of the left front wheel brake loop, so that the description is not repeated.
The vehicle control unit is respectively communicated with the left front electromechanical brake controller, the right front electromechanical brake controller, the left rear electromechanical brake controller and the right rear electromechanical brake controller in real time. The vehicle control unit receives signals of a brake pedal opening sensor and combines current vehicle state information and regenerative braking capacity of a hub motor to obtain target electromechanical braking torque to be distributed to each wheel currently, the vehicle control unit respectively sends the target electromechanical braking torque to the left front electromechanical braking controller, the right front electromechanical braking controller, the left rear electromechanical braking controller and the right rear electromechanical braking controller, and the electronic mechanical braking controllers control the electromechanical calipers to achieve deceleration of the vehicle. In addition, the vehicle control unit judges the state of a parking switch and combines the current vehicle state information to know whether the current vehicle needs parking or parking release, the vehicle control unit respectively sends a target parking torque and a target parking state zone bit to the left front electronic mechanical brake controller, the right front electronic mechanical brake controller, the left rear electronic mechanical brake controller and the right rear electronic mechanical brake controller, and the electronic mechanical brake controllers control the electronic mechanical calipers to realize parking and parking release of the vehicle.
In addition to the vehicle braking and parking modes, the left front electromechanical brake controller, the right front electromechanical brake controller, the left rear electromechanical brake controller and the right rear electromechanical brake controller respectively receive signals of a brake pedal opening sensor, and if any one of the electromechanical brake controllers cannot receive a control signal from the vehicle control unit, the electromechanical brake controller controls the electromechanical calipers to decelerate the vehicle by receiving the signals of the brake pedal opening sensor. In addition, the left front electromechanical brake controller, the right front electromechanical brake controller, the left rear electromechanical brake controller and the right rear electromechanical brake controller are respectively and electrically connected with the parking switch, the electromechanical brake controllers monitor the state of the parking switch in real time, and if any one of the electromechanical brake controllers cannot receive a control signal from the whole vehicle controller, the electromechanical brake controllers control the electromechanical calipers to park or release parking of the vehicle by judging the state of the parking switch.
the left front wheel hub motor controller drives a left front wheel hub motor positioned in a left front wheel rim to rotate, the left front wheel hub motor is embedded in a wheel, when the motor rotates, the wheel can be driven to rotate together to provide driving torque for a vehicle to drive the vehicle to run, and in addition, the left front wheel hub motor controller can also control the left front wheel hub motor to provide regenerative braking torque for the vehicle to decelerate the vehicle. The wheel hub motor controller is consistent with the working principle of the wheel hub motor, and the working principle of the right front wheel hub motor controller, the working principle of the left rear wheel hub motor controller and the working principle of the right rear wheel hub motor controller are not repeated.
The vehicle control unit is respectively in real-time communication with the left front wheel hub motor controller, the right front wheel hub motor controller, the left rear wheel hub motor controller and the right rear wheel hub motor controller. The vehicle control unit receives signals of an accelerator pedal opening sensor and signals of a brake pedal opening sensor, and combines current vehicle state information and regenerative braking capacity of the in-wheel motor to calculate and obtain a target driving torque and a target regenerative braking torque which are distributed to each wheel at present. The vehicle control unit respectively sends the target driving force and the target regenerative braking torque to the left front wheel hub motor controller, the right front wheel hub motor controller, the left rear wheel hub motor controller and the right rear wheel hub motor controller, and the wheel hub motor controller controls the wheel hub motor to drive the vehicle to run or decelerate the vehicle.
The left front wheel hub motor controller, the right front wheel hub motor controller, the left rear wheel hub motor controller and the right rear wheel hub motor controller respectively receive signals of an accelerator pedal opening sensor, and if any one wheel hub motor controller cannot receive control signals from the whole vehicle controller, the wheel hub motor controller controls the wheel hub motor to drive the vehicle to run by receiving the signals of the accelerator pedal opening sensor.
The vehicle control unit is communicated with the gear controller in real time, receives gear signals sent by the gear controller, and integrates vehicle gear information to realize real-time control over the distributed driving vehicle.
the vehicle control unit is also communicated with the vehicle power battery controller in real time, receives information such as vehicle residual battery capacity and vehicle battery faults and the like sent by the vehicle power battery controller, and is used for judging the regenerative braking capacity of the hub motor and realizing the real-time control of the distributed driving vehicle.
The vehicle sensor assembly comprises a vehicle key sensor, a left front wheel speed sensor, a right front wheel speed sensor, a left rear wheel speed sensor, a right rear wheel speed sensor, a steering wheel angle sensor, a brake pedal opening sensor, an accelerator pedal opening sensor, a vehicle acceleration sensor and a vehicle angular acceleration sensor. The vehicle sensor collects vehicle state information and sends the vehicle state information to a vehicle controller needing receiving, wherein the vehicle controller comprises a whole vehicle controller, a hub motor controller, an electronic mechanical brake controller and the like.
The indicator light assembly comprises an instrument indicator light and a switch indicator light. The instrument indicating lamp and the switch indicating lamp are powered by the whole vehicle controller, when the instrument indicating lamp and the switch indicating lamp need to be lightened, the whole vehicle controller starts power supply for the instrument indicating lamp and the switch indicating lamp, and when the instrument indicating lamp and the switch indicating lamp need to be extinguished, the whole vehicle controller cuts off the power supply for the instrument indicating lamp and the switch indicating lamp.
the external switch assembly comprises a parking switch, a VDC switch, a reset tire pressure monitoring switch and a driving mode switch, and the external switch is electrically connected with the whole vehicle controller. The parking switch is used for controlling the vehicle to complete parking, release parking or realize vehicle deceleration in an emergency state; the VDC switch is used for switching on or off the VDC function of the vehicle; the reset tire pressure monitoring switch is used for controlling a tire pressure monitoring module of the whole vehicle controller to work and recalibrate the initial tire pressure; the driving mode switch is used for controlling and switching the driving modes of the vehicle, the driving modes of the vehicle comprise an energy-saving mode, a common mode and a motion mode, different vehicle driving modes correspond to different vehicle control strategies, and the vehicle control unit acquires the current driving mode of the vehicle by identifying the state of the driving mode switch, so that the vehicle control strategy capable of being freely switched is realized.
The invention has the beneficial effects that:
the invention provides a brand-new vehicle control unit and a control method applied to a distributed driving vehicle; the invention provides a brand-new application layer control algorithm software framework applied to a distributed drive vehicle whole vehicle controller. In other researches on the distributed drive vehicle controller, the vehicle controller and other vehicle controllers are communicated through a CAN network, the invention provides that the vehicle controller and other vehicle controllers CAN be communicated through any signal form capable of ensuring stable communication quality, and the communication form comprises CAN (controllerrAreaNet), CANFD (CAN with Flexibledata-Rate), Ethernet and the like.
Drawings
fig. 1 is a schematic view of the overall structure of the vehicle control unit according to the present invention.
Fig. 2 is a schematic diagram of a topological structure of the vehicle control unit according to the present invention.
fig. 3 is a schematic diagram of a software architecture of the vehicle control unit according to the present invention.
Fig. 4 is a schematic diagram of an application layer control algorithm software architecture of the vehicle control unit according to the present invention.
Fig. 5 is a schematic structural diagram of a vehicle sensor in another vehicle component according to the present invention.
fig. 6 is a schematic structural diagram of an indicator light of another vehicle component according to the present invention.
Fig. 7 is a schematic view of the structure of the external switch in another vehicle component according to the present invention.
The labels in the above figures are as follows:
1. Vehicle control unit 2, external sensor signal processing module 3 and external communication signal processing module
4. External sensor and indicator light power supply module 5 and external switch state identification module
6. First power supply module 7, second power supply module 8, MCU 9, first information storage module
10. a second information storage module 11, a vehicle sensor 12, an external communication signal 13, an indicator light
14. External switch 15, first external power supply line 16, second external power supply line
17. Vehicle key sensor 18, left front wheel speed sensor 19, right front wheel speed sensor
20. Left rear wheel speed sensor 21, right rear wheel speed sensor 22, steering wheel angle sensor
23. Brake pedal opening degree sensor 24 and accelerator pedal opening degree sensor
25. Vehicle acceleration sensor 26 and vehicle angular acceleration sensor
27. Front axle electronic power steering controller 28 and rear axle electronic power steering controller
29. Left front electromechanical brake controller 30 and right front electromechanical brake controller
31. left rear electromechanical brake controller 32, right rear electromechanical brake controller
33. left front wheel hub motor controller 34 and right front wheel hub motor controller
35. Left rear hub motor controller 36, right rear hub motor controller 37, and shift controller
38. vehicle power battery controller 39, instrument indicator lamp 40, switch indicator lamp
41. Parking switch 42, VDC switch 43, reset tire pressure monitoring switch
44. a driving mode switch.
Detailed Description
Please refer to fig. 1 to 7:
The vehicle control unit 1 based on the distributed driving vehicle comprises an external sensor signal processing module 2, an external communication signal processing module 3, an external sensor and indicator light power supply module 4, an external switch state identification module 5, a first power supply module 6, a second power supply module 7, an MCU8, a first information storage module 9 and a second information storage module 10, wherein the external sensor signal processing module 2, the external communication signal processing module 3, the external sensor and indicator light power supply module 4, the external switch state identification module 5, the first information storage module 9 and the second information storage module 10 are all connected with an MCU8, the external sensor signal processing module 2 is electrically connected with a vehicle sensor 11, the external sensor signal processing module 2 can receive and process signals of the vehicle sensor 11, the external sensor signal processing module 2 transmits the processed signals of the vehicle sensor 11 to the MCU8, the MCU8 is responsible for receiving the processed vehicle sensor 11 signals and carrying out logical operation, and further judging the intention of a driver and the current vehicle state, the external communication signal processing module 2 receives external communication signals 12 sent by other vehicle controllers on the one hand, the external communication signals are processed by the external communication signal processing module 3 and then transmitted to the MCU8, and the MCU8 carries out logical judgment by synthesizing the external communication signals 12 sent by other vehicle controllers; the external communication signal processing module 3 receives communication signals from the MCU8 on the other hand, the communication signals are sent to other vehicle controllers after being processed by the external communication signal processing module 3, the other vehicle controllers receive upper computer signals sent by the MCU8 to carry out corresponding response, the external sensor and indicator light power supply module 4 is respectively and electrically connected with the vehicle sensor 11 and the indicator light 13, the external sensor and indicator light power supply module 4 supplies power for the vehicle sensor 11 needing power supply and the indicator light 13 needing power supply, the external switch state identification module 5 is connected with the external switch 14, the first power supply module 6 and the second power supply module 7 are both supplied with power by the external sensor signal processing module 2, the external communication signal processing module 3, the external sensor and indicator light power supply module 4, the external switch state identification module 5, the MCU8, the first information storage module 9 and the second information storage module 10, the first power supply module 6 is connected to a first external power supply line 15, and the second power supply module 7 is connected to a second external power supply line 16.
the first power supply module 6 and the second power supply module 7 are both ECU power supply modules.
the first information storage module 9 and the second information storage module 10 are both ECU information storage modules.
The vehicle sensor 11 includes a vehicle key sensor 17, a left front wheel speed sensor 18, a right front wheel speed sensor 19, a left rear wheel speed sensor 20, a right rear wheel speed sensor 21, a steering wheel angle sensor 22, a brake pedal opening degree sensor 23, an accelerator pedal opening degree sensor 24, a vehicle acceleration sensor 25 and a vehicle angular acceleration sensor 26, and the vehicle key sensor 17, the left front wheel speed sensor 18, the right front wheel speed sensor 19, the left rear wheel speed sensor 20, the right rear wheel speed sensor 21, the steering wheel angle sensor 22, the brake pedal opening degree sensor 23, the accelerator pedal opening degree sensor 24, the vehicle acceleration sensor 25 and the vehicle angular acceleration sensor 26 are connected with the external sensor signal processing module 2 and the external sensor and indicator lamp power supply module 4.
other vehicle controllers include a front axle electronic power steering controller 27, a rear axle electronic power steering controller 28, a left front electromechanical brake controller 29, a right front electromechanical brake controller 30, a left rear electromechanical brake controller 31, a right rear electromechanical brake controller 32, a left front wheel hub motor controller 33, a right front wheel hub motor controller 34, a left rear wheel hub motor controller 35, a right rear wheel hub motor controller 36, a shift controller 37, and a vehicle power battery controller 38, and the front axle electronic power steering controller 27, the rear axle electronic power steering controller 28, the left front electromechanical brake controller 29, the right front electromechanical brake controller 30, the left rear electromechanical brake controller 31, the right rear electromechanical brake controller 32, the left front wheel hub motor controller 33, the right front wheel hub motor controller 34, the left rear wheel hub motor controller 35, the right front wheel hub motor controller 33, the right rear wheel hub motor controller 34, the left rear wheel hub motor controller 35, the right rear wheel hub motor controller 34, the right rear wheel hub motor controller 35, the right, The right rear hub motor controller 36, the gear controller 37 and the vehicle power battery controller 38 are all able to communicate with the external communication signal processing module 3 using the external communication signal 12.
the external communication signal 12 includes a CAN signal, a CANFD signal and an ethernet signal, and the CAN signal, the CANFD signal and the ethernet signal CAN be in communication connection with the external communication signal processing module 3.
The indicator light 13 comprises an instrument indicator light 39 and a switch indicator light 40, the instrument indicator light 39 is installed on a vehicle instrument and plays roles of alarming and work prompting, the switch indicator light 40 is installed on the external switch 14 and plays a role of work prompting, and the instrument indicator light 39 and the switch indicator light 40 are both connected with the external sensor and the indicator light power supply module 4.
The external switch 14 includes a parking switch 41, a VDC switch 42, a reset tire pressure monitoring switch 43, and a driving mode switch 44, and the parking switch 41, the VDC switch 42, the reset tire pressure monitoring switch 43, and the driving mode switch 44 are all connected to the external switch state recognition module 5.
the invention provides a control method based on a distributed driving vehicle, which comprises the following steps:
The vehicle control unit 1 controls a vehicle through a software architecture, wherein the software architecture is a layered structure and is divided into three layers, namely an application layer, a signal transmission layer and a driving layer from top to bottom;
an application layer in a software architecture is a core part of the software of the vehicle control unit 1, the application layer in the software architecture comprises application layer control algorithm software, and the application layer control algorithm software integrates all control strategies and control algorithms of the vehicle control unit 1;
A signal transmission layer in a software framework provides a real-time operation environment for the software of the vehicle control unit 1, provides a signal interface for an application layer and a driving layer, and realizes the real-time monitoring of the fault of the vehicle control unit 1, the signal transmission layer in the software framework comprises fault monitoring software and signal transmission software, the fault monitoring software carries out real-time monitoring on the fault state of the vehicle control unit 1 and gives an alarm in time, the signal transmission software is responsible for building the signal interface between the application layer and the driving layer to realize the communication between the application layer and the driving layer, the software of the vehicle control unit 1 runs on the signal transmission layer in real time, when the software task of the vehicle control unit 1 runs to the condition that the application layer software works or the bottom layer driving software works, the application layer software or the bottom layer driving software carries out operation, and then transmits the operation result to the signal transmission layer, and the, monitoring a fault state, finishing information transmission, waiting until the whole vehicle controller needs to perform the next software task, and starting the next working cycle by the signal transmission layer;
The driving layer in the software architecture controls the hardware driving of the vehicle control unit 1, processes the external signal, supplies power to the external sensor and the indicator lamp 13, supplies power to the ECU, realizes the diagnosis and software refreshing of the vehicle control unit 1 and identifies the state of the external switch 14, the driving layer in the software architecture comprises external sensor signal processing software, external sensor and indicator lamp 13 power supply software, ECU power supply software, external communication signal processing software, diagnosis and refreshing software and external switch 14 state identification software, wherein the external sensor signal processing software and the external sensor signal processing module of the vehicle control unit 1 realize the corresponding relation between the software and the hardware, the external sensor and indicator lamp power supply software and the external sensor and indicator lamp power supply module 4 of the vehicle control unit 1 realize the corresponding relation between the software and the hardware, the external communication signal processing software and the external communication signal processing module 3 of the vehicle control unit 1 realize the corresponding relation between the software and the hardware, the external switch state recognition software and the external switch state recognition module 5 of the vehicle control unit 1 realize the corresponding relationship between the software and the hardware, and in addition, the ECU power supply software and the first power supply module 6 and the second power supply module 7 of the vehicle control unit 1 realize the corresponding relationship between the software and the hardware.
An application layer in a software architecture is a core part of the software of the vehicle control unit 1, and the application layer control algorithm software integrates all control strategies and control algorithms of the vehicle control unit 1, and the specific method is as follows:
The application layer control algorithm software receives an external input signal of the vehicle control unit 1 from a driving layer and an alarm signal of the vehicle control unit 1 from a signal transmission layer, the external input signal is firstly transmitted to a driver driving intention recognition module and a driver braking intention recognition module, the driver driving intention recognition module judges the driving intention of a current driver to a vehicle by processing the external input signal, and then the driver driving intention recognition module transmits a vehicle driving mode to a driving mode judgment module; the driver braking intention recognition module judges the current braking intention of the driver to the vehicle by processing an external input signal, and then the driver braking intention recognition module transmits a vehicle braking mode to the driving mode judgment module;
the driving mode distinguishing module receives an external input signal, a vehicle driving mode from the driver driving intention identifying module and a vehicle braking mode from the driver braking intention identifying module, and distinguishes the current driving mode of the vehicle through logical operation, the vehicle driving mode is divided into seven modes of a P/N gear mode, a D gear driving mode, an R gear driving mode, a braking mode, a parking mode, a flameout mode and a limping mode, wherein the D gear driving mode is further divided into a D gear idling mode and a D gear sliding mode, the R gear driving mode is further divided into an R gear idling mode and an R gear sliding mode, the driving mode distinguishing module obtains a preliminary target braking torque, a preliminary target driving torque, a preliminary wheel rotation angle, a preliminary target parking torque and a preliminary parking state flag bit according to the driving mode entered by the vehicle, and transmits a signal of the preliminary target braking torque to the preliminary braking module, transmitting a preliminary target driving torque signal to a driving module, transmitting a preliminary target wheel rotation angle signal to a steering module, and transmitting a preliminary target parking torque and a preliminary parking state zone bit to a parking module;
the braking module receives an external input signal and a primary target braking torque from the driving mode judging module, the braking module sequentially comprises a regenerative braking module, a sliding braking module, a braking anti-lock module and a four-wheel braking torque coordinating module from inside to outside, when software runs to the braking module, the innermost module is run firstly, the external modules are sequentially operated, the regenerative braking module and the sliding braking module are two software modules at the same level, only one of the two software modules can be operated at the same time according to the state of the vehicle, the braking module finally obtains the target electromechanical braking torque of each wheel and the target regenerative braking torque of each wheel through calculation, and the braking module sends the target electromechanical braking torque signal of each wheel and the target regenerative braking torque signal of each wheel to the output signal integration module;
The driving module receives an external input signal and a primary target driving moment from the driving mode judging module, the driving module sequentially comprises a driving anti-skid module, a driving electronic differential module and a four-wheel driving moment coordinating module from inside to outside, when software runs to the driving module, the innermost module is run firstly, then the external module is run sequentially, the driving module finally obtains the target driving moment of each wheel through calculation, and the driving module sends a target driving moment signal of each wheel to the output signal integrating module;
The method comprises the steps that a steering module receives an external input signal and a primary target wheel turning angle signal from a driving mode judging module, the steering module sequentially comprises a steering electronic differential module and a VDC module from inside to outside, when software runs to the steering module, the innermost module runs at first, then the external module runs sequentially, the steering module finally obtains a front axle wheel turning angle and a rear axle wheel turning angle through calculation, and the steering module sends the front axle wheel turning angle signal and the rear axle wheel turning angle signal to an output signal integrating module;
the parking module receives an external input signal, and a preliminary target parking torque and a preliminary parking state flag bit from the driving mode judging module, the parking module comprises a static parking module and a dynamic parking module, the static parking module and the dynamic parking module are two software modules at the same level, only one of the two software modules can be operated at the same time according to the state of the vehicle, the parking module finally obtains the target parking torque and the parking state flag bit through calculation, and further the parking module sends the target parking torque signal and the parking state flag bit signal to the output signal integrating module;
the tire pressure monitoring module receives an external input signal, and specifically comprises a reset tire pressure monitoring switch signal, a wheel speed signal, a gear signal, an ignition signal and a motor torque signal in the external input signal, the tire pressure monitoring module mainly judges whether four wheels of a current vehicle are in an air shortage state by identifying and processing the wheel speed signal, if a certain wheel or certain wheels of the vehicle are identified to be in the air shortage state, the tire pressure monitoring module immediately gives an alarm, in addition, the tire pressure monitoring module judges whether a driver needs to recalibrate initial tire pressure by identifying the reset tire pressure monitoring switch signal, if the tire pressure monitoring module identifies that the reset tire pressure monitoring switch is in a pressed state, the tire pressure monitoring module starts to recalibrate the initial tire pressure until the calibration is completed, and the tire pressure monitoring module sends the tire pressure alarm flag bit of each wheel to the output signal integration module after judging the wheel deflation state;
the output signal integration module receives signals from the brake module, the drive module, the steering module, the parking module and the tire pressure monitoring module, the output signal integration module classifies and integrates all received signals into proper signal interfaces, and then transmits the signals to the signal transmission layer, the signal transmission layer distributes the signal interfaces, the signals are further transmitted to the drive layer, and the drive layer executes the transmission of the signals, so that the control of the whole vehicle controller on upper computers of other controllers of the vehicle is realized.
The working principle of the invention is as follows:
The vehicle control unit 1 based on the distributed driving vehicle is electrically connected with the vehicle sensor 11, the indicator lamp 13 and the external switch 14 respectively. The vehicle control unit 1 supplies power to the vehicle sensor 11 needing power supply, and the instrument indicator lamp 39 and the switch indicator lamp 40 needing power supply. The vehicle control unit 1 receives the electric signal transmitted from the vehicle sensor 11, further, the vehicle control unit 1 processes the electric signal of the vehicle sensor 11, determines the intention of the driver and the current vehicle state, and transmits a control instruction to other controllers of the vehicle through logical operation. In addition, the vehicle control unit 1 also judges the state of the external switch 14 in real time, and starts the corresponding function of the vehicle control unit 1 according to the switch state.
The vehicle controller 1 CAN perform real-time communication with other controllers of the vehicle, and the communication mode is any signal form capable of ensuring stable communication quality, including a CAN (controllerarenetwork) signal, a CAN with flexible Data-Ra te (CAN with flexible Data-Ra te) signal, an ethernet signal, and the like.
The vehicle control unit 1 is in real-time communication with the front axle electronic power steering controller 27 and the rear axle electronic power steering controller 28 respectively. The front axle electronic power-assisted steering controller 27 controls a front axle electronic power-assisted steering device of the vehicle to drive two wheels of a front axle of the vehicle to rotate around a main pin, so that the front wheels of the vehicle are steered; the rear axle electronic power steering controller 28 controls a rear axle electronic power steering booster of the vehicle to drive two wheels of a rear axle of the vehicle to rotate around the kingpin, thereby achieving rear wheel steering of the vehicle. The vehicle control unit 1 calculates a front axle wheel steering angle and a rear axle wheel steering angle required by the current vehicle by receiving a signal of the steering wheel steering angle sensor 22, the vehicle control unit 1 sends a target front axle wheel steering angle signal to the front axle electronic power steering controller 27, the front axle electronic power steering controller 27 controls a front axle electronic power steering booster of the vehicle to drive wheels to rotate to reach the target front axle wheel steering angle, meanwhile, the vehicle control unit 1 sends a target rear axle wheel steering angle signal to the rear axle electronic power steering controller 28, and the rear axle electronic power steering controller 28 controls a rear axle electronic power steering booster of the vehicle to drive the wheels to rotate to reach the target rear axle wheel steering angle. In addition, the front axle electronic power steering controller 27 and the rear axle electronic power steering controller 28 respectively receive the electric signals of the steering wheel angle sensor 22, when the vehicle control unit 1 cannot communicate with the front axle electronic power steering controller 27 or the rear axle electronic power steering controller 28, the front axle electronic power steering controller 27 and the rear axle electronic power steering controller 28 can respectively calculate the front axle wheel angle and the rear axle wheel angle required by the vehicle by receiving the steering wheel angle signals, and the electronic power steering booster is controlled to realize the steering of the vehicle, so that the redundant backup of the vehicle steering control system is realized.
The left front electro-mechanical brake controller 29 controls the electro-mechanical brake calipers positioned at the edges of the left front wheels to act to provide braking torque for the left front wheels of the vehicle, so that the left front wheels of the vehicle are reduced in rotating speed until the left front wheels stop rotating, and meanwhile, the left front electro-mechanical brake controller 29 can also control the electro-mechanical brake calipers of the left front wheels to act to lock the left front wheels of the vehicle so that the left front wheels of the vehicle cannot rotate, so that the parking of the vehicle is realized. In order to avoid the situation that the vehicle cannot decelerate due to the failure of a brake system of a loop, each wheel is provided with a corresponding electromechanical brake controller and an electromechanical brake caliper, and the working principle of the other three electromechanical brake controllers and the electromechanical brake calipers is consistent with that of the left front wheel brake loop, so that the description is not repeated.
the vehicle control unit 1 is in real-time communication with the left front electromechanical brake controller 29, the right front electromechanical brake controller 30, the left rear electromechanical brake controller 31 and the right rear electromechanical brake controller 32 respectively. The vehicle control unit 1 receives a signal of the brake pedal opening sensor 23, and combines the current vehicle state information and the regenerative braking capability of the in-wheel motor to obtain a target electromechanical braking torque to be distributed to each current wheel, the vehicle control unit 1 sends the target electromechanical braking torque to the left front electromechanical brake controller 29, the right front electromechanical brake controller 30, the left rear electromechanical brake controller 31 and the right rear electromechanical brake controller 32 respectively, and the electromechanical brake controllers control the electromechanical calipers to decelerate the vehicle. In addition, the vehicle control unit 1 determines whether the current vehicle needs to be parked or is released from being parked by judging the state of the parking switch and combining the current vehicle state information, the vehicle control unit 1 respectively sends the target parking torque and the target parking state flag bit to the left front electromechanical brake controller 29, the right front electromechanical brake controller 30, the left rear electromechanical brake controller 31 and the right rear electromechanical brake controller 32, and the electromechanical brake controllers control the electromechanical calipers to achieve parking and releasing of the vehicle.
In addition to the vehicle braking and parking modes, the left front electromechanical brake controller 29, the right front electromechanical brake controller 30, the left rear electromechanical brake controller 31, and the right rear electromechanical brake controller 32 respectively receive signals from the brake pedal opening sensor 23, and if any one of the electromechanical brake controllers cannot receive a control signal from the vehicle control unit, the electromechanical brake controller controls the electromechanical calipers to decelerate the vehicle by receiving the signals from the brake pedal opening sensor 23. In addition, the left front electromechanical brake controller 29, the right front electromechanical brake controller 30, the left rear electromechanical brake controller 31, and the right rear electromechanical brake controller 32 are respectively electrically connected to the parking switch 41, the electromechanical brake controllers monitor the state of the parking switch 41 in real time, and if any one of the electromechanical brake controllers cannot receive a control signal from the vehicle control unit 1, the electromechanical brake controllers control the electromechanical calipers to park or release the parking of the vehicle by determining the state of the parking switch 41.
the left front wheel hub motor controller 33 drives a left front wheel hub motor located in a left front wheel rim to rotate, the left front wheel hub motor is embedded in a wheel, when the motor rotates, the wheel can be driven to rotate together to provide driving torque for a vehicle to drive the vehicle to run, and in addition, the left front wheel hub motor controller 33 can also control the left front wheel hub motor to provide regenerative braking torque for the vehicle to decelerate the vehicle. The corresponding wheel hub motors are configured for each wheel and comprise a left front wheel hub motor, a right front wheel hub motor, a left rear wheel hub motor and a right rear wheel hub motor, the working principles of the wheel hub motor controllers are consistent with those of the wheel hub motors, and the working principles of the right front wheel hub motor controller 34, the left rear wheel hub motor controller 35 and the right rear wheel hub motor controller 36 are not repeatedly described.
The vehicle control unit 1 is in real-time communication with the left front wheel hub motor controller 33, the right front wheel hub motor controller 34, the left rear wheel hub motor controller 35 and the right rear wheel hub motor controller 36 respectively. The vehicle control unit 1 receives signals of an accelerator opening sensor 24 and signals of a brake opening sensor 23, and calculates and obtains a target driving torque and a target regenerative braking torque which are distributed to each wheel by combining current vehicle state information and regenerative braking capability of the in-wheel motor. The vehicle control unit 1 sends the target driving force and the target regenerative braking torque to the left front hub motor controller 33, the right front hub motor controller 34, the left rear hub motor controller 35 and the right rear hub motor controller 36, respectively, and the hub motor controllers control the hub motors to drive the vehicle to run or decelerate the vehicle.
The left front wheel hub motor controller 33, the right front wheel hub motor controller 34, the left rear wheel hub motor controller 35 and the right rear wheel hub motor controller 36 respectively receive signals of the accelerator pedal opening degree sensor 24, and if any one wheel hub motor controller cannot receive a control signal from the vehicle control unit 1, the wheel hub motor controller controls the wheel hub motor to drive the vehicle to run by receiving the signals of the accelerator pedal opening degree sensor 24.
The vehicle control unit 1 is in real-time communication with the gear controller 37, and the vehicle control unit 1 receives a gear signal sent by the gear controller 37 and integrates vehicle gear information to realize real-time control of the distributed drive vehicle.
The vehicle control unit 1 is also in real-time communication with the vehicle power battery controller 38, and the vehicle control unit 1 receives information such as vehicle remaining battery capacity and vehicle battery faults from the vehicle power battery controller 38, and is used for judging the regenerative braking capacity of the hub motor, so as to realize real-time control of the distributed drive vehicle.
The vehicle sensor 11 is composed of a vehicle key sensor 17, a left front wheel speed sensor 18, a right front wheel speed sensor 19, a left rear wheel speed sensor 20, a right rear wheel speed sensor 21, a steering wheel angle sensor 22, a brake pedal opening degree sensor 23, an accelerator pedal opening degree sensor 24, a vehicle acceleration sensor 25, and a vehicle angular acceleration sensor 26. The vehicle sensor 11 collects vehicle state information and sends the vehicle state information to a vehicle controller which needs to receive, wherein the vehicle controller comprises a vehicle control unit 1, a hub motor controller, an electronic mechanical brake controller and the like.
The indicator light 13 comprises a meter indicator light 39 and a switch indicator light 40. The meter indicator lamp 39 and the switch indicator lamp 40 are powered by the vehicle control unit 1, when the meter indicator lamp 39 and the switch indicator lamp 40 need to be turned on, the vehicle control unit 1 starts power supply for the meter indicator lamp 39 and the switch indicator lamp 40, and when the meter indicator lamp 39 and the switch indicator lamp 40 need to be turned off, the vehicle control unit 1 cuts off power supply for the meter indicator lamp 39 and the switch indicator lamp 40.
The external switch 14 includes a parking switch 41, a VDC switch 42, a reset tire pressure monitoring switch 43, and a driving mode switch 44, and the external switch 14 is electrically connected to the vehicle control unit 1 of the present invention. The parking switch 41 is used for controlling the vehicle to complete parking, release parking or realize vehicle deceleration in an emergency state; the VDC switch 42 is used to turn on or off the VDC function of the vehicle; the reset tire pressure monitoring switch 43 is used for controlling the tire pressure monitoring module of the whole vehicle controller to work and recalibrate the initial tire pressure; the driving mode switch 44 is used for controlling and switching the driving modes of the vehicle, the driving modes of the vehicle include an energy-saving mode, a normal mode and a sport mode, different driving modes of the vehicle correspond to different vehicle control strategies, and the vehicle control unit 1 recognizes the current driving mode of the vehicle by identifying the state of the driving mode switch 44, so that the vehicle control strategy capable of being freely switched is realized.

Claims (10)

1. The utility model provides a vehicle control unit based on distributed drive vehicle which characterized in that: the system comprises an external sensor signal processing module, an external communication signal processing module, an external sensor and indicator lamp power supply module, an external switch state identification module, a first power supply module, a second power supply module, an MCU, a first information storage module and a second information storage module, wherein the external sensor signal processing module, the external communication signal processing module, the external sensor and indicator lamp power supply module, the external switch state identification module, the first information storage module and the second information storage module are all connected with the MCU, the external sensor signal processing module is electrically connected with a vehicle sensor, the external sensor signal processing module can receive and process signals of the vehicle sensor, the external sensor signal processing module transmits the processed signals of the vehicle sensor to the MCU, and the MCU is responsible for receiving the processed signals of the vehicle sensor and carrying out logic operation, the intention of a driver and the current vehicle state are further judged, the external communication signal processing module receives external communication signals sent by other vehicle controllers on one hand, the external communication signals are transmitted to the MCU after being processed by the external communication signal processing module, and the MCU synthesizes the external communication signals sent by other vehicle controllers to carry out logic judgment; the external communication signal processing module receives communication signals from the MCU on the other hand, the communication signals are sent to other vehicle controllers after being processed by the external communication signal processing module, the other vehicle controllers receive upper computer signals sent by the MCU to carry out corresponding response, the external sensor and indicator lamp power supply module are respectively electrically connected with the vehicle sensor and the indicator lamp, the external sensor and indicator lamp power supply module supplies power to the vehicle sensor needing power supply and the indicator lamp needing power supply, the external switch state identification module is connected with the external switch, the first power supply module and the second power supply module are respectively an external sensor signal processing module, an external communication signal processing module, an external sensor and indicator lamp power supply module, an external switch state identification module, the MCU, the first information storage module and the second information storage module, and the first power supply module is connected with a first external power supply line, the second power supply module is connected with a second external power supply circuit.
2. The vehicle control unit based on the distributed drive vehicle as claimed in claim 1, wherein: the first power supply module and the second power supply module are both ECU power supply modules.
3. the vehicle control unit based on the distributed drive vehicle as claimed in claim 1, wherein: the first information storage module and the second information storage module are both ECU information storage modules.
4. the vehicle control unit based on the distributed drive vehicle as claimed in claim 1, wherein: the vehicle sensor comprises a vehicle key sensor, a left front wheel speed sensor, a right front wheel speed sensor, a left rear wheel speed sensor, a right rear wheel speed sensor, a steering wheel angle sensor, a brake pedal opening degree sensor, an accelerator pedal opening degree sensor, a vehicle acceleration sensor and a vehicle angular acceleration sensor, wherein the vehicle key sensor, the left front wheel speed sensor, the right front wheel speed sensor, the left rear wheel speed sensor, the right rear wheel speed sensor, the steering wheel angle sensor, the brake pedal opening degree sensor, the accelerator pedal opening degree sensor, the vehicle acceleration sensor and the vehicle angular acceleration sensor are connected with an external sensor signal processing module, an external sensor and an indicator light power supply module.
5. The vehicle control unit based on the distributed drive vehicle as claimed in claim 1, wherein: the other vehicle controllers comprise a front shaft electronic power steering controller, a rear shaft electronic power steering controller, a left front electronic mechanical brake controller, a right front electronic mechanical brake controller, a left rear electronic mechanical brake controller, a right rear electronic mechanical brake controller, a left front wheel hub motor controller, a right front wheel hub motor controller, a left rear wheel hub motor controller, a right rear wheel hub motor controller, a gear controller and a vehicle power battery controller, wherein the front shaft electronic power steering controller, the rear shaft electronic power steering controller, the left front electronic mechanical brake controller, the right front electronic mechanical brake controller, the left rear electronic mechanical brake controller, the right rear electronic mechanical brake controller, the left front wheel hub motor controller, the right front wheel hub motor controller, the left rear wheel hub motor controller, the right rear wheel hub motor controller, the gear controller and the vehicle power battery controller can all use external communication signals and external communication signals to process the model The blocks communicate.
6. The vehicle control unit based on the distributed drive vehicle as claimed in claim 1, wherein: the external communication signals comprise CAN signals, CAN FD signals and Ethernet signals, and the CAN signals, the CAN FD signals and the Ethernet signals CAN be in communication connection with the external communication signal processing module.
7. The vehicle control unit based on the distributed drive vehicle as claimed in claim 1, wherein: the indicating lamp include instrument indicating lamp and switch pilot lamp, the instrument indicating lamp is installed on vehicle instrument, plays warning effect and work suggestion effect, the switch pilot lamp is installed on external switch, plays work suggestion effect, instrument indicating lamp and switch pilot lamp all are connected with external sensor and pilot lamp power module.
8. the vehicle control unit based on the distributed drive vehicle as claimed in claim 1, wherein: the external switch comprises a parking switch, a VDC switch, a reset tire pressure monitoring switch and a driving mode switch, and the parking switch, the VDC switch, the reset tire pressure monitoring switch and the driving mode switch are all connected with the external switch state identification module.
9. A control method based on a distributed drive vehicle, characterized in that: the control method is as follows:
The vehicle control unit controls a vehicle through a software architecture, wherein the software architecture is a layered structure and is divided into three layers, namely an application layer, a signal transmission layer and a driving layer from top to bottom;
The application layer in the software architecture is a core part of the whole vehicle controller software, the application layer in the software architecture comprises application layer control algorithm software, and the application layer control algorithm software integrates control strategies and control algorithms of all the whole vehicle controllers;
a signal transmission layer in a software framework provides a real-time operation environment for vehicle controller software, provides a signal interface for an application layer and a driving layer and realizes real-time monitoring of vehicle controller faults, the signal transmission layer in the software framework comprises fault monitoring software and signal transmission software, the fault monitoring software monitors the fault state of the vehicle controller in real time and gives an alarm in time, the signal transmission software is responsible for building the signal interface between the application layer and the driving layer to realize communication between the application layer and the driving layer, the software of the vehicle controller runs on the signal transmission layer in real time, when a software task of the vehicle controller runs to the condition that the application layer software works or the bottom layer driving software works, the application layer software or the bottom layer driving software carries out operation and further transmits an operation result to the signal transmission layer, and the signal transmission layer integrates received information to monitor the fault state, After the information transmission is finished, the signal transmission layer waits until the vehicle controller needs to perform the next software task, and the signal transmission layer starts the next working cycle;
The driving layer in the software framework comprises external sensor signal processing software, external sensor and indicator lamp power supply software, ECU power supply software, external communication signal processing software, diagnosis and refresh software and external switch state identification software, wherein the external sensor signal processing software and an external sensor signal processing module of the whole vehicle controller realize the corresponding relation between the software and the hardware, the external sensor and indicator lamp power supply software and an external sensor and indicator lamp power supply module of the whole vehicle controller realize the corresponding relation between the software and the hardware, the external communication signal processing software and an external communication signal processing module of the whole vehicle controller realize the corresponding relation between the software and the hardware, the external switch state recognition software and the external switch state recognition module of the vehicle control unit realize the corresponding relation between the software and the hardware, and in addition, the ECU power supply software and the first power supply module and the second power supply module of the vehicle control unit realize the corresponding relation between the software and the hardware.
10. The distributed-drive-vehicle-based control method according to claim 9, characterized in that: the application layer in the software architecture is a core part of the whole vehicle controller software, and the application layer control algorithm software integrates control strategies and control algorithms of all the whole vehicle controllers, and the specific method is as follows:
The application layer control algorithm software receives an external input signal of the vehicle control unit from the driving layer and an alarm signal of the vehicle control unit from the signal transmission layer, the external input signal is firstly transmitted to the driver driving intention identification module and the driver braking intention identification module, the driver driving intention identification module judges the current driving intention of the driver to the vehicle by processing the external input signal, and then the driver driving intention identification module transmits a vehicle driving mode to the driving mode judging module; the driver braking intention recognition module judges the current braking intention of the driver to the vehicle by processing an external input signal, and then the driver braking intention recognition module transmits a vehicle braking mode to the driving mode judgment module;
The driving mode distinguishing module receives an external input signal, a vehicle driving mode from the driver driving intention identifying module and a vehicle braking mode from the driver braking intention identifying module, and distinguishes the current driving mode of the vehicle through logical operation, the vehicle driving mode is divided into seven modes of a P/N gear mode, a D gear driving mode, an R gear driving mode, a braking mode, a parking mode, a flameout mode and a limping mode, wherein the D gear driving mode is further divided into a D gear idling mode and a D gear sliding mode, the R gear driving mode is further divided into an R gear idling mode and an R gear sliding mode, the driving mode distinguishing module obtains a preliminary target braking torque, a preliminary target driving torque, a preliminary wheel rotation angle, a preliminary target parking torque and a preliminary parking state flag bit according to the driving mode entered by the vehicle, and transmits a signal of the preliminary target braking torque to the preliminary braking module, transmitting a preliminary target driving torque signal to a driving module, transmitting a preliminary target wheel rotation angle signal to a steering module, and transmitting a preliminary target parking torque and a preliminary parking state zone bit to a parking module;
The braking module receives an external input signal and a primary target braking torque from the driving mode judging module, the braking module sequentially comprises a regenerative braking module, a sliding braking module, a braking anti-lock module and a four-wheel braking torque coordinating module from inside to outside, when software runs to the braking module, the innermost module is run firstly, the external modules are sequentially operated, the regenerative braking module and the sliding braking module are two software modules at the same level, only one of the two software modules can be operated at the same time according to the state of the vehicle, the braking module finally obtains the target electromechanical braking torque of each wheel and the target regenerative braking torque of each wheel through calculation, and the braking module sends the target electromechanical braking torque signal of each wheel and the target regenerative braking torque signal of each wheel to the output signal integration module;
The driving module receives an external input signal and a primary target driving moment from the driving mode judging module, the driving module sequentially comprises a driving anti-skid module, a driving electronic differential module and a four-wheel driving moment coordinating module from inside to outside, when software runs to the driving module, the innermost module is run firstly, then the external module is run sequentially, the driving module finally obtains the target driving moment of each wheel through calculation, and the driving module sends a target driving moment signal of each wheel to the output signal integrating module;
The method comprises the steps that a steering module receives an external input signal and a primary target wheel turning angle signal from a driving mode judging module, the steering module sequentially comprises a steering electronic differential module and a VDC module from inside to outside, when software runs to the steering module, the innermost module runs at first, then the external module runs sequentially, the steering module finally obtains a front axle wheel turning angle and a rear axle wheel turning angle through calculation, and the steering module sends the front axle wheel turning angle signal and the rear axle wheel turning angle signal to an output signal integrating module;
the parking module receives an external input signal, and a preliminary target parking torque and a preliminary parking state flag bit from the driving mode judging module, the parking module comprises a static parking module and a dynamic parking module, the static parking module and the dynamic parking module are two software modules at the same level, only one of the two software modules can be operated at the same time according to the state of the vehicle, the parking module finally obtains the target parking torque and the parking state flag bit through calculation, and further the parking module sends the target parking torque signal and the parking state flag bit signal to the output signal integrating module;
The tire pressure monitoring module receives an external input signal, and specifically comprises a reset tire pressure monitoring switch signal, a wheel speed signal, a gear signal, an ignition signal and a motor torque signal in the external input signal, the tire pressure monitoring module mainly judges whether four wheels of a current vehicle are in an air shortage state by identifying and processing the wheel speed signal, if a certain wheel or certain wheels of the vehicle are identified to be in the air shortage state, the tire pressure monitoring module immediately gives an alarm, in addition, the tire pressure monitoring module judges whether a driver needs to recalibrate initial tire pressure by identifying the reset tire pressure monitoring switch signal, if the tire pressure monitoring module identifies that the reset tire pressure monitoring switch is in a pressed state, the tire pressure monitoring module starts to recalibrate the initial tire pressure until the calibration is completed, and the tire pressure monitoring module sends the tire pressure alarm flag bit of each wheel to the output signal integration module after judging the wheel deflation state;
the output signal integration module receives signals from the brake module, the drive module, the steering module, the parking module and the tire pressure monitoring module, the output signal integration module classifies and integrates all received signals into proper signal interfaces, and then transmits the signals to the signal transmission layer, the signal transmission layer distributes the signal interfaces, the signals are further transmitted to the drive layer, and the drive layer executes the transmission of the signals, so that the control of the whole vehicle controller on upper computers of other controllers of the vehicle is realized.
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