CN112677903A - Intelligent driving wire-controlled chassis control system and control method for new energy commercial vehicle - Google Patents
Intelligent driving wire-controlled chassis control system and control method for new energy commercial vehicle Download PDFInfo
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- CN112677903A CN112677903A CN202011623339.9A CN202011623339A CN112677903A CN 112677903 A CN112677903 A CN 112677903A CN 202011623339 A CN202011623339 A CN 202011623339A CN 112677903 A CN112677903 A CN 112677903A
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Abstract
A control system and a control method for an intelligent driving drive-by-wire chassis of a new-energy commercial vehicle relate to the field of new-energy vehicle design and solve the problem that the prior art adopts simulation of relevant actions of drivers to control. The intelligent driving control module is communicated with the EPS, the EPB, the SCU/TCU, the VCU, the IC, the EBS and the BCM through a CAN bus, and the CAN bus adopts a standard SPN protocol specified by SAEJ 1939-71. The control method comprises the steps of controlling an engine throttle, controlling a gear of a gearbox, controlling a braking system, controlling steering and controlling chassis electrical appliances; the invention simplifies the complexity of the system, improves the reliability of the system and saves the precious installation space of the cab. A large amount of electromechanical system design work required by vehicle type modification in the past is omitted, and the intelligent driving system can be transplanted among different vehicle types only by changing part of communication protocols, so that the intelligent driving system is high in adaptability.
Description
Technical Field
The invention relates to the field of new energy automobile design, in particular to a control method of a drive-by-wire chassis suitable for intelligent driving of a new energy commercial vehicle.
Background
With the continuous development of the intelligent technology, the intelligent driving technology has become a research hotspot in the automobile industry by virtue of the wide application prospect. The vast majority of domestic intelligent driving vehicles are refitted on the existing mass production vehicles, and new energy vehicle types and automatic gearboxes are mostly adopted on the chassis of the domestic intelligent driving vehicles so as to adapt to the refitting of intelligent driving. At present, the control of an intelligent driving wire control chassis is mainly controlled by simulating the relevant actions of a driver. The existing method has the disadvantages of high remanufacturing cost, complex structure and great potential safety hazard. Poor adaptability and the like.
With the rapid development of automotive electronic technology, the electronic control and bus control of the vehicle chassis provide a new way for the intelligent driving system to control the vehicle chassis. Aiming at the novel electric control chassis of the new energy commercial vehicle, the effective control and the safe control of the electric control chassis become the main direction of research.
According to the application and the application prospect after the intelligent driving is realized at present, the function requirements mainly comprise the following aspects:
1) the intelligent system can control the accelerator, the brake, the steering and the gear of the vehicle;
2) the vehicle can be driven intelligently or by people, and the intelligent driving mode and the manned driving mode can be switched rapidly;
3) the intelligent driving system can control the light, start, flameout and horn of the vehicle;
4) the intelligent driving system can control an all-wheel driving device of a vehicle, and comprises a wheel axle difference and a transfer case;
5) the intelligent driving mode vehicle has an emergency stop function;
6) the intelligent driving system can realize the monitoring of signals such as the speed, the gear and the steering wheel angle of the automobile.
The intelligent driving control system sends control instructions such as an accelerator, a gear, braking, steering and the like to the intelligent driving chassis controller through the intelligent driving control bus, the intelligent driving chassis controller converts the instructions such as the accelerator into signals or instructions which can be recognized by each electric control system of the chassis, the signals or the instructions are controlled through a chassis power bus interface or each electric control unit I/O of the chassis, and vehicle electric loads such as a horn, an electromagnetic valve and the like are controlled through a power driving port of the intelligent driving chassis controller. The intelligent driving chassis controller CAN transmit the most basic information of the vehicle such as the speed, the rotating speed of a motor, gears and the rotating angle of a steering wheel to an intelligent driving control layer through a CAN bus, and accurate control is achieved.
Disclosure of Invention
The invention aims to solve the problem that the prior art adopts the simulation of the relevant actions of a driver to control. The intelligent driving wire-controlled chassis control system and the intelligent driving wire-controlled chassis control method for the commercial vehicle with the new energy have the problems of high modification cost, complex structure, large potential safety hazard, poor adaptability and the like.
The intelligent driving control system comprises an intelligent driving control module, an electronic steering system, an electronic parking system, a gear control system, a whole vehicle controller, a combination instrument, a braking system and a vehicle body control unit, wherein the electronic steering system, the electronic parking system, the gear control system, the whole vehicle controller, the combination instrument, the braking system and the vehicle body control unit are communicated with the driving control module through a CAN (controller area;
the CAN bus adopts a standard SPN protocol specified by SAEJ 1939-71;
the intelligent driving control module controls the steering angular speed and the target angle according to the steering signal received from the electronic steering system; sending an instruction to an electronic parking system according to a received parking signal of the electronic parking system, wherein the electronic parking system completes the functions of instruction parking, releasing and hill start assisting according to the instruction requirement;
the intelligent driving control module receives a gear signal of the gear control system and controls the gear control system to control D, R and N gears according to the requirements of the whole vehicle, and the automatic transmission system is responsible for gear lifting;
the intelligent driving control module receives an acceleration signal of the VCU, controls the VCU to send a torque request, and simulates the opening information of an accelerator pedal to send an instruction;
the intelligent driving control module receives display information of the combination instrument and displays the display information on the combination instrument;
and a body control signal of the body control unit;
the intelligent driving control module receives a braking signal of the braking system and sends a braking instruction to the braking system, so that the braking system sends the opening degree of a brake pedal according to simulation or performs deceleration control according to deceleration;
the intelligent driving control module receives the vehicle body control signal sent by the vehicle body control unit and sends light, windshield wiper, air conditioner and door and window and door key control instructions to the vehicle body control unit according to the received control signal.
An intelligent drive-by-wire chassis control method suitable for a new energy commercial vehicle comprises the steps of controlling an engine throttle, controlling a gear of a gearbox, controlling a braking system, controlling steering and controlling electrical appliances of the chassis;
the control mode of the engine throttle is as follows: the control method comprises the steps that a motor throttle is directly controlled in a bus mode, a control protocol follows SAEJ1939-71, a chassis controller directly forwards a throttle opening control instruction sent by an intelligent driving control module to a VCU, and the intelligent driving control module receives information sent by the chassis controller to realize real-time remote monitoring on the running condition of an engine;
the gear control method for the gearbox comprises the following steps:
the vehicle adopts an electric control hydraulic automatic gearbox, and an electric control unit supports a double-gear-shifting mechanism controller which comprises a main gear shifter and an auxiliary gear shifter; the master gear shifting controller is in a bus control mode, the source address of the master gear shifting controller is 0x05, and the source address of the auxiliary gear shifting controller is 0x 06;
the selector selection switch is realized by driving a selector selection relay by a chassis controller;
when the vehicle is in a manned driving mode, the gear shifter selection relay is disconnected, and the transmission electronic control system responds to a message sent by the main gear shifter;
when the vehicle is in an intelligent driving mode, the chassis controller drives the gear shifter to select the relay to be closed, and the gearbox electric control system responds to a message sent by the auxiliary gear shifter; the chassis controller receives the gear shifting information transmitted on the intelligent driving control module bus and transmits the gear shifting information to the gearbox electric control unit; the above-mentioned
The intelligent driving control module receives information of the gearbox, remote monitoring of the running condition of the gearbox is achieved, and meanwhile when the gearbox breaks down, remote fault diagnosis is conducted.
The control mode of the brake system is as follows:
in the aspect of driving braking, a single-module electric control relay valve is connected in series in a front axle braking loop of a vehicle, a double-module electric control relay valve is adopted to replace an air control relay valve in a traditional rear axle braking loop, and meanwhile, the electric control relay valve keeps the traditional air control mode; in terms of parking braking, a pulsed solenoid switching valve is incorporated in a conventional parking brake circuit.
When the vehicle is in a manned driving mode, the chassis controller does not enable the EBS system, and the EBS keeps the original control logic;
when in the intelligent driving mode: in the aspect of service braking, the chassis controller receives a brake pedal position message sent by the intelligent driving control module through the CAN bus, analyzes the brake pedal position message according to a specified protocol and controls the EBS controller so as to control the chassis electric control relay valve to brake the vehicle. Meanwhile, a pressure sensor is integrated on the electric control relay valve and used for monitoring the pressure of the brake air chamber through GF, and a chassis controller collects the value of the pressure sensor and transmits the brake pressure information through an intelligent driving control bus;
in the aspect of parking braking, when the chassis controller receives a hand brake releasing instruction sent by the intelligent driving control bus, the chassis controller controls the electromagnetic switch valve to ventilate, otherwise, the electromagnetic switch valve is controlled to cut off the air.
The invention has the beneficial effects that:
1. the control system simplifies the complexity of the system, improves the reliability of the system and saves the precious installation space of the cab.
2. The control system provided by the invention saves a large amount of electromechanical system design work required by vehicle model modification in the past, can realize the transplantation of the intelligent driving system among different vehicle models only by modifying part of communication protocols, and has strong adaptability.
3. The control system can obtain abundant data of the vehicle chassis through the vehicle bus, and the data can be used for correcting an intelligent control strategy of intelligent driving, thereby being beneficial to improving the overall performance of the intelligent driving heavy vehicle.
Drawings
FIG. 1 is a schematic block diagram of a prior art intelligent driving control system;
fig. 2 is a schematic block diagram of the intelligent driving drive-by-wire chassis control system of the new energy commercial vehicle.
Detailed Description
The embodiment is described with reference to fig. 2, the intelligent drive-by-wire chassis control system for the new energy commercial vehicle adopts SAE1939 for system communication of the intelligent drive vehicle, a special a message is adopted for a control instruction, a standard SPN specified by SAEJ1939-71 is adopted for an information message, and the SPN can be autonomously defined if the information is undefined. According to SAE1939 definitions and controller functionality, the system specifies the source address to the controller.
The intelligent driving drive-by-wire chassis control system comprises an electronic steering system (EPS), an electronic parking system (EPB), a gear control system (SCU/TCU), a Vehicle Control Unit (VCU), an intelligent driving control module, a combination Instrument (IC), a brake system (EBS) and a vehicle body control unit (BCM);
the intelligent driving control module is communicated with the EPS, the EPB, the SCU/TCU, the VCU, the IC, the EBS and the BCM through a CAN bus, and the CAN bus adopts a standard SPN protocol specified by SAEJ 1939-71.
The intelligent driving control module controls the steering angular speed and the target angle according to the received steering signal of the EPS; sending an instruction to an EPB according to a received EPB parking signal, wherein the EPB completes the functions of instruction parking, release and hill start assistance according to the instruction requirement;
the intelligent driving control module receives gear signals of the SCU/TCU, controls the SCU/TCU to control D, R and N gears according to the requirements of the whole vehicle, and the automatic speed change system is responsible for gear lifting;
the intelligent driving control module receives an acceleration signal of the VCU, controls the VCU to send a torque request, and simulates the opening information of an accelerator pedal to send an instruction;
the intelligent driving control module receives display information of the IC and displays the display information on the IC;
the intelligent driving control module receives a braking signal of the EBS and sends a braking instruction to the EBS, and the EBS controls and receives the opening degree of a simulated brake pedal sent by the intelligent driving controller or performs deceleration control according to deceleration;
the intelligent driving control module receives the vehicle body control signal sent by the BCM and sends light, windshield wipers, air conditioners and door and window and door control instructions to the BCM according to the received control signal.
The second embodiment is a control method of the intelligent drive-by-wire chassis control system of the new energy commercial vehicle, and the method comprises the steps of controlling an engine throttle, controlling a gear of a gearbox, controlling a brake system, controlling steering and controlling electrical appliances of the chassis;
the control of the engine throttle is to directly control the motor throttle in a bus mode according to the openness degree of the control function of the motor, and the control protocol follows SAEJ 1939-71. And the chassis controller directly forwards an accelerator opening control instruction sent by the intelligent driving control system to the VCU.
For gear control of the gearbox, an electronic control hydraulic automatic gearbox adopted by a target vehicle supports a double-gear-shifting mechanism controller (a main gear shifter and an auxiliary gear shifter) by an electronic control unit, and is in a bus control mode, wherein the source address of the main gear-shifting controller is 0x05, and the source address of the auxiliary gear-shifting controller is 0x 06. The gear shifter selection switch is used for informing the gear box to control the gear shifting operation by which gear shifter, and the gear shifter selection switch is realized by driving a gear shifter selection relay through a chassis controller. When the vehicle is in a manned driving mode, the gear shifter selection relay is disconnected, and the transmission electronic control system responds to a message sent by the main gear shifter; when the vehicle is in an intelligent driving mode, the chassis controller drives the gear shifter to select the relay to be closed, the gearbox electric control system responds to a message sent by the auxiliary gear shifter, and at the moment, the chassis controller receives gear shifting information transmitted on the intelligent driving control bus and transmits the gear shifting information to the gearbox electric control unit. If a shift is to be made between the double gear shifters, both gear shifters must be in neutral and the vehicle is stationary. And meanwhile, when the gearbox breaks down, the intelligent driving control system can carry out remote fault diagnosis.
In the present embodiment, the control method for the brake system is:
in order to realize the control of the intelligent driving control system on the heavy vehicle braking system, the electrically controlled modification of the braking system is required. The system adopts a domestic mature and reliable EBS system. In the aspect of service braking, a single-module electric control relay valve is connected in series in a front axle brake circuit, a double-module electric control relay valve is used for replacing an air control relay valve in a traditional rear axle brake circuit, and meanwhile, the electric control relay valve keeps the traditional air control mode; in terms of parking braking, a pulsed solenoid switching valve is incorporated in a conventional parking brake circuit.
When the vehicle is in manned mode, the chassis controller does not enable the EBS system, and the EBS maintains the original control logic. When in the intelligent driving mode: in the aspect of service braking, the chassis controller receives a brake pedal position message sent by the intelligent driving control system through the intelligent driving control bus, analyzes the brake pedal position message according to a specified protocol and controls the EBS controller so as to control the chassis electric control relay valve to brake the vehicle. Meanwhile, a pressure sensor is integrated on the electric control relay valve and used for monitoring the pressure of the brake air chamber, and a chassis controller collects the value of the pressure sensor and transmits brake pressure information through an intelligent driving control bus; in the aspect of parking braking, when the bottom disk controller receives a hand brake releasing instruction sent by the intelligent driving control bus, the bottom disk controller controls the electromagnetic switch valve to ventilate, otherwise, the electromagnetic switch valve is controlled to cut off the air.
In the present embodiment, the steering control method is:
because the steering system mechanism of the current vehicle cannot realize a wire control mode and needs to adopt hard connection, the steering system of the intelligent driving heavy vehicle also needs to adopt an electromechanical control system to carry out steering control, but part of components can realize bus control. In the system scheme, a servo motor is externally connected with a planetary reducer and is mechanically connected with a steering column, and a motor driver controls the servo motor to rotate to drive the steering column to rotate, so that the steering control of the intelligent driving off-road vehicle is realized. When the vehicle is in an intelligent driving mode, the motor driver receives target steering angle and rotating direction information through an intelligent driving control bus, receives actual steering wheel angle information sent by an angle sensor through the bus, and drives the motor to rotate to reach a target steering angle after calculation; when the vehicle is in the manned driving mode, the motor is not electrified, and the motor can rotate along with the steering wheel.
In this embodiment, the control of the chassis electrical appliance by the intelligent driving control system mainly comprises the control of the wiper, the light and the solenoid valve. The system realizes the control of the intelligent driving control system on the electric appliance of the vehicle chassis by changing the intelligent vehicle body controller on the original vehicle model, and meanwhile, in order to collect the vehicle body information, the chassis controller needs to be connected to a chassis vehicle body bus, and vehicle chassis speed, air pressure and oil quantity signals are packaged into CAN messages to be sent to the intelligent driving control bus for the intelligent driving top layer to control. The refitting mode of the system for controlling the chassis electric appliance does not need to change the control protocol of the original vehicle body controller, and only needs to add a control circuit switching relay to switch control signals. The system is realized the mode of indirect CAN message of forwardding through chassis controller to the collection of automobile body information, and chassis controller acts as the gateway and filters CAN information, only packs the reorganization to required information, supplies intelligent driving control to use on sending to intelligent driving control bus at last, and its advantage lies in: the load rate on the intelligent driving control bus is reduced, and the smooth bus communication is ensured.
In the embodiment, the CAN communication adopts SAE1939 protocol, the control message adopts 'special A' message, and combines part of information of SAEJ1939-71 protocol in the table 1,
TABLE 1
According to table 1, the main control information communication protocol of the intelligent driving drive-by-wire chassis is known.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (4)
1. New energy commercial vehicle intelligent driving drive-by-wire chassis control system, characterized by: the intelligent driving control system comprises an intelligent driving control module, an electronic steering system, an electronic parking system, a gear control system, a whole vehicle controller, a combination instrument, a braking system and a vehicle body control unit, wherein the electronic steering system, the electronic parking system, the gear control system, the whole vehicle controller, the combination instrument, the braking system and the vehicle body control unit are communicated with the driving control module through a CAN (controller area;
the CAN bus adopts a standard SPN protocol specified by SAEJ 1939-71;
the intelligent driving control module controls the steering angular speed and the target angle according to the steering signal received from the electronic steering system; sending an instruction to an electronic parking system according to a received parking signal of the electronic parking system, wherein the electronic parking system completes the functions of instruction parking, releasing and hill start assisting according to the instruction requirement;
the intelligent driving control module receives a gear signal of the gear control system and controls the gear control system to control D, R and N gears according to the requirements of the whole vehicle, and the automatic transmission system is responsible for gear lifting;
the intelligent driving control module receives an acceleration signal of the VCU, controls the VCU to send a torque request, and simulates the opening information of an accelerator pedal to send an instruction;
the intelligent driving control module receives display information of the combination instrument and displays the display information on the combination instrument;
and a body control signal of the body control unit;
the intelligent driving control module receives a braking signal of the braking system and sends a braking instruction to the braking system, so that the braking system sends the opening degree of a brake pedal according to simulation or performs deceleration control according to deceleration;
the intelligent driving control module receives the vehicle body control signal sent by the vehicle body control unit and sends light, windshield wiper, air conditioner and door and window and door key control instructions to the vehicle body control unit according to the received control signal.
2. The control method of the intelligent driving wire-controlled chassis control system of the new energy commercial vehicle according to claim 1, characterized in that: the method comprises the steps of controlling an engine throttle, controlling a gear of a gearbox, controlling a braking system, controlling steering and controlling chassis electrical appliances;
the control mode of the engine throttle is as follows: the control method comprises the steps that a motor throttle is directly controlled in a bus mode, a control protocol follows SAEJ1939-71, a chassis controller directly forwards a throttle opening control instruction sent by an intelligent driving control module to a VCU, and the intelligent driving control module receives information sent by the chassis controller to realize real-time remote monitoring on the running condition of an engine;
the gear control method for the gearbox comprises the following steps:
the vehicle adopts an electric control hydraulic automatic gearbox, and an electric control unit supports a double-gear-shifting mechanism controller which comprises a main gear shifter and an auxiliary gear shifter; the master gear shifting controller is in a bus control mode, the source address of the master gear shifting controller is 0x05, and the source address of the auxiliary gear shifting controller is 0x 06;
the selector selection switch is realized by driving a selector selection relay by a chassis controller;
when the vehicle is in a manned driving mode, the gear shifter selection relay is disconnected, and the transmission electronic control system responds to a message sent by the main gear shifter;
when the vehicle is in an intelligent driving mode, the chassis controller drives the gear shifter to select the relay to be closed, and the gearbox electric control system responds to a message sent by the auxiliary gear shifter; the chassis controller receives the gear shifting information transmitted on the intelligent driving control module bus and transmits the gear shifting information to the gearbox electric control unit; the above-mentioned
The intelligent driving control module receives information of the gearbox, remote monitoring of the running condition of the gearbox is achieved, and meanwhile when the gearbox breaks down, remote fault diagnosis is conducted.
The control mode of the brake system is as follows:
in the aspect of driving braking, a single-module electric control relay valve is connected in series in a front axle braking loop of a vehicle, a double-module electric control relay valve is adopted to replace an air control relay valve in a traditional rear axle braking loop, and meanwhile, the electric control relay valve keeps the traditional air control mode; in terms of parking braking, a pulsed solenoid switching valve is incorporated in a conventional parking brake circuit.
When the vehicle is in a manned driving mode, the chassis controller does not enable the EBS system, and the EBS keeps the original control logic;
when in the intelligent driving mode: in the aspect of service braking, the chassis controller receives a brake pedal position message sent by the intelligent driving control module through the CAN bus, analyzes the brake pedal position message according to a specified protocol and controls the EBS controller so as to control the chassis electric control relay valve to brake the vehicle. Meanwhile, a pressure sensor is integrated on the electric control relay valve and used for monitoring the pressure of the brake air chamber through GF, and a chassis controller collects the value of the pressure sensor and transmits the brake pressure information through an intelligent driving control bus;
in the aspect of parking braking, when the chassis controller receives a hand brake releasing instruction sent by the intelligent driving control bus, the chassis controller controls the electromagnetic switch valve to ventilate, otherwise, the electromagnetic switch valve is controlled to cut off the air.
3. The control method according to claim 2, characterized in that: the steering control mode specifically comprises the following steps:
a servo motor is externally connected with a planetary reducer and is mechanically connected with a steering column, and a motor driver controls the servo motor to rotate to drive the steering column to rotate, so that steering control of the intelligent driving off-road vehicle is realized;
when the vehicle is in an intelligent driving mode, the motor driver receives target steering angle and rotating direction information through the CAN bus, receives actual steering wheel angle information sent by the angle sensor through the CAN bus, and drives the motor to rotate to reach a target steering angle after calculation;
when the vehicle is in the manned driving mode, the motor is not electrified, and the motor can rotate along with the steering wheel.
4. The control method according to claim 2, characterized in that: the control mode of the chassis electric appliance is as follows:
the chassis electrical appliance control comprises wiper control, lamplight control and electromagnetic valve control; the system realizes the control of the intelligent driving control system on the electric appliance of the vehicle chassis by changing the BCM on the original vehicle model, and meanwhile, in order to collect the vehicle body information, the chassis controller needs to be connected to the chassis vehicle body bus, and the vehicle chassis speed, air pressure and oil quantity signals are packaged into CAN messages to be sent to the intelligent driving control bus for the intelligent driving top layer to control.
The refitting mode of the system for controlling the chassis electric appliance does not need to change the control protocol of the original vehicle body controller, and only needs to add a control circuit switching relay to switch control signals.
The system collects the vehicle body information in a mode of indirectly forwarding the CAN messages through a chassis controller, the chassis controller serves as a gateway to filter the CAN information, only packs and recombines the required information, and finally sends the information to the intelligent driving control bus for intelligent driving control.
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| CN113609710A (en) * | 2021-09-09 | 2021-11-05 | 安徽江淮汽车集团股份有限公司 | Power simulation method, power chassis simulation system and vehicle body area test system |
| CN113609710B (en) * | 2021-09-09 | 2024-02-27 | 安徽江淮汽车集团股份有限公司 | Power simulation method, power chassis simulation system and vehicle body domain test system |
| CN114237198A (en) * | 2021-11-29 | 2022-03-25 | 理工雷科智途(泰安)汽车科技有限公司 | Chassis control method for automatic driving vehicle based on SocketCAN communication |
| CN114771433A (en) * | 2022-04-26 | 2022-07-22 | 上海伯镭智能科技有限公司 | Drive-by-wire system of unmanned mine car |
| CN114771433B (en) * | 2022-04-26 | 2024-01-19 | 上海伯镭智能科技有限公司 | Drive-by-wire system of unmanned mine car |
| CN115230735A (en) * | 2022-07-05 | 2022-10-25 | 一汽解放汽车有限公司 | Control method and device for commercial vehicle, computer equipment and storage medium |
| CN115230735B (en) * | 2022-07-05 | 2024-06-04 | 一汽解放汽车有限公司 | Control method, device, computer equipment and storage medium for commercial vehicle |
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Application publication date: 20210420 |