CN113212335B - Chassis domain controller, local integrated chassis domain architecture and vehicle - Google Patents
Chassis domain controller, local integrated chassis domain architecture and vehicle Download PDFInfo
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- CN113212335B CN113212335B CN202110593452.5A CN202110593452A CN113212335B CN 113212335 B CN113212335 B CN 113212335B CN 202110593452 A CN202110593452 A CN 202110593452A CN 113212335 B CN113212335 B CN 113212335B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
Abstract
The invention discloses a chassis domain controller, a local integrated chassis domain architecture and a vehicle, comprising a main processor chip, wherein the main processor chip is configured to comprise: the sensor data integrated processing module is used for receiving sensor data, and integrally processing vehicle state data input by each sensor and other controllers, including data conversion, verification and judgment; the vehicle dynamics integrated computing module is internally preset with at least one whole vehicle dynamics model and is connected with the sensor data integrated processing module; and the actuator integrated control module is used for integrally controlling at least two actuators according to the vehicle kinematics and the dynamic state at the time point and the subsequent time period, and is connected with the vehicle dynamics integrated computing module. The invention solves the problems of high cost, heavy weight, poor performance, low safety of a centralized chassis domain and poor industrial feasibility of the existing distributed chassis electronic and electrical architecture.
Description
Technical Field
The invention belongs to the technical field of chassis, and particularly relates to a chassis domain controller, a local integrated chassis domain framework and a vehicle.
Background
With the development of automobile technology and the improvement of user requirements, various chassis electric control systems are more and more widely applied to automobiles. Braking electric control such as ABS (anti-lock braking system), ESC (electronic stability control system), EPB (electronic parking system), steering electric control such as EPS (electric power steering system) and the like have become the standard of passenger cars, and other chassis electric control systems such as active shock absorbers, active springs, active stabilizer bars and the like are applied more and more.
Each subsystem in the existing distributed chassis electronic and electrical architecture comprises components such as a special controller, a sensor, an actuator, a wire harness and the like, so that the cost is high, the weight is large, and the occupied space is large; besides, each subsystem has limited self-function range and limited mutual cooperation, which is not favorable for achieving the best overall performance. In order to overcome this problem, patent document CN112407104a proposes a centralized chassis domain architecture, that is, all electronic control subsystems in the whole chassis field share the same controller. The ideal architecture has the advantages of good performance, low cost, small weight, leading of a host factory and the like; it has the following two drawbacks that cannot be realized in engineering practice. 1) The braking and steering electrical control core technology is monopolized by a few suppliers; the mainframe factory lacks the technical foundation, capital and time to digest the existing brake and steering electric control technology, so that it is difficult to further establish a centralized chassis domain. 2) And each electronic control subsystem of the chassis, particularly a braking and steering electronic control system, has high safety level. The centralized chassis domain controller has complex software and hardware, so the failure risk is large, and the high safety level is difficult to achieve.
Therefore, there is a need to develop a new chassis domain controller, a partially integrated chassis domain architecture and a vehicle.
Disclosure of Invention
The invention aims to provide a chassis domain controller, a local integrated chassis domain architecture and a vehicle, and aims to solve the problems of high cost, heavy weight, poor performance, low safety of a centralized chassis domain and poor industrial feasibility of the existing distributed chassis electronic and electric architecture.
In a first aspect, the chassis domain controller of the present invention includes a main processor chip, and a security processor chip, a power chip, a driver chip and a communication interface respectively connected to the main processor chip; the main processor chip is configured to include:
the sensor data integrated processing module is used for receiving sensor data, and integrally processing vehicle state data input by each sensor and other controllers, including data conversion, verification and judgment;
the vehicle dynamics integrated computation module is internally preset with at least one whole vehicle dynamics model, the whole vehicle dynamics model is used for computing the kinematics and the dynamics state of the vehicle at the current time point through the vehicle state data and predicting the kinematics and the dynamics state of the subsequent time period, and the vehicle dynamics integrated computation module is connected with the sensor data integrated processing module;
and the actuator integrated control module is used for integrally controlling at least two actuators according to the vehicle kinematics and the dynamic state at the time point and the subsequent time period, and the actuator integrated control module is connected with the vehicle dynamics integrated calculation module.
Optionally, the main processor chip is configured to further include:
and the intelligent driving coordination module is used for receiving a driving track command planned in an intelligent driving domain, evaluating and optimizing the track, converting the optimized track into a vehicle dynamics state and transmitting a target to the sensor data integrated processing module and the vehicle dynamics integrated computing module, and the intelligent driving coordination module is respectively connected with the sensor data integrated processing module and the vehicle dynamics integrated computing module.
Optionally, the chassis domain controller further comprises: the CAN transceiver, the CANFD transceiver and the connector are respectively connected with the main processor chip, and the MOSFET bridge and the relay are connected with the driving chip.
In a second aspect, the present invention provides a local integrated chassis domain architecture, including a chassis domain controller, a brake electronic control system controller, a steering electronic control system controller, at least one chassis domain sensor, at least one chassis domain actuator, at least one brake electronic control system sensor, at least one brake electronic control system actuator, at least one steering electronic control system sensor, and at least one steering electronic control system actuator;
the chassis domain executor is used for receiving and executing a control instruction sent by the chassis domain controller and adjusting the state of the automobile;
the chassis area sensor is used for measuring vehicle state information required by the chassis area controller;
the chassis domain controller is connected with a chassis domain sensor and a chassis domain actuator through hard wires and used for processing sensor data, calculating the dynamic state of the vehicle and outputting an actuator control instruction;
the brake electric control system sensor is used for measuring vehicle state information required by the brake electric control system controller;
the brake electric control system actuator is used for receiving and executing a control command sent by the brake electric control system controller and adjusting the state of the automobile;
the brake electric control system controller is respectively connected with the brake electric control system sensor and the brake electric control system actuator through hard wires and is used for generating a brake electric control system actuator control instruction according to the received sensor data; the brake electric control system controller is also connected with the chassis domain controller and the steering electric control system controller through a common CAN (controller area network), a CAN FD (controller area network) or an Ethernet;
the steering electric control system sensor is used for measuring vehicle state information required by the steering electric control system controller;
the steering electric control system actuator is used for receiving and executing a control command sent by the steering electric control system controller and adjusting the state of the automobile;
the steering electric control system controller is connected with a steering electric control system sensor and a steering electric control system actuator through hard wires and used for generating a control instruction of the steering electric control system actuator according to received sensor data, and the steering electric control system controller is also connected with a chassis domain controller and a brake electric control system controller through a public CAN (controller area network), a CAN FD (controller area network) or an Ethernet;
wherein: the chassis domain controller adopts the chassis domain controller according to the invention.
In a third aspect, the vehicle of the invention employs a chassis domain controller according to the invention.
In a fourth aspect, the vehicle of the present invention employs a partially integrated chassis domain architecture according to the present invention.
The invention has the following advantages:
(1) Each electronic control subsystem in the existing distributed chassis electronic and electric architecture comprises a special controller, while the local integrated chassis domain architecture only comprises three controllers, namely a chassis domain controller, a brake electronic control system controller and a steering electronic control system controller, wherein the chassis domain controller is used for integrally controlling all chassis electronic control systems except the brake and steering electronic control systems. Compared with the existing distributed chassis electronic and electric architecture, the local integrated chassis domain architecture has the advantages of fewer controllers, fewer wiring harnesses, lower cost, lower weight, smaller occupied space and smaller energy consumption.
(2) Each controller in the existing distributed chassis electronic and electrical architecture only controls one subsystem, and the chassis domain controller comprises modules of vehicle dynamics integrated calculation, actuator integrated control and the like, can integrally control a plurality of subsystems such as an active shock absorber, an active spring and the like, and can achieve better overall performance.
(3) Compared with a completely centralized chassis domain architecture, the local integrated chassis domain architecture enables a braking and steering electric control system with high safety level and weak technical capability of a whole vehicle plant to be independent of a chassis domain controller, so that the local integrated chassis domain architecture is better in safety and easier to engineer and industrialize.
Drawings
Fig. 1 is a schematic diagram of a local integrated chassis domain architecture (including an intelligent driving domain controller) according to this embodiment;
fig. 2 is a functional block diagram of a chassis domain controller according to the present embodiment;
fig. 3 is a hardware block diagram of a chassis domain controller provided in this embodiment;
in the figure: 1-chassis domain controller, 101-sensor data integrated processing module, 102-vehicle dynamics integrated computing module, 103-actuator integrated control module, 104-intelligent driving cooperation module, 105-main processor chip, 106-safety processor chip, 107-power chip, 108-driving chip, 109-MOSFET bridge, 110-CAN transceiver, 111-CAN FD transceiver, 112-connector, 113-relay, 2-brake electric control system controller, 3-steering electric control system controller, 4-intelligent driving domain controller, 5-chassis domain sensor, 6-chassis domain actuator, 7-brake electric control system sensor, 8-brake electric control system actuator, 9-steering electric control system sensor, 10-steering electric control system actuator.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
As shown in fig. 1, in this embodiment, a chassis domain controller includes a main processor chip 105, and a security processor chip 106, a power chip 107, a driver chip 108 and communication interfaces (e.g., SPI serial peripheral interface, CAN, CANFD, ethernet interface, bluetooth interface) respectively connected to the main processor chip 105.
As shown in fig. 2, the main processor chip 105 is configured to: the intelligent driving coordination system comprises a sensor data integrated processing module 101, a vehicle dynamics integrated computing module 102, an actuator integrated control module 103 and an intelligent driving coordination module 104.
The sensor data integration processing module 101 is used for receiving sensor data, and integrating and processing vehicle state data input by each sensor and other controllers, including data conversion, verification and judgment.
At least one vehicle dynamics model is preset in the vehicle dynamics integrated computing module 102, the vehicle dynamics model is used for computing the kinematics and dynamics state of the vehicle at the current time point through the vehicle state data and predicting the kinematics and dynamics state of the subsequent time period, and the vehicle dynamics integrated computing module 102 is connected with the sensor data integrated processing module 101.
The actuator integrated control module 103 is configured to integrally control at least two actuators according to the vehicle kinematics and the dynamic state at the time point and the subsequent time period, and the actuator integrated control module 103 is connected to the vehicle dynamics integrated calculation module 102.
The intelligent driving coordination module 104 is configured to receive a driving track instruction planned in an intelligent driving domain, evaluate and optimize the track, convert the optimized track into a vehicle dynamics state and a target, and transmit the vehicle dynamics state and the target to the sensor data integrated processing module 101 and the vehicle dynamics integrated computing module 102, where the intelligent driving coordination module 104 is connected to the sensor data integrated processing module 101 and the vehicle dynamics integrated computing module 102, respectively.
As shown in fig. 3, in this embodiment, the chassis domain controller 1 further includes: CAN transceiver 110, CANFD transceiver 111 and connector 112, respectively, connected to the main processor chip 105, and MOSFET bridge 109 and relay 113 connected to the driver chip 108.
As shown in fig. 1, in this embodiment, a partially integrated chassis domain architecture includes a chassis domain controller 1, a brake electronic control system controller 2, a steering electronic control system controller 3, at least one chassis domain sensor 5, at least one chassis domain actuator 6, at least one brake electronic control system sensor 7, at least one brake electronic control system actuator 8, at least one steering electronic control system sensor 9, and at least one steering electronic control system actuator 10.
The chassis domain executor 6 is used for receiving and executing a control instruction sent by the chassis domain controller 1 and adjusting the state of the automobile. The chassis area sensor 5 is used to measure vehicle status information required by the chassis area controller 1. The chassis domain controller 1 is used for integrally controlling all chassis electric control systems except a braking and steering electric control system, and the chassis domain controller 1 is connected with a chassis domain sensor 5 and a chassis domain actuator 6 through hard wires and used for processing sensor data, calculating a vehicle dynamic state and outputting an actuator control instruction.
And the brake electric control system sensor 7 is used for measuring the vehicle state information required by the brake electric control system controller 2. And the brake electric control system actuator 8 is used for receiving and executing a control command sent by the brake electric control system controller 2 and adjusting the state of the automobile. The brake electric control system controller 2 is respectively connected with the brake electric control system sensor 7 and the brake electric control system actuator 8 through hard wires and is used for generating a control instruction of the brake electric control system actuator 8 according to the received sensor data; and the brake electronic control system controller 2 is also connected with the chassis domain controller 1 and the steering electronic control system controller 3 through a common CAN (controller area network), a CAN FD (controller area network) or an Ethernet.
The steering electronic control system sensor 9 is used for measuring vehicle state information required by the steering electronic control system controller 3. The steering electric control system actuator 10 is used for receiving and executing a control command sent by the steering electric control system controller 3 and adjusting the state of the automobile. The steering electric control system controller 3 is connected with a steering electric control system sensor 9 and a steering electric control system actuator 10 through hard wires and used for generating a control instruction of the steering electric control system actuator 10 according to received sensor data, and the steering electric control system controller 3 is further connected with the chassis domain controller 1 and the brake electric control system controller 2 through a common CAN (controller area network), a CAN FD (controller area network) or an Ethernet. The chassis domain controller is the chassis domain controller 1 described in this embodiment.
In this embodiment, the core features of the local integrated chassis domain architecture are: the chassis domain controller 1, the brake electric control system controller 2 and the steering electric control system controller 3 are dispersed, but the chassis domain controller 1 integrally controls the chassis electric control systems except for braking and steering, and a local integrated chassis domain framework is realized.
An automobile of an embodiment is configured with four chassis electronic control systems of EPBi (integrated electronic parking and braking system), EPS, CDC (electronic valve type damping continuously adjustable shock absorber system) and AS (air spring system), and adopts a partially integrated chassis domain architecture AS shown in fig. 1, where the partially integrated chassis domain architecture includes CDC and AS, but does not include systems such AS active stabilizer bar and four-wheel drive. The chassis domain controller 1 is used for integrally controlling CDC and AS with lower safety level, and the brake electric control system controller 2 and the steering electric control system controller 3 with high safety level are independent from the chassis domain controller 1. In the local integrated chassis domain architecture, if the chassis domain controller 1 or the chassis domain sensor 5 fails, the chassis domain actuator 6 can still execute the basic functions of the springs and the shock absorbers, thereby not affecting the safety of the whole vehicle.
AS shown in fig. 1, the chassis domain controller 1 integrally controls the CDC and the AS, thereby saving one controller and related wiring harness compared to the conventional distributed chassis electronic and electrical architecture, and achieving the advantages of cost, weight and space arrangement. In addition, the chassis domain controller 1 integrally controls the CDC and AS and CAN realize domain functions of the EPBi and EPS through the common CAN (the original functions of the EPBi and EPS are non-domain functions, the functions required to cooperate with the CDC and AS are domain functions, and the domain functions are integrally controlled by the chassis domain controller 1), and thus more excellent overall performance CAN be achieved.
As shown in fig. 1, the chassis area controller 1 may further integrate more chassis electric control systems such as an active stabilizer bar, a rear wheel active steering, a four wheel drive, etc., thereby achieving better cost, weight, arrangement and performance advantages. When more chassis electrical control systems are integrated, the chassis field sensor 5 and the chassis field actuator 6 in fig. 1 will be increased accordingly.
As shown in fig. 1 and fig. 2, in a specific example, when the vehicle tracking controller is used, the chassis domain controller 1 is further connected to another domain controller (for example, the intelligent driving domain controller 4) through a common CAN, a CANFD, or an Ethernet, and the chassis domain controller 1 is further connected to the intelligent driving domain controller 4 through a dedicated CANFD, and the two domain controllers CAN cooperatively realize functions such as vehicle motion boundary and constraint identification, vehicle tracking control under complex conditions, and the like. The sensor data integration processing module 101 in the chassis domain controller 1 is used for receiving and processing vehicle state signals input by a chassis domain, a brake electric control system, a steering electric control system and other domain controllers (such as an intelligent driving domain), and comprises signal conversion, verification, judgment and outgoing. The vehicle dynamics integrated computation module 102 includes a suspension kinematics real-time computation model, a skyhook-earth-shed model, a single-track model, a 14-degree-of-freedom double-track model, and other vehicle dynamics models, which can compute the dynamic state of the vehicle at the current time point through the vehicle state signals transmitted by the sensor data integrated processing module 101 and estimate the dynamic state of the vehicle at the subsequent time period. The actuator integrated control module 103 integrally controls a plurality of actuators of the chassis system according to the vehicle dynamic state at the time point and the subsequent time period, so as to achieve the goals of optimal driving performance, active safety, tracking control and the like of the whole vehicle. The intelligent driving coordination module 104 inputs an instruction (e.g., a tracking target) and a state (e.g., a driver's intention) of the intelligent driving domain to the sensor data integrated processing module 101 and the vehicle dynamics integrated calculation module 102, and feeds back the vehicle dynamics state calculated by the other party at the current time point and the subsequent time period of the vehicle to the intelligent driving domain.
As shown in fig. 1, in a specific example, the chassis area sensor 5 includes an unsprung accelerator sensor, a body height sensor and a vehicle speed acceleration sensor, and the chassis area actuator 6 includes an air pump assembly, an air pressure distribution valve assembly and a shock absorber solenoid valve (the air pump assembly, the air pressure distribution valve assembly and the shock absorber solenoid valve are the executing components of the active spring and the active shock absorber, and they receive the control command output of the active spring and the active shock absorber in fig. 2 and make corresponding actions). The brake electric control system sensor 7 comprises a wheel speed sensor and an inertia sensor, the brake electric control system actuator 8 comprises an EPBi actuating mechanism assembly and a parking caliper, the steering electric control system sensor 9 comprises a torque sensor and a corner sensor, and the steering electric control system actuator 10 comprises a booster motor.
As shown in fig. 2, in a specific example, the input signals received by the sensor data integration processing module 101 include chassis field sensor data input, brake electronic control system status input, and steering electronic control system status input. The input signals received by the intelligent driving coordination module 104 include intelligent driving domain status and command inputs. The output signals of the intelligent driving coordination module 104 include vehicle dynamics state outputs. The signals output by the actuator integrated control module 103 comprise brake electric control system domain function control instruction output, steering electric control system domain function control instruction output, active shock absorber control instruction output and active spring control instruction output.
In the present embodiment, a vehicle employs the chassis domain controller 1 as described in the present embodiment.
In this embodiment, a vehicle adopts the partially integrated chassis domain architecture as described in this embodiment.
Claims (4)
1. A locally integrated chassis domain architecture, characterized by: the brake system comprises a chassis domain controller (1), a brake electric control system controller (2), a steering electric control system controller (3), at least one chassis domain sensor (5), at least one chassis domain actuator (6), at least one brake electric control system sensor (7), at least one brake electric control system actuator (8), at least one steering electric control system sensor (9) and at least one steering electric control system actuator (10);
the chassis domain executor (6) is used for receiving and executing a control instruction sent by the chassis domain controller (1) and adjusting the state of the automobile;
the chassis area sensor (5) is used for measuring vehicle state information required by the chassis area controller (1);
the chassis domain controller (1) is used for integrally controlling all chassis electric control systems except a braking and steering electric control system, and the chassis domain controller (1) is connected with a chassis domain sensor (5) and a chassis domain actuator (6) through hard wires and is used for processing sensor data, calculating a vehicle dynamic state and outputting an actuator control instruction;
the brake electric control system sensor (7) is used for measuring vehicle state information required by the brake electric control system controller (2);
the brake electric control system actuator (8) is used for receiving and executing a control instruction sent by the brake electric control system controller (2) and adjusting the state of the automobile;
the brake electric control system controller (2) is respectively connected with the brake electric control system sensor (7) and the brake electric control system actuator (8) through hard wires and is used for generating a control instruction of the brake electric control system actuator (8) according to the received sensor data; the brake electric control system controller (2) is also connected with the chassis domain controller (1) and the steering electric control system controller (3) through a common CAN (controller area network), a CAN FD (controller area network) or an Ethernet;
the steering electric control system sensor (9) is used for measuring vehicle state information required by the steering electric control system controller (3);
the steering electric control system actuator (10) is used for receiving and executing a control command sent by the steering electric control system controller (3) and adjusting the state of the automobile;
the steering electric control system controller (3) is connected with a steering electric control system sensor (9) and a steering electric control system actuator (10) through hard wires and used for generating a control instruction of the steering electric control system actuator (10) according to received sensor data, and the steering electric control system controller (3) is also connected with the chassis domain controller (1) and the brake electric control system controller (2) through a public CAN (controller area network) or a CAN FD (controller area network) or an Ethernet;
the chassis domain controller (1) comprises a main processor chip (105), and a security processor chip (106), a power supply chip (107), a driving chip (108) and a communication interface which are respectively connected with the main processor chip (105); the method is characterized in that: the main processor chip (105) is configured to include:
the sensor data integrated processing module (101) is used for receiving sensor data, and integrally processing vehicle state data input by each sensor and other controllers, including data conversion, verification and judgment;
the vehicle dynamics integrated computation module (102) is internally preset with at least one whole vehicle dynamics model, the whole vehicle dynamics model is used for computing the kinematics and the dynamics state of the vehicle at the current time point through the vehicle state data and predicting the kinematics and the dynamics state of a subsequent time period, and the vehicle dynamics integrated computation module (102) is connected with the sensor data integrated processing module (101);
and an actuator integrated control module (103) for integrally controlling at least two actuators according to the vehicle kinematics and the dynamic state at the time point and the subsequent time period, wherein the actuator integrated control module (103) is connected with the vehicle dynamics integrated calculation module (102).
2. The local integrated chassis domain architecture of claim 1, wherein: the main processor chip (105) is configured to further include:
the intelligent driving coordination module (104) is used for receiving a driving track command planned in an intelligent driving domain, evaluating and optimizing the track, converting the optimized track into a vehicle dynamic state and a target, transmitting the vehicle dynamic state and the target to the sensor data integrated processing module (101) and the vehicle dynamic integrated computing module (102), and the intelligent driving coordination module (104) is respectively connected with the sensor data integrated processing module (101) and the vehicle dynamic integrated computing module (102).
3. The locally integrated chassis domain architecture of claim 1 or 2, wherein: the chassis domain controller (1) further comprises: a CAN transceiver (110), a CANFD transceiver (111) and a connector (112) respectively connected with the main processor chip (105), and a MOSFET bridge (109) and a relay (113) connected with the driving chip (108).
4. A vehicle, characterized in that: a partially integrated chassis domain architecture as claimed in any one of claims 1 to 3.
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| CN114889574B (en) * | 2022-07-15 | 2022-10-14 | 天津所托瑞安汽车科技有限公司 | Local area control method and system for longitudinal control of commercial vehicle |
| CN115366990A (en) * | 2022-08-05 | 2022-11-22 | 湖北汽车工业学院科技园有限公司 | Drive-by-wire chassis capable of meeting different configurations of intelligent automobile |
| CN115384528A (en) * | 2022-09-05 | 2022-11-25 | 中兴智能汽车有限公司 | Centralized chassis domain control architecture and method |
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