CN116142294A

CN116142294A - Chassis domain controller, chassis system architecture and vehicle

Info

Publication number: CN116142294A
Application number: CN202310288963.5A
Authority: CN
Inventors: 黄群锦; 刘增; 杨健
Original assignee: Chongqing Changan Automobile Co Ltd
Current assignee: Chongqing Changan Automobile Co Ltd
Priority date: 2023-03-22
Filing date: 2023-03-22
Publication date: 2023-05-23

Abstract

The application relates to a chassis domain controller, a chassis system architecture and a vehicle, and relates to the technical field of automobiles. The chassis domain controller includes: the first chip and the second chip are connected and used for realizing the synchronization of steering control information of the vehicle; the first chip is used for acquiring parameter information of a plurality of first sensors of the vehicle, determining first steering control information of the vehicle based on the parameter information of each of the plurality of first sensors, and transmitting the first steering control information to a steering execution module of the vehicle; and the second chip is used for acquiring the parameter information of a plurality of second sensors of the vehicle, determining second steering control information of the vehicle based on the parameter information of each second sensor in the plurality of second sensors, and transmitting the second steering control information to a steering execution module of the vehicle. Thus, the safety of the vehicle steer-by-wire can be improved.

Description

Chassis domain controller, chassis system architecture and vehicle

Technical Field

The application relates to the technical field of automobiles, in particular to a chassis domain controller, a chassis system architecture and a vehicle.

Background

With the rapid development of automobile technology, the automatic driving function of a vehicle is one of the main trends of automobile technology development. Among the related art of automatic driving, steering-by-wire technology has received a great deal of attention in the field of automatic driving as a technical trend of a vehicle steering system.

In the current steer-by-wire system, a motor controller and a power driving circuit are mainly integrated in a steering motor, and the steer-by-wire controller is connected with the steering motor controller through a CAN network to realize steer-by-wire. In the method, the requirement on the stability of the vehicle is high, and when any one of the steer-by-wire controller and the steering motor controller in the vehicle is in a problem, the steering failure of the vehicle can be possibly caused, so that the safety of personnel in the vehicle is seriously threatened. Therefore, the safety of the current vehicle steer-by-wire is low.

Disclosure of Invention

The application provides a chassis domain controller, a chassis system architecture and a vehicle, which are used for at least solving the technical problem of lower safety of vehicle steer-by-wire in the related technology. The technical scheme of the application is as follows:

according to a first aspect to which the present application relates, there is provided a chassis domain controller comprising: the first chip and the second chip are connected and used for realizing the synchronization of steering control information of the vehicle; a first chip for acquiring parameter information of a plurality of first sensors of the vehicle, determining first steering control information of the vehicle based on the parameter information of each of the plurality of first sensors, and transmitting the first steering control information to a steering execution module of the vehicle, the first sensors including at least one of: a first steering wheel angle sensor, a first steering wheel torque sensor, a first front wheel angle sensor, a first rear wheel angle sensor, a first vehicle speed sensor, a first yaw rate sensor, a first gyroscope sensor; a second chip for acquiring parameter information of a plurality of second sensors of the vehicle, determining second steering control information of the vehicle based on the parameter information of each of the plurality of second sensors, and transmitting the second steering control information to a steering execution module of the vehicle, the second sensors including at least one of: a second steering wheel angle sensor, a second steering wheel torque sensor, a second front wheel angle sensor, a second rear wheel angle sensor, a second vehicle speed sensor, a second yaw rate sensor, a second gyroscope sensor.

According to the technical means, the vehicle steering control method and device can achieve acquisition of vehicle parameter information based on a plurality of chips and a plurality of groups of sensors, and further achieve steering control of the vehicle based on the steering execution module, so that steering by wire of the vehicle cannot be achieved due to transmission path faults or faults of a certain chip, and safety of steering by wire of the vehicle is improved.

In one possible embodiment, the chassis domain controller further comprises: the first front-wheel steering control module and the first rear-wheel steering control module, the steering execution module includes: a first front-wheel steering motor, a first rear-wheel steering motor; the first chip is respectively connected with the first front wheel steering control module and the first rear wheel steering control module and is used for respectively sending first steering control information to the first front wheel steering control module and the first rear wheel steering control module; the first front wheel steering control module is used for controlling the front wheel steering of the vehicle through the first front wheel steering motor according to the first steering control information; and the first rear wheel steering control module is used for controlling the steering of the rear wheels of the vehicle through the first rear wheel steering motor according to the first steering control information.

According to the technical means, the control over the steering execution module can be realized through the first front wheel steering control module and the first rear wheel steering control module, so that the steering by wire of the vehicle is completed based on the front wheel steering control module and the rear wheel steering control module, and the steering by wire accuracy is improved.

In one possible embodiment, the chassis domain controller further comprises: the second front-wheel steering control module and the second rear-wheel steering control module, the steering execution module includes: a second front-wheel steering motor, a second rear-wheel steering motor; the second chip is respectively connected with the second front wheel steering control module and the second rear wheel steering control module and is used for respectively sending second steering control information to the second front wheel steering control module and the second rear wheel steering control module; the second front wheel steering control module is used for controlling the steering of the front wheels of the vehicle through a second front wheel steering motor according to the second steering control information; and the second rear wheel steering control module is used for controlling the steering of the rear wheels of the vehicle through the second rear wheel steering motor according to the second steering control information.

According to the technical means, the second front wheel steering control module and the second rear wheel steering control module are arranged, and redundancy of steering control of the vehicle by wire is achieved through the second front wheel steering motor and the second rear wheel steering motor, so that steering safety of the vehicle by wire is further improved.

In one possible embodiment, the chassis domain controller further comprises: the system comprises a plurality of signal conversion chips, a plurality of first sensors, a plurality of second sensors and a plurality of second sensors, wherein each first sensor in the plurality of first sensors is connected with the first chip through one signal conversion chip, and each second sensor in the plurality of second sensors is connected with the second chip through one signal conversion chip.

According to the technical means, the signal conversion chip can be arranged, the signal of the sensor is converted into the signal which is easier to process through the signal conversion chip, so that the first chip can rapidly and stably acquire the parameter information of a plurality of sensors, and the steering efficiency of the vehicle is improved.

In one possible embodiment, the chassis domain controller further comprises: a steering wheel folding control module; the first chip is connected with the steering wheel folding control module and is used for determining steering wheel folding control information of the vehicle and sending the steering wheel folding control information to the steering wheel folding control module; the steering wheel folding control module is used for folding the steering wheel of the vehicle through a steering wheel folding motor of the vehicle according to the steering wheel folding control information.

According to the technical means, the control module can be folded through the steering wheel, the control on the folding of the steering wheel of the vehicle is realized based on the folding motor of the steering wheel of the vehicle, so that the functional diversity of the chassis domain controller is improved, and the use perception of a user is improved.

In one possible embodiment, the chassis domain controller further comprises: the steering wheel hand feeling simulation control module; the first chip is connected with the steering wheel hand feeling simulation control module and is used for determining steering wheel hand feeling simulation information of the vehicle and sending the steering wheel hand feeling simulation information to the steering wheel hand feeling simulation control module; the steering wheel hand feeling simulation control module is used for realizing the steering wheel hand feeling simulation of the vehicle through the steering wheel hand feeling simulation motor of the vehicle according to the steering wheel hand feeling simulation information.

According to the technical means, the steering wheel hand feeling simulation control module can control the folding of the steering wheel of the vehicle based on the steering wheel folding motor of the vehicle, so that the functional diversity of the chassis domain controller is improved, and the use perception of a user is improved.

According to a second aspect to which the present application relates, there is provided a chassis system architecture comprising: a power supply, a chassis domain controller, and a gateway; the power supply is used for providing electric energy for the chassis domain controller and the gateway; the chassis domain controller is used for realizing the steer-by-wire of the vehicle; the gateway is connected with the vehicle functional unit and is used for realizing the forwarding and interaction of information, and the vehicle functional unit comprises at least one of the following: power domain, intelligent driving domain, body domain, cabin domain, diagnostic domain.

According to the technical means, the gateway can be integrated in the chassis system architecture, so that information transmission links are reduced, and the information processing efficiency of the chassis system is improved.

In one possible embodiment, the chassis system architecture further comprises: a vehicle networking system TBOX; the power supply is used for providing power for the TBOX; the TBOX is connected with the gateway, acquires vehicle information through the gateway, and interacts with an external environment, wherein the external environment comprises at least one of the following: vehicle wireless communication V2X terminal, cloud server.

According to the technical means, the TBOX is integrated in the chassis system architecture, so that interaction between the chassis system and an external environment is realized, and the information processing efficiency of the chassis system is further improved.

In one possible embodiment, the chassis system architecture further comprises: a standby power supply; when the power supply is abnormal, the standby power supply provides electric energy for the chassis domain controller, the gateway and the TBOX, and power failure warning information is generated.

According to the technical means, redundancy of the power supply is achieved by setting the backup power supply, so that when the power supply is abnormal, power can be supplied through the backup power supply, and the safety of a chassis system is improved.

According to a third aspect to which the present application relates, there is provided a vehicle comprising a chassis domain controller as described in the first aspect.

According to a fourth aspect to which the present application relates, there is provided a vehicle comprising a chassis system architecture as described in the second aspect.

Therefore, the technical characteristics of the application have the following beneficial effects:

(1) The vehicle steering control system can acquire the vehicle parameter information based on a plurality of chips and a plurality of groups of sensors, and further realize the steering control of the vehicle based on the steering execution module, so that the situation that the steering by wire of the vehicle cannot be realized due to the failure of a transmission path or the failure of a certain chip is avoided, and the safety of the steering by wire of the vehicle is improved.

(2) The steering execution module can be controlled by the first front wheel steering control module and the first rear wheel steering control module, so that the steering by wire of the vehicle is finished based on the front wheel steering control module and the rear wheel steering control module, and the steering by wire accuracy is improved.

(3) The redundancy of the steering control of the vehicle by wire can be realized through the second front wheel steering control module and the second rear wheel steering control module, and then through the second front wheel steering motor and the second rear wheel steering motor, so that the steering safety of the vehicle by wire is further improved.

(4) Through setting up signal conversion chip, signal conversion chip is with the signal conversion of sensor for more easily handled signal to make first chip can realize the acquisition to the parameter information of a plurality of sensors fast and stably, improve the efficiency that vehicle drive-by-wire turns to.

(5) Control to the folding control of vehicle steering wheel can be realized through steering wheel folding control unit based on the folding motor of steering wheel of vehicle to improve the functional diversity of chassis domain controller, promote user's use perception.

(6) Can be through steering wheel feel analog element, based on the control to the folding motor realization of steering wheel to the vehicle steering wheel to promote the functional diversity of chassis domain controller, promote user's use perception.

(7) The gateway can be integrated in the chassis system architecture, so that information transmission links are reduced, and the information processing efficiency of the chassis system is improved.

(8) The TBOX can be integrated in the chassis system architecture to realize the interaction between the chassis system and the external environment, so that the information processing efficiency of the chassis system is further improved.

(9) The redundancy of the power supply can be realized by setting the backup power supply, so that when the power supply is abnormal, the power supply can be supplied through the backup power supply, and the safety of the chassis system is improved.

It should be noted that, the technical effects caused by any implementation manner of the third aspect and the fourth aspect may refer to the technical effects caused by corresponding implementation manners of the first aspect and the second aspect, which are not described herein.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application and do not constitute an undue limitation on the application.

FIG. 1 is a schematic diagram of a chassis domain controller, according to an example embodiment;

FIG. 2 is a schematic diagram illustrating the structure of yet another chassis domain controller, according to an example embodiment;

FIG. 3 is a schematic diagram illustrating the structure of yet another chassis domain controller, according to an example embodiment;

FIG. 4 is a schematic diagram illustrating the structure of yet another chassis domain controller, according to an example embodiment;

FIG. 5 is a schematic diagram illustrating the structure of yet another chassis domain controller, according to an example embodiment;

FIG. 6 is a schematic diagram illustrating yet another chassis domain controller in accordance with an exemplary embodiment;

FIG. 7 is a schematic diagram illustrating the structure of yet another chassis domain controller, according to an example embodiment;

FIG. 8 is a schematic diagram of the architecture of a chassis system architecture, according to an example embodiment;

FIG. 9 is a schematic structural diagram of yet another chassis system architecture, shown in accordance with an exemplary embodiment;

fig. 10 is a schematic structural diagram of yet another chassis system architecture, shown in accordance with an exemplary embodiment.

The system comprises a 10-chassis domain controller, an 11-first chip, a 12-second chip, a 13-first sensor, a 14-second sensor, a 15-first front wheel steering control module, a 16-first rear wheel steering control module, a 17-first front wheel steering motor, an 18-first rear wheel steering motor, a 19-second front wheel steering control module, a 20-second rear wheel steering control module, a 21-second front wheel steering motor, a 22-second rear wheel steering motor, a 23-signal conversion chip, a 24-steering wheel folding control module and a 25-steering wheel hand feeling simulation control module, wherein the first sensor is connected with the first chip; 80-chassis system architecture, 81-power supply, 82-chassis domain controller (VMC), 83-gateway, 84-TBOX, 85-standby power supply.

Detailed Description

In order to enable those skilled in the art to better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or otherwise described herein. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the accompanying claims.

The embodiment of the present application provides a chassis domain controller, fig. 1 shows a schematic structural diagram of the chassis domain controller, and as shown in fig. 1, a chassis domain controller 10 includes: the first chip 11, the second chip 12, the first chip 11 and the second chip 12 are connected for realizing the synchronization of steering control information of the vehicle.

Specifically, the first chip 11 is configured to acquire parameter information of a plurality of first sensors (13 in fig. 1) of the vehicle, determine first steering control information of the vehicle based on the parameter information of each of the plurality of first sensors 13, and transmit the first steering control information to a steering execution module of the vehicle, where the first sensors 13 include at least one of: a first steering wheel angle sensor, a first steering wheel torque sensor, a first front wheel angle sensor, a first rear wheel angle sensor, a first vehicle speed sensor, a first yaw rate sensor, a first gyroscope sensor.

A second chip 12 for acquiring parameter information of a plurality of second sensors (14 in fig. 1) of the vehicle, and determining second steering control information of the vehicle based on the parameter information of each of the plurality of second sensors 14, and transmitting the second steering control information to a steering execution module of the vehicle, the second sensors 14 including at least one of: a second steering wheel angle sensor, a second steering wheel torque sensor, a second front wheel angle sensor, a second rear wheel angle sensor, a second vehicle speed sensor, a second yaw rate sensor, a second gyroscope sensor.

The chassis domain controller 10 (vehicle motion control, VMC) is mainly used to implement steer-by-wire of the vehicle in the embodiment of the present application.

Alternatively, as shown in fig. 1, the first chip 11 and the second chip 12 may be connected through a serial peripheral interface (serial peripheral interface, SPI).

The synchronization of the steering control information of the vehicle may be synchronization of the parameter information of the vehicle sensor, for example, synchronization of the parameter information of the plurality of first sensors 13 acquired by the first chip 11 and the parameter information of the plurality of second sensors 14 acquired by the second chip 12; the first steering control information determined for the first chip 11 may be synchronized with the second steering control information determined for the second chip 12.

Alternatively, when the parameter information of the plurality of first sensors 13 acquired by the first chip 11 is not matched with the parameter information of the plurality of second sensors 14 acquired by the second chip 12, or the first steering control information determined by the first chip 11 is not matched with the second steering control information determined by the second chip 12, it is indicated that a problem occurs in the sensor, or the chip has a problem, a fault alarm (such as generating a corresponding fault code, lighting a fault lamp, etc.) may be performed, so as to remind a driver, etc. to check and repair the chassis controller and the vehicle related components by using personnel or maintenance personnel.

It should be noted that in the embodiment of the present application, the working principles of the first chip 11 and the second chip 12 may be the same, for example, the same preset algorithm is adopted, and the steering control information corresponding to the parameter information is determined according to the parameter information of the sensor.

Optionally, as shown in fig. 1, the first chip 11 may also be connected to a first controller area network (CAN with Flexible Data-rate, CAN FD) interface with a flexible data rate protocol, so as to implement interaction with other information of the vehicle (such as information of wheel speed, etc.); the second chip 12 may also be connected to a second CAN FD interface to enable redundant interaction with other information of the vehicle.

The parameter information of the first sensor 13 may be understood as a sensor signal transmitted from the first sensor 13. In the embodiment of the present application, the sensor signal is not limited to the signal directly connected to the first chip 11, or the signal converted by the intermediate conversion chip and then connected to the first chip 11. The parameter information of the second sensor 14 can be understood as a sensor signal transmitted by the second sensor 14. In the embodiment of the present application, the sensor signal is not limited to the signal directly connected to the second chip 12, or the signal converted by the intermediate conversion chip and connected to the second chip 12.

It should be noted that, the steering execution module of the vehicle in the embodiment of the present application is configured to execute steering control of the vehicle based on the steering control information of the first chip 11 (and/or the second chip 12), so as to implement steer-by-wire of the vehicle.

In one possible implementation, as shown in fig. 2, in a chassis domain controller 10 provided in the embodiment of the present application, the method further includes: a first front wheel steering control module 15 and a first rear wheel steering control module 16; the vehicle steering execution module includes: a first front-wheel steering motor 17, a first rear-wheel steering motor 18.

Specifically, the first chip 11 is respectively connected with the first front wheel steering control module 15 and the first rear wheel steering control module 16, and the first chip 11 is configured to send first steering control information to the first front wheel steering control module 15 and the first rear wheel steering control module 16 respectively; a first front wheel steering control module 15 for controlling the steering of the front wheels of the vehicle through a first front wheel steering motor 17 according to the first steering control information; the first rear wheel steering control module 16 is configured to control steering of the rear wheels of the vehicle through the first rear wheel steering motor 18 according to the first steering control information.

It should be noted that, in the embodiment of the present application, the first front wheel steering control module 15 and the first rear wheel steering control module 16 may include a plurality of control units, which are mainly configured to determine corresponding first front wheel steering control information and first rear wheel steering control information according to the first steering control information of the first chip 11 (and/or the second steering control information of the second chip 12), and further implement control over steering of front wheels of the vehicle according to the first front wheel steering control information and the first front wheel steering motor 17, and implement control over steering of rear wheels of the vehicle according to the first rear wheel steering control information and the first rear wheel steering motor 18.

For example, as shown in fig. 2, the first front-wheel steering control module 15 may include a first front-wheel steering control chip and a first front-wheel steering motor drive, and the first rear-wheel steering control module 16 may include a first rear-wheel steering control chip and a first rear-wheel steering motor drive.

Specifically, referring to fig. 2, the first chip 11 is connected to a first front-wheel steering motor control chip, and transmits first steering control information to the first front-wheel steering motor control chip; the first front-wheel steering motor control chip may determine first front-wheel steering information (e.g., a first front-wheel steering angle) based on the first steering control information, and transmit the first front-wheel steering information to the first front-wheel steering motor drive; the first front-wheel steering motor drive controls the operation of the first front-wheel steering motor 17 based on the first front-wheel steering information, thereby realizing front-wheel steering of the vehicle.

The first chip 11 is connected with the first rear wheel steering motor control chip and sends first steering control information to the first rear wheel steering motor control chip; the first rear-wheel steering motor control chip may determine first rear-wheel steering information (e.g., a first rear-wheel steering angle) based on the first steering control information, and transmit the first rear-wheel steering information to the first rear-wheel steering motor drive; the first rear-wheel steering motor drive controls the operation of the first rear-wheel steering motor 18 based on the first rear-wheel steering information, thereby realizing front-wheel steering of the vehicle.

Alternatively, as shown in fig. 2, the connection between the first chip 11 and the first front wheel steering motor control chip and the connection between the first rear wheel steering motor control chip may be implemented through an API interface.

Alternatively, in some possible implementations, the second chip 12 may be connected to the first front-wheel steering motor control chip and the first rear-wheel steering motor control chip, so as to implement redundancy control for the first front-wheel steering motor control chip and the first rear-wheel steering motor control chip.

According to the technical means, the control of the steering execution module can be achieved through the first front wheel steering control module 15 and the first rear wheel steering control module 16, so that the steering by wire of the vehicle is completed based on the front wheel steering control module and the rear wheel steering control module, and the steering by wire accuracy is improved.

In one possible implementation, as shown in fig. 3, a chassis domain controller 10 provided in the embodiment of the present application further includes: a second front-wheel steering control module 19 and a second rear-wheel steering control module 20, the steering execution module including: a second front-wheel steering motor 21, and a second rear-wheel steering motor 22.

Specifically, the second chip 12 is respectively connected with the second front wheel steering control module 19 and the second rear wheel steering control module, and the second chip 12 is used for respectively sending second steering control information to the second front wheel steering control module 19 and the second rear wheel steering control module; a second front wheel steering control module 19 for controlling the steering of the front wheels of the vehicle by the second front wheel steering motor 21 according to the second steering control information; and a second rear wheel steering control module for controlling steering of the rear wheels of the vehicle through the second rear wheel steering motor 22 according to the second steering control information.

It should be noted that, the second front wheel steering control module 19 and the second rear wheel steering control module in the embodiments of the present application may include a plurality of control units, which are mainly configured to determine corresponding second front wheel steering control information and second rear wheel steering control information according to the second steering control information of the second chip 12 (and/or the first steering control information of the first chip 11), and further implement control on steering of the front wheels of the vehicle according to the second front wheel steering control information and the second front wheel steering motor 21, and implement control on steering of the rear wheels of the vehicle according to the second rear wheel steering control information and the second rear wheel steering motor 22.

For example, as shown in fig. 3, the second front-wheel steering control module 19 may include a second front-wheel steering control chip and a second front-wheel steering motor drive, and the second rear-wheel steering control module may include a second rear-wheel steering control chip and a second rear-wheel steering motor drive.

Specifically, referring to fig. 3, the second chip 12 is connected to the second front-wheel steering motor control chip, and transmits second steering control information to the second front-wheel steering motor control chip; the second front-wheel steering motor control chip may determine second front-wheel steering information (e.g., a second front-wheel steering angle) based on the second steering control information, and transmit the second front-wheel steering information to the second front-wheel steering motor drive; the second front wheel steering motor drive controls the operation of the second front wheel steering motor 21 based on the second front wheel steering information, thereby realizing front wheel steering of the vehicle.

The second chip 12 is connected with a second rear wheel steering motor control chip and sends second steering control information to the second rear wheel steering motor control chip; the second rear-wheel steering motor control chip may determine second rear-wheel steering information (e.g., a second rear-wheel steering angle) based on the second steering control information, and transmit the second rear-wheel steering information to the second rear-wheel steering motor drive; the second rear-wheel steering motor drive controls the operation of the second rear-wheel steering motor 22 based on the second rear-wheel steering information, thereby realizing front-wheel steering of the vehicle.

Alternatively, as shown in fig. 3, the connection between the second chip 12 and the second front wheel steering motor control chip and the connection between the second rear wheel steering motor control chip may be implemented through an API interface.

Alternatively, in some possible implementations, the first chip 11 may be connected to the second front-wheel steering motor control chip and the second rear-wheel steering motor control chip, so as to implement redundancy control over the second front-wheel steering motor control chip and the second rear-wheel steering motor control chip.

It will be appreciated that in one possible implementation, the chassis domain controller 10 in the embodiment of the present application may be the chassis domain controller shown in fig. 4 in conjunction with fig. 2 and 3.

According to the technical means, the redundancy of the steering control of the vehicle by wire can be realized by arranging the second front steering control module 19 and the second rear steering control module and further by the second front steering motor 21 and the second rear steering motor 22, so that the steering safety of the vehicle by wire is further improved.

In one possible implementation, as shown in fig. 5, in a chassis domain controller 10 provided in the embodiment of the present application, the method further includes: a plurality of signal conversion chips 23, each first sensor 13 of the plurality of first sensors 13 is connected to the first chip 11 through one signal conversion chip 23, and each second sensor 14 of the plurality of second sensors 14 is connected to the second chip 12 through one signal conversion chip 23.

The signal conversion chip 23 in the embodiment of the present application is mainly used for converting the electrical signals sent by the sensors (the first sensor 13 and the second sensor 14) into digital signals, and then sending the digital signals to the corresponding chips (the first chip 11 and the second chip 12).

Alternatively, each sensor (each first sensor 13, each second sensor 14) may correspond to one signal conversion chip 23, i.e., one signal conversion chip 23 is connected to one sensor.

Alternatively, for the same type of sensor, a plurality of sensors may be associated with one signal conversion chip 23, that is, one signal conversion chip 23 is simultaneously connected to a plurality of sensors of the same type.

According to the technical means, the signal conversion chip 23 can be arranged, and the signal of the sensor is converted into the signal which is easier to process through the signal conversion chip 23, so that the first chip 11 can rapidly and stably acquire the parameter information of a plurality of sensors, and the steering efficiency of the vehicle by wire is improved.

In one possible implementation, as shown in fig. 6, in a chassis domain controller 10 provided in the embodiment of the present application, the method further includes: steering wheel fold control module 24.

Specifically, the first chip 11 is connected to the steering wheel folding control module 24, and the first chip 11 is configured to determine steering wheel folding control information of the vehicle, and send the steering wheel folding control information to the steering wheel folding control module 24; the steering wheel folding control module 24 is configured to implement steering wheel folding of the vehicle by a steering wheel folding motor of the vehicle according to the steering wheel folding control information.

It should be noted that, the steering wheel folding control module 24 in the embodiment of the present application may include a plurality of control units, which are mainly configured to control a steering wheel folding motor of the vehicle according to the steering wheel folding control information of the first chip 11, so as to control the folding of the steering wheel of the vehicle.

For example, as shown in fig. 6, the steering wheel fold control module 24 may include a steering wheel fold motor control chip, a steering wheel fold motor drive.

Specifically, referring to fig. 6, the first chip 11 determines steering wheel folding control information of the vehicle and transmits the steering wheel folding control information to the steering wheel folding motor control chip; the steering wheel folding motor control chip determines steering wheel folding parameters according to the steering wheel folding control information and sends the steering wheel folding parameters to the steering wheel folding motor for driving; the steering wheel folding motor is driven based on the steering wheel folding parameters, and the steering wheel folding motor is driven to fold the steering wheel of the vehicle.

Alternatively, as shown in fig. 6, the connection between the first chip 11 and the steering wheel folding motor control chip may be implemented through an API interface.

Alternatively, in one possible implementation, the second chip 12 may also implement redundant control of the vehicle steering wheel fold by interfacing with the steering wheel fold control module 24.

According to the technical means, the control of folding the steering wheel of the vehicle can be realized through the steering wheel folding control module 24 based on the steering wheel folding motor of the vehicle, so that the functional diversity of the chassis domain controller is improved, and the use perception of a user is improved.

In one possible implementation manner, as shown in fig. 7, in a chassis domain controller 10 provided in the embodiment of the present application, the method further includes: steering wheel feel analog control module 25.

Specifically, the first chip 11 is connected with the steering wheel hand feeling simulation control module, and the first chip 11 is used for determining steering wheel hand feeling simulation information of the vehicle and sending the steering wheel hand feeling simulation information to the steering wheel hand feeling simulation control module; the steering wheel hand feeling simulation control module is used for realizing the steering wheel hand feeling simulation of the vehicle through the steering wheel hand feeling simulation motor of the vehicle according to the steering wheel hand feeling simulation information.

It should be noted that, the steering wheel hand feeling simulation control module 25 in the embodiment of the present application may include a plurality of control units, and is mainly configured to control a steering wheel hand feeling simulation motor of a vehicle according to the steering wheel hand feeling simulation control information of the first chip 11, so as to realize control over the hand feeling simulation of the steering wheel of the vehicle.

For example, as shown in fig. 7, the steering wheel feel simulation control module 25 may include a steering wheel feel simulation motor control chip, a steering wheel feel simulation motor drive.

Specifically, referring to fig. 7, the first chip 11 determines steering wheel feel simulation control information of the vehicle, and transmits the steering wheel feel simulation control information to the steering wheel feel simulation motor control chip; the steering wheel hand feeling simulation motor control chip determines steering wheel hand feeling simulation parameters according to the steering wheel hand feeling simulation control information, and sends the steering wheel hand feeling simulation parameters to the steering wheel hand feeling simulation motor for driving; the steering wheel hand feeling simulation motor is driven based on the steering wheel hand feeling simulation parameters, and the steering wheel hand feeling simulation motor is driven to simulate the steering wheel hand feeling of the vehicle.

Alternatively, as shown in fig. 7, the connection between the first chip 11 and the steering wheel hand feel simulation motor control chip may be implemented through an API interface.

Alternatively, in one possible implementation, the second chip 12 may also implement redundant control of the vehicle steering wheel feel simulation by being connected to the steering wheel feel simulation control module 25.

In one implementation manner, the connection manner between the first chip 11 (and the second chip 12) and related elements in the chassis domain controller in the embodiment of the present application, such as the connection manner between the first chip 11 and the second chip 12, the first chip 11 and the signal conversion chip 23, the connection manner between the first chip 11 and the first front wheel steering motor control chip, the connection manner between the first chip 11 and the first rear wheel steering motor control chip, the connection manner between the first chip 11 and the steering wheel folding motor control chip, the connection manner between the first chip 11 and the steering wheel hand feeling simulation motor control chip, and the like, may be implemented through SPI interfaces, and the connection manner between the other elements may be implemented through hard wire connection, so that the hardware circuit modularized design is implemented, and the driving is easy to multiplex. And moreover, the connection between the chassis domain controller and the steering execution module can be realized through hard wires, so that the chassis domain controller can be plugged and unplugged, and the use flexibility of the chassis domain controller is improved.

The embodiment of the present application further provides a chassis system architecture, fig. 8 shows a schematic structural diagram of the chassis system architecture, and as shown in fig. 8, the chassis system architecture 80 includes: a power supply 81, a chassis domain controller (VMC) 82, a gateway 83.

Specifically, the power supply 81 is configured to provide power to the chassis domain controller and the gateway 83; the chassis domain controller is used for realizing the steer-by-wire of the vehicle; the gateway 83 is connected to a vehicle functional unit for forwarding and interacting information, and the vehicle functional unit includes at least one of the following: power domain, intelligent driving domain (intelligent driving domain), car body domain, cabin domain and diagnosis domain.

Optionally, the gateway 83 may be connected to the vehicle functional unit through a communication network, where the connection manner may be various types of connections, such as CAN, CAN FD, ethernet, SPI, etc., and various vehicle functional units may be connected to the gateway 83 by using the same connection manner, or may be connected to the gateway 83 by using different connection manners.

Illustratively, the intelligent driving domain and the cabin domain are connected with the gateway 83 through Ethernet, and the power domain, the body domain and the diagnostic domain are connected with the gateway 83 through CAN/CAN FD.

Optionally, the information of the power domain, the intelligent driving domain, the car body domain and the cabin domain can be forwarded through the gateway 83, so that the cross-domain interaction of the information is completed.

For example, the diagnostic domain may implement information related to the power domain, the intelligent driving domain, the body domain, and the cabin domain through the gateway 83, so as to determine whether the power domain, the intelligent driving domain, the body domain, and the cabin domain have problems.

Alternatively, the connection form between the gateway 83 and the vehicle functional unit may be selected based on service requirements, such as communication bandwidth between controllers, real-time performance, whether a physical connection is required, and the like.

Alternatively, the power supply 81 may be a system-on-chip (system basis chip, SBC), a switching power supply 81 (DCDC), a linear regulated power supply (low dropout regulator, LDO), or the like power supply 81.

Alternatively, a range of power supply voltages requiring adjustment of the power supply 81 may be used in combination, for example, the range of power supply 81 available may be 1.25V-12V.

Alternatively, the chassis domain controller 82 may be the chassis domain controller 10 in the above embodiment, or may be another chassis domain controller in the related art.

According to the technical means, the gateway 83 can be integrated in the chassis system architecture, so that information transmission links are reduced, and the information processing efficiency of the chassis system is improved.

In one possible implementation, as shown in fig. 9, in a chassis system architecture 80 provided in the embodiment of the present application, the method further includes: the internet of vehicles system TBOX84.

Specifically, the power supply 81 is configured to provide power to the TBOX 84; the TBOX84 is connected to the gateway 83, and obtains vehicle information through the gateway 83, and interacts with an external environment, which includes at least one of: vehicle wireless communication V2X terminal, cloud server.

Optionally, a vehicle networking system (TBOX 84), also called a vehicle-mounted T-BOX, or a vehicle-mounted networking terminal, may be connected to an external environment terminal (e.g. a cloud server, V2X terminal) through a communication network.

Optionally, the connection mode between the TBOX84 and the external environment may include multiple mobile communication modes such as a fourth-generation mobile communication system (4th Generation Communications System,4G), a fifth-generation mobile communication system (5th Generation Communications System,5G), bluetooth, a mobile hotspot (Wireless Fidelity, WIFI), etc., and the specific connection mode may be selected in combination with specific service requirements, such as different requirements of communication bandwidth, cost ratio, technology, etc.

Optionally, the V2X terminal mainly refers to other devices such as a vehicle terminal and a road device terminal with an information interaction function.

Alternatively, the chassis domain controller, gateway 83, and TBOX84 in embodiments of the present application may be integrated into one printed circuit board (printed circuit board, PCB) or may be connected through a flexible circuit board (flexible printed circuit, FPC).

According to the technical means, the TBOX84 can be integrated in the chassis system architecture to realize the interaction between the chassis system and the external environment, so that the information processing efficiency of the chassis system is further improved.

In one possible implementation, as shown in fig. 10, in a chassis system architecture 80 provided in the embodiment of the present application, the method further includes: a backup power supply 85.

Specifically, when the power supply 81 is abnormal, power is supplied to the chassis domain controller, the gateway 83 and the TBOX84 through the standby power supply 85, and a power supply 81 fault warning message is generated.

Optionally, when the chassis system detects that the power supply 81 is abnormal, the standby power supply 85 may be started to supply power to the chassis domain controller, the gateway 83, the TBOX84, and other power utilization elements, so as to ensure that each power utilization element can work normally.

Optionally, when detecting that the power supply 81 is abnormal, the power supply 81 fault alarm information can be generated by generating a corresponding fault code, lighting a fault lamp and other operations, so as to remind a driver and other users or maintenance personnel to check and repair the chassis controller and related components of the vehicle.

Optionally, a specific degree of abnormality of the power supply 81 may be combined, for example, the power supply capability is completely lost, parameters such as power, voltage, current, etc. do not meet the set conditions, and other conditions such as abnormality incapable of meeting the power demand, etc., to generate a corresponding fault code, and/or light a corresponding fault lamp.

Alternatively, as shown in fig. 10, the power supply 81 and the standby power supply 85 may be integrated together, so as to switch the power supply to the standby power supply 85 in time when the power supply 81 is abnormally powered.

According to the technical means, the redundancy of the power supply can be realized by arranging the standby power supply 85, so that when the power supply 81 is abnormal, the power can be supplied by the standby power supply 85, and the safety of the chassis system is improved.

The foregoing description of the solution provided by the embodiments of the present application has been mainly presented in terms of a system. In order to achieve the above functions, the vehicle crash unlocking system includes a hardware structure and/or a software module that perform respective functions. Those of skill in the art will readily appreciate that the modules, units, and methods of the examples described in connection with the embodiments disclosed herein may be implemented as hardware or a combination of hardware and computer software. Whether a function is implemented as hardware or computer software driven hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiment of the application, according to the system, the functional modules of the vehicle collision unlocking system may be divided, for example, the vehicle collision unlocking system may include each functional module corresponding to each functional division, or two or more functions may be integrated into one processing module. The integrated modules may be implemented in hardware or in software functional modules. It should be noted that, in the embodiment of the present application, the division of the modules is schematic, which is merely a logic function division, and other division manners may be implemented in actual implementation.

From the foregoing description of the embodiments, it will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules, so as to perform all the classification parts or part of the functions described above.

In an exemplary embodiment, a vehicle is also provided, which includes the chassis domain controller described above.

In an exemplary embodiment, a vehicle is also provided, which includes the chassis system architecture described above.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of modules or units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another apparatus, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and the parts shown as units may be one physical unit or a plurality of physical units, may be located in one place, or may be distributed in a plurality of different places. The purpose of the embodiment scheme can be achieved by selecting part or all of the classification part units according to actual needs.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a readable storage medium. Based on such understanding, the technical solution of the embodiments of the present application may be essentially or partly contributing to the prior art or the whole classification part or part of the technical solution may be embodied in the form of a software product stored in a storage medium, including several instructions to cause a device (may be a single-chip microcomputer, a chip or the like) or a processor (processor) to perform the whole classification part or part of the steps of the methods of the embodiments of the present application. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk, etc.

The foregoing is merely a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions within the technical scope of the present disclosure should be covered in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A chassis domain controller, the chassis domain controller comprising: the first chip and the second chip are connected and used for realizing the synchronization of steering control information of the vehicle;

the first chip is used for acquiring parameter information of a plurality of first sensors of the vehicle, determining first steering control information of the vehicle based on the parameter information of each first sensor in the plurality of first sensors, and transmitting the first steering control information to a steering execution module of the vehicle, wherein the first sensors comprise at least one of the following components: a first steering wheel angle sensor, a first steering wheel torque sensor, a first front wheel angle sensor, a first rear wheel angle sensor, a first vehicle speed sensor, a first yaw rate sensor, a first gyroscope sensor;

the second chip is configured to acquire parameter information of a plurality of second sensors of the vehicle, determine second steering control information of the vehicle based on the parameter information of each of the plurality of second sensors, and transmit the second steering control information to a steering execution module of the vehicle, where the second sensors include at least one of: a second steering wheel angle sensor, a second steering wheel torque sensor, a second front wheel angle sensor, a second rear wheel angle sensor, a second vehicle speed sensor, a second yaw rate sensor, a second gyroscope sensor.

2. The chassis domain controller of claim 1, wherein the chassis domain controller further comprises: the first front-wheel steering control module and the first rear-wheel steering control module, the steering execution module includes: a first front-wheel steering motor, a first rear-wheel steering motor;

the first chip is respectively connected with the first front wheel steering control module and the first rear wheel steering control module, and is used for respectively sending the first steering control information to the first front wheel steering control module and the first rear wheel steering control module;

the first front wheel steering control module is used for controlling the front wheel steering of the vehicle through the first front wheel steering motor according to the first steering control information;

the first rear wheel steering control module is used for controlling the steering of the rear wheels of the vehicle through the first rear wheel steering motor according to the first steering control information.

3. The chassis domain controller of claim 1 or 2, wherein the chassis domain controller further comprises: a second front-wheel steering control module and a second rear-wheel steering control module, the steering execution module including: a second front-wheel steering motor, a second rear-wheel steering motor;

The second chip is respectively connected with the second front wheel steering control module and the second rear wheel steering control module, and is used for respectively sending the second steering control information to the second front wheel steering control module and the second rear wheel steering control module;

the second front wheel steering control module is used for controlling the steering of the front wheels of the vehicle through the second front wheel steering motor according to the second steering control information;

and the second rear wheel steering control module is used for controlling the steering of the rear wheels of the vehicle through the second rear wheel steering motor according to the second steering control information.

4. The chassis domain controller of claim 1 or 2, wherein the chassis domain controller further comprises: and each of the plurality of first sensors is connected with the first chip through one signal conversion chip, and each of the plurality of second sensors is connected with the second chip through one signal conversion chip.

5. The chassis domain controller of claim 1 or 2, wherein the chassis domain controller further comprises: a steering wheel folding control module;

The first chip is connected with the steering wheel folding control module and is used for determining steering wheel folding control information of a vehicle and sending the steering wheel folding control information to the steering wheel folding control module;

the steering wheel folding control module is used for folding the steering wheel of the vehicle through a steering wheel folding motor of the vehicle according to the steering wheel folding control information.

6. The chassis domain controller of claim 1 or 2, wherein the chassis domain controller further comprises: the steering wheel hand feeling simulation control module;

the first chip is connected with the steering wheel hand feeling simulation control module and is used for determining steering wheel hand feeling simulation information of a vehicle and sending the steering wheel hand feeling simulation information to the steering wheel hand feeling simulation control module;

the steering wheel hand feeling simulation control module is used for realizing the steering wheel hand feeling simulation of the vehicle through the steering wheel hand feeling simulation motor of the vehicle according to the steering wheel hand feeling simulation information.

7. A chassis system architecture, the chassis system architecture comprising: a power supply, a chassis domain controller, and a gateway;

The power supply is used for providing electric energy for the chassis domain controller and the gateway;

the chassis domain controller is used for realizing the steer-by-wire of the vehicle;

the gateway is connected with the vehicle function unit and is used for realizing the forwarding and interaction of information, and the vehicle function unit comprises at least one of the following components: power domain, intelligent driving domain, body domain, cabin domain, diagnostic domain.

8. The chassis system architecture of claim 7, wherein the chassis system architecture further comprises: a vehicle networking system TBOX;

the power supply is used for providing electric energy for the TBOX;

the TBOX is connected with the gateway, vehicle information is acquired through the gateway, and interaction is carried out with an external environment, wherein the external environment comprises at least one of the following: vehicle wireless communication V2X terminal, cloud server.

9. The chassis system architecture of claim 7 or 8, wherein the chassis system architecture further comprises: a standby power supply;

and when the power supply of the power supply is abnormal, providing electric energy for the chassis domain controller, the gateway and the TBOX through the standby power supply, and generating power failure warning information.

10. A vehicle comprising a chassis domain controller according to any one of claims 1-6.

11. A vehicle comprising a chassis system architecture as claimed in any one of claims 7 to 9.