CN117360411A - Integrated control system and method for intelligent vehicle drive-by-wire chassis - Google Patents
Integrated control system and method for intelligent vehicle drive-by-wire chassis Download PDFInfo
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- CN117360411A CN117360411A CN202311451079.5A CN202311451079A CN117360411A CN 117360411 A CN117360411 A CN 117360411A CN 202311451079 A CN202311451079 A CN 202311451079A CN 117360411 A CN117360411 A CN 117360411A
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000001514 detection method Methods 0.000 claims abstract description 99
- 238000004891 communication Methods 0.000 claims abstract description 36
- 230000008569 process Effects 0.000 claims abstract description 9
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000010354 integration Effects 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 11
- 230000003750 conditioning effect Effects 0.000 description 7
- 238000002955 isolation Methods 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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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
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
Abstract
The present disclosure relates to an integrated control system and method for an intelligent vehicle drive-by-wire chassis, the system comprising: the parking brake detection device comprises a main control module, a service brake detection module, a parking brake detection module, a steering EPS detection module, an accelerator pedal detection module and a wireless communication module; the signal output end of the main control module is respectively connected with a driving braking motor system control interface and a steering motor system control interface; the main control module collects signals of the service brake detection module, the parking brake detection module, the steering EPS detection module and the accelerator pedal detection module, interacts with the remote control equipment in a wireless communication mode, executes braking, steering and driving instruction control according to driving signals, and monitors each operation process. The method combines the functions of a plurality of ECUs, realizes monitoring of various chassis states, reduces the quantity of ECUs of the wire control chassis, facilitates unified planning of functions, simplifies wiring harness arrangement, improves the integration degree and control performance of the wire control chassis, and reduces hardware requirements and production cost.
Description
Technical Field
The disclosure relates to the technical field of vehicle control, in particular to an integrated control system and method for an intelligent vehicle drive-by-wire chassis.
Background
The chassis is one of important components of the intelligent vehicle and is mainly used for realizing acceleration and deceleration, steering control and the like of the vehicle. In order to realize the functions, the traditional chassis is provided with a large number of electric components and auxiliary components, so that the chassis is complex in structure, high in cost and difficult to maintain. With the development of electronic control technology, the wire control chassis gradually replaces the traditional mechanical chassis, and the wire control chassis replaces traditional mechanical components in a wire (electronic signal) mode, so that the chassis structure can be simplified.
However, the current drive-by-wire chassis has the disadvantage that a plurality of ECUs (Electronic Control Unit, electronic control units) are required to monitor different modules or perform their respective functions. With the continuous expansion of the functions of the drive-by-wire chassis, new ECUs are required to be continuously added, so that the chassis control system becomes more complicated, and the original network topology structure and the like of the whole vehicle are broken. Therefore, the traditional drive-by-wire chassis control system has a distributed framework type, increases the number of ECUs, brings a plurality of difficulties for the function division of the whole vehicle, the data communication among ECUs, the iterative upgrading of software modules, the wiring harness arrangement and the like, and is difficult to adapt to the development trend requirements of the software-defined automobile.
Disclosure of Invention
In order to solve the problems of the prior art, the disclosure is directed to an integrated control system and method for an intelligent vehicle drive-by-wire chassis. The integrated control system disclosed by the invention combines the functions of a plurality of ECUs, can realize the state monitoring of a plurality of chassis, greatly reduces the quantity of ECUs of the wire control chassis, uniformly divides the functions, simplifies wiring harness arrangement, facilitates software deployment and upgrade management, improves the integration degree and control performance of the wire control chassis, and reduces hardware requirements and production cost.
The integrated control system for the intelligent vehicle drive-by-wire chassis comprises an integrated controller, wherein the integrated controller comprises a main control module, a service brake detection module, a parking brake detection module, a steering EPS detection module and an accelerator pedal detection module; the signal output end of the main control module is respectively connected with a driving braking motor system control interface and a steering motor system control interface;
when the chassis integrated control system works, the main control module acquires information of the service brake detection module, the parking brake detection module, the steering EPS detection module and the accelerator pedal detection module, interacts with the remote control equipment in a wireless communication mode, respectively executes braking, steering and driving instruction control according to driving instructions, and monitors each running process.
Preferably, the service brake detection includes:
the main control module acquires position sensor data arranged at the position of the service brake pedal, judges whether the brake pedal is deviated from the initial position, if yes, judges that the brake pedal is stepped down, and if not, judges that no brake operation exists.
Preferably, the parking brake detection includes:
the main control module acquires a parking brake switch signal, judges that the parking brake is in a parking brake state if the switch signal is output to be 1, and judges that the parking brake is not available if the switch signal is output to be 0.
Preferably, the steering EPS detection includes:
the main control module acquires a steering position sensor signal in the EPS system, enables the drive-by-wire vehicle to adopt the EPS system to assist in steering, and acquires a remote control signal.
Preferably, the accelerator pedal detection includes:
the main control module acquires position sensor data of an accelerator pedal, judges whether the accelerator pedal is deviated from an initial position, judges that the accelerator pedal is stepped down if the deviation occurs, further judges the state of parking brake, and judges that the current state is that the accelerator pedal is stepped down if the parking brake is not present; if the vehicle is in a parking braking state, judging that the accelerator pedal is not effectively operated; if the accelerator pedal is not deviated from the initial position, judging that the accelerator pedal is not operated.
Preferably, the integrated control system further comprises:
a wireless communication module in signal connection with the main control module; the remote control equipment can control the intelligent vehicle in a wireless communication mode and acquire state information of the intelligent vehicle;
and judging whether the wireless communication module is in communication connection with the remote equipment or not after the service brake detection, the parking brake detection, the steering EPS detection and the accelerator pedal detection are all normal, if so, enabling an operator to select a remote control mode or an automatic driving mode, and otherwise, enabling the drive-by-wire vehicle to be switched to a manual driving mode.
Preferably, the main control module comprises an ARM chip and peripheral circuits thereof.
The integrated control method for the intelligent vehicle drive-by-wire chassis is applied to the chassis integrated control system, and comprises the following steps:
the integrated controller comprises a main control module, a service brake detection module, a parking brake detection module, a steering EPS detection module and an accelerator pedal detection module, wherein when the integrated control system works, the main control module acquires information of the service brake detection module, the parking brake detection module, the steering EPS detection module and the accelerator pedal detection module, interacts with remote control equipment in a wireless communication mode, and respectively executes braking, steering and driving instruction control according to driving instructions, and monitors each running process.
The integrated control system and the integrated control method for the intelligent vehicle drive-by-wire chassis have the advantages that the integrated control system and the integrated control method for the intelligent vehicle drive-by-wire chassis are used for carrying out integrated control on systems such as driving braking, EPS steering and the like of a vehicle, the number of ECUs of the drive-by-wire chassis CAN be greatly reduced on the premise that the chassis control requirement is met, the CAN bus communication load is reduced, the use of ECU devices is reduced, the wiring harness arrangement is simplified, the function division and the software iterative upgrade are facilitated, the integration degree and the control performance of the drive-by-wire chassis are improved, and the hardware requirement and the production cost are reduced.
Drawings
FIG. 1 is a block diagram of an integrated control system for an intelligent vehicle drive-by-wire chassis according to the present embodiment;
FIG. 2 is a flowchart illustrating steps for service brake detection according to the present embodiment;
FIG. 3 is a flowchart illustrating steps for park brake detection according to the present embodiment;
FIG. 4 is a flowchart showing the steps of steering EPS detection according to the present embodiment;
FIG. 5 is a flowchart showing steps of accelerator pedal detection according to the present embodiment;
FIG. 6 is a diagram of one of the power circuits of the main control module according to the present embodiment;
FIG. 7 is a second power circuit diagram of the main control module according to the present embodiment;
FIG. 8 is a diagram of an integrated controller power supply circuit according to the present embodiment;
fig. 9 is a circuit diagram of signal input and conditioning of the hall element for acquiring a steering EPS signal according to the present embodiment;
FIG. 10 is a circuit diagram of the signal input and conditioning of the photoelectric encoder for acquiring a steering EPS signal according to the present embodiment;
FIG. 11 is a circuit diagram of input signals of each detection module according to the present embodiment;
FIG. 12 is a CAN communication circuit diagram of the main control module and the control interface of the brake motor system and the control interface of the steering motor system according to the embodiment;
FIG. 13 is a diagram showing SCI serial communication circuit of the main control module and the control interface of the brake motor system and the control interface of the steering motor system according to the present embodiment;
fig. 14 is a PWM pulse width modulation circuit of the main control module and the control interface of the brake motor system and the control interface of the steering motor system according to the present embodiment.
Reference numerals illustrate: the system comprises a 1-main control module, a 2-service brake detection module, a 3-parking brake detection module, a 4-steering EPS detection module and a 5-accelerator pedal detection module.
Detailed Description
As shown in fig. 1-5, an integrated control system for an intelligent vehicle drive-by-wire chassis according to the present disclosure includes an integrated controller, where the integrated controller includes a main control module 1, a service brake detection module 2, a parking brake detection module 3, a steering EPS detection module 4, and an accelerator pedal detection module 5; all functions required by the intelligent vehicle chassis are unified in one integrated controller, and all control functions required by the intelligent vehicle chassis can be realized through a single integrated controller. The signal output end of the main control module 1 is respectively connected with a driving braking motor system control interface and a steering motor system control interface, and in a specific embodiment, various control modes such as PWM signals, CAN and the like are selected according to the characteristics of the driving braking motor system control interface and the steering motor system control interface so as to realize the control function of the main control module 1.
When the chassis integrated control system works, the main control module 1 collects information of the service brake detection module 2, the parking brake detection module 3, the steering EPS detection module 4, the accelerator pedal detection module 5 and the like, interacts with remote control equipment in a wireless communication mode, respectively executes instruction control of braking, steering, driving and the like according to driving instructions, and monitors each running process.
Specifically, the main control module 1 adopts an ARM device based on a cortex M7 kernel as a main control chip, realizes control of corresponding execution mechanisms of all functional modules of the chassis and corresponding sensor data acquisition, and performs communication and data interaction with other controllers and devices in a CAN, SCI, ethernet communication mode and the like, thereby completing complex system functions together.
The main control module 1 further comprises peripheral circuits and supporting circuits of the main control chip, such as a main control chip circuit, an input signal acquisition and conditioning circuit, a CAN bus circuit for communication between the main control module 1 and other modules, a power supply circuit, a network interface for a wireless communication module, a test reserved interface circuit and the like, and further comprises a common encoder signal conditioning circuit, a Hall signal conditioning circuit, a PWM signal output circuit and the like.
Specifically, the main control module 1 of the integrated control system of the embodiment controls, communicates data and collects signals of each functional module of the chassis based on the ARM chip, processes information according to a preset strategy, and finally monitors and controls each functional module of the chassis comprehensively.
For example, fig. 6 and fig. 7 show power circuits, and the output power is filtered and then output by two paths of 3.3V through the voltage stabilizing chip TL431ACDR and SPX1117M3-3.3V, and output by 5V through L78L05ACUTR, so that the power supply of the main control module 1 is ensured. Fig. 8 is a schematic diagram of a power supply circuit of an integrated control system, wherein the circuit adopts a flyback topology switching power supply design, a flyback circuit is formed by UCC2813 and a transformer, a low-voltage direct current power supply is provided, 5V direct current and +12v and-12v direct current are also generated and supplied to a control board circuit, and one path of 12V direct current is output to a voltage stabilizing chip and then supplied to a chip IC.
Fig. 9 is a signal input and conditioning circuit of a built-in hall element, and fig. 10 is a signal input and conditioning circuit of a photoelectric encoder, which can be used to collect steering EPS signals, alternatively set. The U+, U-, V+, V-, W+ and W-differential signals output by the Hall output are processed by the encoder circuit to output a single-ended U, V, W signal. The A+, A-, B+, B-, Z+ and Z-differential signals output by the encoder are output to a single-ended A, B, Z signal after passing through the encoder circuit. The signals are input into the ARM universal timer, the generated orthogonal pulse signals are captured and counted through the timer, and the accurate measurement of the rotation angle is realized, namely the acquisition of the steering state is realized.
Fig. 11 is a signal circuit, which is mainly used for receiving external signals, and the input signals of each detection module are isolated by the optocoupler TLP 721F and then input to the I/O interface of the ARM.
Fig. 12 shows a CAN communication circuit, where the main control module 1 communicates with a control interface of a brake driving motor system and a control interface of a steering motor system through a CAN bus. The CAN transceiver adopts a TJA1044T chip, and the transceiver is very widely applied to vehicles.
FIG. 13 is a diagram of a SCI serial communication circuit with isolation. The part mainly comprises two parts: digital isolation circuitry and RS-232 transceiver MAX3232 transceiver circuitry. The circuit is simpler, and the communication between the main control module 1 and the control interface of the driving and braking motor system and the control interface of the steering motor system is mainly realized.
The CAN communication and SCI serial communication circuit CAN be alternatively arranged.
Fig. 14 is a reserved 6-way PWM pulse width modulation circuit with optocoupler isolation. This part is a hardware redundancy design. In order to reserve the interface, PWM signals with isolation and digital quantity control signals with isolation can be output according to the requirement. The circuit comprises two parts: the level conversion circuit and the optocoupler isolation circuit. Firstly, PWM control signals are subjected to level conversion, drive capacity is increased to obtain 0V/5V PWM control signals, the control signals are isolated by adopting an optocoupler chip 6N137, in-phase PWM signals are output, and the circuit is mainly used for realizing pulse width modulation control of a main control module 1 on a drive brake motor or a steering motor.
After the circuit of the main control module 1 is arranged, the main control module 1 can respectively control the driving brake motor system and the steering motor system by outputting control signals, and can also monitor various states.
Specific:
as shown in fig. 2, the service brake detection includes:
the main control module 1 acquires position sensor data arranged at the position of the service brake pedal, judges whether the brake pedal is deviated from the initial position, if yes, judges that the brake pedal is stepped down, and if not, judges that no brake operation exists.
As shown in fig. 3, the parking brake detection includes:
the main control module 1 acquires a parking brake switch signal, judges that the parking brake is in a parking brake state if the switch signal output is 1, and judges that the parking brake is not applied if the switch signal output is 0.
As shown in fig. 4, the steering EPS detection includes:
the main control module 1 acquires a steering position sensor signal in the EPS system, and enables the drive-by-wire vehicle to adopt the EPS system for power-assisted steering, and simultaneously acquires a remote control signal.
As shown in fig. 5, the accelerator pedal state detection includes:
the main control module 1 acquires position sensor data of an accelerator pedal, judges whether the accelerator pedal is deviated from an initial position, judges that the accelerator pedal is stepped down if the deviation occurs, further judges the state of parking brake, and judges that the current state is that the accelerator pedal is stepped down if the parking brake is not present; if the vehicle is in a parking braking state, judging that the accelerator pedal is not effectively operated; if the accelerator pedal is not deviated from the initial position, judging that the accelerator pedal is not operated.
Through the state detection process, the main control module 1 can realize the service brake detection, the parking brake detection, the steering EPS detection and the accelerator pedal detection of the chassis of the vehicle, and display the detection results, specifically, if the vehicle is in an artificial driving state, the detection results are output through the display screen, and if the vehicle is in a remote control state, the detection results are sent to the remote equipment through the wireless communication module 6.
Furthermore, the integrated control system of the intelligent vehicle drive-by-wire chassis further comprises:
a wireless communication module 6 in signal connection with the main control module 1; the wireless communication module 6 may be a 4G, 5G or bluetooth module, for wireless communication with an external device.
When the service brake detection, the parking brake detection, the steering EPS system state detection and the accelerator pedal state detection result are all normal, the vehicle can enter a running state, whether the wireless communication module is in communication connection with the remote equipment or not is judged at this moment, namely whether the vehicle has the condition of remote control driving or not is judged, if so, an operator can select a remote control mode or an automatic driving mode, and otherwise, the drive-by-wire vehicle is switched to a manual driving mode.
According to the intelligent vehicle control system, the control module is arranged for carrying out integrated control on the driving braking and steering of the intelligent vehicle, under the premise of meeting the chassis control requirement, the number of the ECUs of the line control chassis CAN be greatly reduced, the CAN bus communication load is reduced, the use of ECU devices is reduced, the wiring harness arrangement is simplified, the function division and the software iterative upgrade are convenient, the integration degree and the control performance of the line control chassis are improved, and the hardware requirement and the production cost are reduced.
The embodiment also provides an integrated control method of the intelligent vehicle drive-by-wire chassis, which is applied to the chassis integrated control system, and comprises the following steps:
the integrated controller is arranged and comprises a main control module, a service brake detection module, a parking brake detection module, a steering EPS detection module and an accelerator pedal detection module, when the chassis integrated control system works, the main control module 1 acquires information of the service brake detection module 2, the parking brake detection module 3, the steering EPS detection module 4 and the accelerator pedal detection module 5, and interacts with remote control equipment in a wireless communication mode, and respectively brakes, steers and accelerates according to driving intention, and monitors each running process.
The chassis integrated control method of the present embodiment and the chassis integrated control system described above belong to the same inventive concept, and can be understood with reference to the above description, and are not described herein again. The integrated control method can realize the monitoring and control of various chassis states, greatly reduce the number of ECUs of the drive-by-wire chassis, simplify wiring harness arrangement, unify function division, facilitate software deployment and upgrade management, improve the integration degree of the drive-by-wire chassis, and reduce the production cost of the whole vehicle.
In the description of the present disclosure, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present disclosure and simplify the description, and without being otherwise described, these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be configured and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present disclosure.
It will be apparent to those skilled in the art from this disclosure that various other changes and modifications can be made which are within the scope of the invention as defined in the claims.
Claims (8)
1. An integrated control system for an intelligent vehicle drive-by-wire chassis is characterized by comprising an integrated controller, wherein the integrated controller comprises a main control module, a service brake detection module, a parking brake detection module, a steering EPS detection module and an accelerator pedal detection module; the signal output end of the main control module is respectively connected with a driving braking motor system control interface and a steering motor system control interface;
when the integrated control system works, the main control module acquires information of the service brake detection module, the parking brake detection module, the steering EPS detection module and the accelerator pedal detection module, interacts with the remote control equipment in a wireless communication mode, respectively executes braking, steering and driving instruction control according to driving instructions, and monitors each running process.
2. The integrated control system for an intelligent vehicle drive-by-wire chassis of claim 1, wherein the service brake detection comprises:
the main control module acquires position sensor data arranged at the position of the service brake pedal, judges whether the brake pedal is deviated from the initial position, if yes, judges that the brake pedal is stepped down, and if not, judges that no brake operation exists.
3. The integrated control system for an intelligent vehicle drive-by-wire chassis of claim 2, wherein the parking brake detection comprises:
the main control module acquires a parking brake switch signal, judges that the parking brake is in a parking brake state if the switch signal is output to be 1, and judges that the parking brake is not available if the switch signal is output to be 0.
4. An integrated control system for an intelligent vehicle drive-by-wire chassis according to claim 3, wherein steering EPS detection comprises:
the main control module acquires a steering position sensor signal in the EPS system, enables the drive-by-wire vehicle to adopt the EPS system to assist in steering, and acquires a remote control signal.
5. The integrated control system for an intelligent vehicle drive-by-wire chassis of claim 4, wherein the accelerator pedal detection comprises:
the main control module acquires position sensor data of an accelerator pedal, judges whether the accelerator pedal is deviated from an initial position, judges that the accelerator pedal is stepped down if the deviation occurs, further judges the state of parking brake, and judges that the current state is that the accelerator pedal is stepped down if the parking brake is not present; if the vehicle is in a parking braking state, judging that the accelerator pedal is not effectively operated; if the accelerator pedal is not deviated from the initial position, judging that the accelerator pedal is not operated.
6. The integrated control system for an intelligent vehicle drive-by-wire chassis of claim 5, further comprising:
a wireless communication module in signal connection with the main control module; the remote control equipment can control the intelligent vehicle in a wireless communication mode and acquire state information of the intelligent vehicle;
and judging whether the wireless communication module is in communication connection with the remote equipment or not after the service brake detection, the parking brake detection, the steering EPS detection and the accelerator pedal detection are all normal, if so, enabling an operator to select a remote control mode or an automatic driving mode, otherwise, enabling the vehicle to be switched to a manual driving mode.
7. The integrated control system for an intelligent vehicle drive-by-wire chassis of any of claims 1-6, wherein the main control module comprises an ARM chip and its peripheral circuitry.
8. An integrated control method for an intelligent vehicle drive-by-wire chassis, applied to an integrated control system as claimed in any one of claims 1-7, comprising the steps of:
the integrated controller comprises a main control module, a service brake detection module, a parking brake detection module, a steering EPS detection module and an accelerator pedal detection module, wherein when the chassis integrated control system works, the main control module acquires information of the service brake detection module, the parking brake detection module, the steering EPS detection module and the accelerator pedal detection module, interacts with remote control equipment in a wireless communication mode, and respectively executes braking, steering and driving instruction control according to driving instructions, and monitors each running process.
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| CN202311451079.5A CN117360411A (en) | 2023-11-02 | 2023-11-02 | Integrated control system and method for intelligent vehicle drive-by-wire chassis |
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| CN202311451079.5A CN117360411A (en) | 2023-11-02 | 2023-11-02 | Integrated control system and method for intelligent vehicle drive-by-wire chassis |
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