CN209803600U - Embedded control panel of automatic driving automobile chassis - Google Patents
Embedded control panel of automatic driving automobile chassis Download PDFInfo
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- CN209803600U CN209803600U CN201920905570.3U CN201920905570U CN209803600U CN 209803600 U CN209803600 U CN 209803600U CN 201920905570 U CN201920905570 U CN 201920905570U CN 209803600 U CN209803600 U CN 209803600U
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Abstract
The utility model relates to the technical field of automatic driving, and discloses an embedded control panel of an automatic driving automobile chassis, which comprises a CAN bus driving module, a controller, a gear switching module, a brake driver, a simulated throttle signal generating module, a throttle signal switching module and a power supply module; the data end of the CAN bus driving module is connected with the input/output port of the controller; the controller is connected with the gear switching module; the controller is connected with the simulated throttle signal generating module, the output of the simulated throttle signal generating module is connected with the input end of the throttle signal switching module, and the signal control circuit of the throttle signal switching module is also connected with the output port of the controller; the output port of the controller is connected with the signal input end of the brake driver, and the output end of the brake driver is externally connected with a brake pedal push rod motor; the power module is externally connected with a vehicle storage battery and provides electric energy for the chassis embedded control panel. The utility model discloses can realize automatic braking and gear automatic switch-over function.
Description
Technical Field
The utility model relates to an autopilot technical field, more specifically relates to an embedded control panel of autopilot vehicle chassis.
Background
In some specific occasions, such as tourist parks, campuses, factories and the like, the requirement on the running speed is not high when automatic driving operation is carried out. The automobile with the automatic driving function is arranged at the fixed driving route, and the automobile with the automatic driving function has very important significance for the research of the propelling automatic driving technology.
In the automatic driving automobile developed under the condition, a low-speed electric vehicle is mostly adopted for automatic transformation, in the automatic driving transformation, the control of the vehicle mainly realizes transverse control and longitudinal control, the longitudinal control mainly refers to control of an accelerator and a brake, and the transverse control mainly refers to control of steering. The vehicle controller has the function, so that the chassis control device connected between the automatic driving control upper computer and the automobile accelerator, brake and steering device is designed, the automatic driving function of controlling the speed and the driving direction of the automobile under the control of the upper computer is realized, and the automatic driving control device has very important significance for the transformation of the automatic driving of the low-speed electric vehicle.
SUMMERY OF THE UTILITY MODEL
the utility model discloses an overcome above-mentioned prior art at least a defect, provide one kind and realize the embedded control panel of autopilot vehicle chassis to gear automatic switch-over, automatic braking.
In order to solve the technical problem, the technical scheme of the utility model as follows:
An embedded control panel of an automatic driving automobile chassis comprises a CAN bus driving module, a controller, a gear switching module, a brake driver, an analog throttle signal generating module, a throttle signal switching module and a power supply module; the bus output port of the CAN bus driving module is externally connected with a CAN bus interface of the upper computer, and the data end of the CAN bus driving module is connected with the input/output port of the controller; the controller is connected with the gear switching module, and the output end of the gear switching module is externally connected with an original vehicle gear switch; the controller is connected with the simulated throttle signal generating module, the output of the simulated throttle signal generating module is connected with the input end of the throttle signal switching module, the output end of the throttle signal switching module is externally connected with an original vehicle throttle pedal, and a signal control circuit of the throttle signal switching module is also connected with the output port of the controller; the output port of the controller is connected with the signal input end of the brake driver, and the output end of the brake driver is externally connected with a brake pedal push rod motor; the power module is externally connected with a vehicle storage battery and provides electric energy for the chassis embedded control panel.
In the scheme, the CAN bus driving module is externally connected with an upper computer and used for receiving an upper computer control instruction; the gear switching module is externally connected with a gear switch of the original vehicle and used for cutting off a gear signal of the original vehicle and outputting the gear signal to the vehicle; the throttle signal switching module is externally connected with an original vehicle throttle pedal and used for cutting off a throttle signal of an original vehicle and outputting a throttle signal to the vehicle; the brake driver is externally connected with a brake pedal push rod motor, and the brake pedal of the vehicle is driven in an automatic driving mode to realize brake control.
Further, the controller comprises a single chip microcomputer U8, a current-limiting resistor R11, a power indicator diode D1, a filter inductor L1, a filter capacitor C25, a decoupling capacitor C26, a short-circuit resistor R12, a short-circuit resistor R13, a filter capacitor C28, a decoupling capacitor C27, a filter capacitor C30, a decoupling capacitor C29, a filter capacitor C32, a decoupling capacitor C31, a crystal oscillator Y3, a correction capacitor C33, a correction capacitor C34, an impedance matching resistor R14, a reset charging resistor R15, a reset charging capacitor C35, a reset key S1, a pull-up resistor R17, a current-limiting resistor R16, a program download interface P8, a decoupling capacitor C36, a decoupling capacitor C37, a decoupling capacitor C38 and a decoupling capacitor C39; the model of the single chip microcomputer U8 is MC9S12XS128 MAA; the 15 th pin of the singlechip U8 is connected with one end of a current limiting resistor R16, and the other end of the resistor is connected with the 3 rd pin of a program downloading interface P8; PM0 and PM1 ports of the singlechip U8 are respectively connected with a bus driver of the CAN network interface module; the ports of PT0, PT1, PT2, PT3, PT4 and PT5 of the singlechip U8 are respectively connected with a communication port of a digital-to-analog conversion chip of the accelerator pedal analog signal generation module; a PP3 port of the singlechip U8 is connected with a triode base current limiting resistor of the accelerator pedal signal switching module; the PP0 and PP1 ports of the singlechip U8 are respectively connected with the control signal input end of the brake; PT6, PT7 and PP2 of the single chip microcomputer U8 are connected with the base electrodes of the gear switching module driving triodes respectively to control gear switching.
Further, the gear shifting module comprises a current limiting resistor R18, a current limiting resistor R19, a current limiting resistor R20, a driving triode Q2, a driving triode Q3, a driving triode Q4, a gear shifting relay K2, a gear shifting relay K3, a gear shifting relay K4, a vehicle gear switch interface P3, a freewheeling diode D2, a freewheeling diode D3 and a freewheeling diode D4; one end of the current-limiting resistor R18 is connected with the PP2 of a singlechip in the controller, and the other end of the current-limiting resistor R18 is connected with the base electrode of the driving triode Q2 to control the gear switching relay K2; one end of the current-limiting resistor R19 is connected with PT7 of a singlechip in the controller, and the other end of the current-limiting resistor R19 is connected with a base electrode of a driving triode Q3 to control a gear switching relay K3; one end of a current-limiting resistor R20 is connected with PT6 of a singlechip in the controller, and the other end of the current-limiting resistor R20 is connected with the base electrode of a driving triode Q4 to control a gear switching relay K4; the vehicle range switch interface P3 is externally connected to a vehicle range switch.
Further, the brake driver comprises a power driver U9, a power driver U10, a pull-up resistor R21, a pull-up resistor R25, a current-limiting resistor R22, a current-limiting resistor R26, a pull-down resistor R23, a pull-down resistor R24, a pull-down resistor R28, a pull-down resistor R29 and a motor interface P4; the model of the power driver is BTS 7960; the INH pin of the power driver IS connected with a power supply through a pull-up resistor, the IS pin and the SR pin are respectively grounded through a pull-down resistor, the control signal input ends of the two power drivers are respectively connected with PP0 and PP1 ports of a single chip in the controller, and the output ends of the two power drivers are both connected with a motor interface P4.
Compared with the prior art, the beneficial effects of the utility model are as follows:
The embedded control panel of the chassis of the automatic driving automobile provides an automatic control scheme for the automatic driving automobile, and can realize automatic control of gear switching and automatic braking. Specifically, the designed chassis embedded control panel automatically controls the accelerator and the gears, and only needs to disconnect the accelerator pedal signal line and the gear change-over switch signal line of the original vehicle and then connect the signal line into the control panel, so that the chassis embedded control panel has the characteristics of simple structure and convenience in modification. The control board outputs analog voltage under the control of the microcontroller by using the digital-to-analog converter, and has the characteristics of simple control method and linear output voltage. The control panel utilizes the relay to switch gear switch signal, keeps apart the signal of control panel and ground and the circuit of former car, has stable performance, safe and reliable's characteristics.
Drawings
Fig. 1 is a schematic diagram of a structure of a chassis embedded controller.
fig. 2 is a schematic view of the gear shifting principle of the low-speed electric sightseeing vehicle.
Fig. 3 is a schematic diagram of the gear shifting principle.
fig. 4 is a schematic circuit diagram of the shift switching module.
Fig. 5 is a schematic diagram of the brake control principle.
Fig. 6 is a schematic diagram of a brake driver circuit.
Fig. 7 is a schematic circuit diagram of a power module.
Fig. 8 is a schematic diagram of the controller circuit.
Fig. 9 is a schematic circuit diagram of a CAN bus driver module.
FIG. 10 is a schematic diagram of the circuit of the analog throttle signal generating module.
FIG. 11 is a schematic circuit diagram of a throttle signal switching module.
Detailed Description
the drawings are for illustrative purposes only and are not to be construed as limiting the patent;
for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The specific meaning of the above terms in the present invention can be understood in specific cases for those skilled in the art. The technical solution of the present invention will be further explained with reference to the accompanying drawings and examples.
Example 1
as shown in fig. 1, the present embodiment provides a chassis embedded control panel, which includes a gear switching module, a brake driver, a power module, a controller, a CAN bus driving module, a simulated throttle signal generating module, and a throttle signal switching module. The bus output port of the CAN bus driving module is externally connected with a CAN bus interface of the upper computer, and the data end of the CAN bus driving module is connected with the input/output port of the controller; the controller is connected with the gear switching module, and the output end of the gear switching module is externally connected with an original vehicle gear switch; the controller is connected with the simulated throttle signal generating module, the output of the simulated throttle signal generating module is connected with the input end of the throttle signal switching module, the output end of the throttle signal switching module is externally connected with an original vehicle throttle pedal, and a signal control circuit of the throttle signal switching module is also connected with the output port of the controller; the output port of the controller is connected with the signal input end of the brake driver, and the output end of the brake driver is externally connected with a brake pedal push rod motor; the power module is externally connected with a vehicle storage battery and provides electric energy for the chassis embedded control panel.
The CAN bus driving module is externally connected with an upper computer and used for receiving control instructions of the upper computer. The gear switching module is externally connected with a gear switch of the original vehicle and used for cutting off a gear signal of the original vehicle and outputting the gear signal to the vehicle. The throttle signal switching module is externally connected with a throttle pedal of the original vehicle and used for cutting off a throttle signal of the original vehicle and outputting the throttle signal to the vehicle. The brake driver is externally connected with a brake pedal push rod motor, and the vehicle brake pedal is driven in an automatic driving mode to realize brake control.
As shown in fig. 2, in the prior art, the gear shifting principle of the low-speed electric sightseeing vehicle modified to automatically drive the vehicle is that a vehicle gear switch is connected with a vehicle control module through three signal lines, wherein one signal line is a common signal line which is a grounding point of the vehicle control module, and the voltage value is 0V. The other two signal lines are a forward gear signal detection line and a reverse gear signal detection line, respectively, and when the vehicle gear switch is in a middle stop state, the voltages of the forward and reverse gear signal detection lines are both at a high level of 5V. When the vehicle gear switch is in a forward gear, the common contact of the vehicle gear switch is connected with the forward contact, the forward gear signal is forcibly pulled down to 0V, and the vehicle control module controls the vehicle driving motor to rotate forwards (move forwards) when detecting the signal. When the vehicle gear switch is in a reverse gear, the common contact of the vehicle gear switch is connected with the reverse contact, a reverse gear signal is forcibly pulled down to 0V, and the vehicle control module controls the vehicle driving motor to rotate reversely (reverse) when detecting the signal.
As shown in fig. 3, the principle of the chassis embedded control board for automatically controlling the gear shift of the vehicle is that a forward gear signal and a backward gear signal of a gear switch of an original vehicle are cut off to form 4 signal lines, and a line is led out from a common signal line and is connected to the chassis embedded control board. Three control relays are arranged in the chassis embedded control panel, the relay 1 is provided with two groups of switches, and the relays 2 and 3 are provided with only one group of switches. The common contacts of the two groups of switches of the relay 1 are respectively connected with a forward gear signal line and a backward gear signal line of a vehicle control module, and the normally closed contacts of the two groups of switches are respectively connected with forward and backward control points of a vehicle gear switch. The common contact of the relay 2 is connected with the normally open contact related to the forward control in the relay 1, and the normally open contact of the relay 2 is connected with the common signal of the vehicle control module; a common contact of the relay 3 is connected with a normally open contact related to backward control in the relay 1, and the normally open contact of the relay 3 is connected with a common signal of a vehicle control module;
The control principle of gear switching is that when a vehicle is in a manual driving mode, a control signal 1 is invalid, a relay 1 does not work, a contact is in a normally closed state, and a chassis embedded control panel has no influence on the gear control function of an original vehicle and is controlled by a vehicle gear switch of the original vehicle;
When the vehicle is in an automatic driving mode and needs to advance, the control signal 1 is effective, the relay 1 works, the normally closed contact is disconnected, the control signal of the original vehicle gear switch is cut off, and the normally open contact is closed; the control signal 2 is effective, the relay 2 works, the normally open contact is closed, at the moment, a common signal line of the vehicle control module is communicated with a forward gear signal, and the vehicle is in a forward function; the control signal 3 is invalid, the relay 3 does not work, and the back-off function is invalid.
When the vehicle is in an automatic driving mode and needs to go backwards, the control signal 1 is effective, the relay 1 works, the normally closed contact is disconnected, the control signal of the original vehicle gear switch is cut off, and the normally open contact is closed; when the control signal 3 is effective, the relay 3 works, the normally open contact is closed, at the moment, a public signal line of the vehicle control module is communicated with a backward gear signal, and the vehicle is in a backward function; the control signal 2 is invalid, the relay 2 does not work, and the forward function is invalid.
The chassis embedded control board control signal functions are shown in table 1 below.
TABLE 1 control signal function table
As shown in fig. 4, the gear switching module of the chassis embedded control board includes a current limiting resistor R18, a current limiting resistor R19, a current limiting resistor R20, a driving transistor Q2, a driving transistor Q3, a driving transistor Q4, a gear switching relay K2, a gear switching relay K3, a gear switching relay K4, a vehicle gear switch interface P3, a freewheeling diode D2, a freewheeling diode D3, and a freewheeling diode D4. One end of a current-limiting resistor R18 is connected with a PP2 of a singlechip in the controller, and the other end of the current-limiting resistor R18 is connected with a base electrode of a driving triode Q2, so as to control a gear switching relay K2; one end of a current-limiting resistor R19 is connected with PT7 of a singlechip in the controller, and the other end of the current-limiting resistor R19 is connected with a base electrode of a driving triode Q3, so as to control a gear switching relay K3; one end of a current-limiting resistor R20 is connected with PT6 of a singlechip in the controller, and the other end of the current-limiting resistor R20 is connected with a base electrode of a driving triode Q4, so as to control a gear switching relay K4; the vehicle gear switch interface P3 is externally connected with a vehicle gear switch through a connecting wire.
The control principle of the circuit is that when the ports PT6, PT7 and PP2 of the single chip microcomputer output high levels, three relays do not work, the contacts of the relays are in a normally closed state, and the gear switching module does not influence the work of an original vehicle gear control switch;
When a port of a singlechip PP2 outputs a low level, a port PT7 outputs a low level, and a port PT6 outputs a high level, relays K2 and K3 work, and K4 does not work, at the moment, a normally closed contact of K2 is disconnected, the function of a gear control switch of an original vehicle is invalid, the normally open contact is controlled by a chassis embedded control panel to close the advancing control of the vehicle, the normally open contact of the K3 is closed after the K3 works, a common signal line of a vehicle control module of the original vehicle is connected with an advancing gear signal detection line, the vehicle is in an advancing function, and the K4 does not work and the backing;
When the port of the single chip microcomputer PP2 outputs low level, the port of the PT7 outputs high level and the port of the PT6 outputs low level, the relays K2 and K4 work and K3 do not work, at the moment, the normally closed contact of the K2 is disconnected, the function of a gear control switch of an original vehicle is invalid, the normally open contact is closed, the advancing control of the vehicle is controlled by the chassis embedded control board, the normally open contact of the K4 is closed after the K4 works, the common signal line of the original vehicle control module is connected with a backward gear signal detection line, the vehicle is in a backward function, and the function of the forward of the K3.
as shown in fig. 5, the chassis embedded control board controls the braking system of the low-speed electric sightseeing vehicle according to the principle that the telescopic rod of the push rod motor is rigidly connected with the braking pedal of the vehicle, the chassis embedded control board controls the push rod motor, and the telescopic rod of the push rod motor controls the braking of the braking system of the vehicle.
As shown in fig. 6, the brake driver of the chassis embedded control board includes power drivers U9, U10, pull-up resistors R21, R25, current-limiting resistors R22, R26, pull-down resistors R23, R24, R28, R29, and a motor interface P4; the model of the power driver is BTS 7960; the two power drivers form an H bridge to control the rotating speed and the direction of an externally connected direct current push rod motor; the control signal input ends of the power drivers U9 and U10 are respectively connected with the ports PP0 and PP1 of a singlechip in the controller, and the push rod motor can realize quick braking and slow braking under the control of PWM (pulse-width modulation) waves output by the singlechip.
As shown in fig. 7, the power supply module includes a battery interface P2, three-port voltage regulators U4 and U7, filter capacitors C11 and C21, decoupling capacitors C12 and C22, filter capacitors C13 and C23, and decoupling capacitors C14 and C24; the three-port voltage regulators U4 and U7 are ASM1117-5 in model number; the power input end of the No. 1 pin of the three-terminal voltage regulator U4 is externally connected with an automobile storage battery through a storage battery interface P2, and 12V voltage is converted into 5V direct-current voltage to supply power for the relay control circuit; the power input end of the No. 1 pin of the three-terminal voltage regulator U7 is externally connected with an automobile storage battery through a storage battery interface P2, and 12V voltage is converted into 5V direct-current voltage to supply power for other low-current loads;
As shown in fig. 8, the controller includes a single chip microcomputer U8, a current limiting resistor R11, a power indicating diode D1, a filter inductor L1, a filter capacitor C25, a decoupling capacitor C26, a short-circuit resistor R12, a short-circuit resistor R13, a filter capacitor C28, a decoupling capacitor C27, a filter capacitor C30, a decoupling capacitor C29, a filter capacitor C32, a decoupling capacitor C31, a crystal oscillator Y3, a correction capacitor C33, a correction capacitor C34, an impedance matching resistor R14, a reset charging resistor R15, a reset charging capacitor C35, a reset button S1, a pull-up resistor R17, a current limiting resistor R16, a program download interface P8, a decoupling capacitor C36, a decoupling capacitor C37, a decoupling capacitor C38, and a decoupling capacitor C39; the model of the single chip microcomputer U8 is MC9S12XS128 MAA; the 15 th pin of the singlechip U8 is connected with one end of a current limiting resistor R16, and the other end of the resistor is connected with the 3 rd pin of a program downloading interface P8; PM0 and PM1 ports of the singlechip U8 are respectively connected with a bus driver of the CAN network interface module; the ports of PT0, PT1, PT2, PT3, PT4 and PT5 of the singlechip U8 are respectively connected with a communication port of a digital-to-analog conversion chip of the accelerator pedal analog signal generation module; a PP3 port of the singlechip U8 is connected with a triode base current limiting resistor of the accelerator pedal signal switching module; the PP0 and PP1 ports of the singlechip U8 are respectively connected with the control signal input end of the brake; PT6, PT7 and PP2 of the single chip microcomputer U8 are connected with the base electrodes of the gear switching module driving triodes respectively to control gear switching.
As shown in fig. 9, the CAN bus driver module includes a bus driver U5, a bus termination resistor R7, a bus termination resistor R8, a bus termination resistor R9, a bus termination resistor R10, a CAN bus interface P5, a decoupling capacitor C15, a bypass capacitor C9, and a bypass capacitor C10; bus driver U5 is model number TJA 1050; the 1 st pin and the 4 th pin of the bus driver U5 are respectively connected with the PM0 and the PM1 of a singlechip in the microcontroller module; the 7 th pin and the 6 th pin of the bus driver U5 are respectively connected with an automobile CAN network bus through a CAN bus interface P5; the bus termination resistors R7 and R8 are connected in series end to end between the 7 th and 6 th pins of the bus driver U5, the midpoint of which is connected to ground through a bypass capacitor C9; bus termination resistors R9 and R10 are connected in series end-to-end between pins 7 and 6 of bus driver U5, the midpoint of which is connected to ground through a bypass capacitor C10.
As shown in fig. 10, the analog throttle signal generating module includes digital-to-analog converters U1 and U2, pull-up resistors R2 and R3, bypass capacitors C1 and C4, decoupling capacitors C2 and C5, filter capacitors C3 and C6, a current limiting resistor R4, a filter capacitor C7, a precision voltage-stabilized power supply U3, voltage dividing resistors R5 and R6, and a filter capacitor C8; the models of the digital-to-analog converters U1 and U2 are DAC 7512; the model of the precision voltage-stabilized power supply U3 is TL 431; the data communication interfaces of the digital-to-analog converters U1 and U2 are respectively connected with a single chip machine PT port in the controller; analog voltage output ports of the digital-to-analog converters U1 and U2 are respectively connected with a normally open contact of a relay of the throttle signal switching module; one end of the current-limiting resistor R4 is connected with a positive 12V power supply of the power supply module, and the other end of the current-limiting resistor R4 is connected with the 2 nd pin of the precision stabilized voltage power supply U3; the divider resistors R5 and R6 are connected in series between the No. 2 pin and the No. 3 pin of the precision stabilized voltage power supply U3 in an end-to-end mode, and the middle point of the divider resistors is connected with the No. 1 pin of the stabilized voltage power supply U3.
As shown in fig. 11, the accelerator signal switching module includes a driving transistor Q1, a current limiting resistor R1, a signal switching relay K1, a freewheeling diode D5, and an accelerator pedal signal interface P1; one end of the current limiting resistor R1 is connected with the output port of the singlechip in the controller, and the other end is connected with the base electrode of the driving triode Q1; one end of a coil of the signal switching relay K1 is connected with a power supply, and the other end of the coil is connected with an emitting electrode of a driving triode Q1; a common contact of the signal switching relay K1 is externally connected with an accelerator pedal signal wire of an automobile engine electric control module through an accelerator pedal signal interface P1; a normally closed contact of the signal switching relay K1 is externally connected with a signal wire of an automobile accelerator pedal position sensor through an accelerator pedal signal interface P1; the normally open contact of the signal switching relay K1 is connected with the analog voltage output port of the digital-to-analog converter of the analog throttle signal generation module; the accelerator pedal signal interface P1 is connected with an automobile accelerator pedal position sensor.
The embedded control panel of the automatic driving automobile chassis of the embodiment can be compatible with the existing driving system, and is convenient to transform, simple in structure, reliable in performance and high in control precision.
It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not limitations to the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (4)
1. An embedded control panel of an automatic driving automobile chassis is characterized by comprising a CAN bus driving module, a controller, a gear switching module, a brake driver, an analog throttle signal generating module, a throttle signal switching module and a power supply module; the bus output port of the CAN bus driving module is externally connected with a CAN bus interface of the upper computer, and the data end of the CAN bus driving module is connected with the input/output port of the controller; the controller is connected with the gear switching module, and the output end of the gear switching module is externally connected with an original vehicle gear switch; the controller is connected with the simulated throttle signal generating module, the output of the simulated throttle signal generating module is connected with the input end of the throttle signal switching module, the output end of the throttle signal switching module is externally connected with an original vehicle throttle pedal, and a signal control circuit of the throttle signal switching module is also connected with the output port of the controller; the output port of the controller is connected with the signal input end of the brake driver, and the output end of the brake driver is externally connected with a brake pedal push rod motor; the power module is externally connected with a vehicle storage battery and provides electric energy for the chassis embedded control panel.
2. The embedded control panel of automatic driving automobile chassis according to claim 1, wherein the controller comprises a single chip microcomputer U8, a current limiting resistor R11, a power indicator diode D1, a filter inductor L1, a filter capacitor C25, a decoupling capacitor C26, a short-circuit resistor R12, a short-circuit resistor R13, a filter capacitor C28, a decoupling capacitor C27, a filter capacitor C30, a decoupling capacitor C29, a filter capacitor C32, a decoupling capacitor C31, a crystal oscillator Y3, a correction capacitor C33, a correction capacitor C34, an impedance matching resistor R14, a reset charging resistor R15, a reset charging capacitor C35, a reset button S1, a pull-up resistor R17, a current limiting resistor R16, a program download interface P8, a decoupling capacitor C36, a decoupling capacitor C37, a decoupling capacitor C38 and a decoupling capacitor C39; the model of the single chip microcomputer U8 is MC9S12XS128 MAA; the 15 th pin of the singlechip U8 is connected with one end of a current limiting resistor R16, and the other end of the resistor is connected with the 3 rd pin of a program downloading interface P8; PM0 and PM1 ports of the singlechip U8 are respectively connected with a bus driver of the CAN network interface module; the ports of PT0, PT1, PT2, PT3, PT4 and PT5 of the singlechip U8 are respectively connected with a communication port of a digital-to-analog conversion chip of the accelerator pedal analog signal generation module; a PP3 port of the singlechip U8 is connected with a triode base current limiting resistor of the accelerator pedal signal switching module; the PP0 and PP1 ports of the singlechip U8 are respectively connected with the control signal input end of the brake; PT6, PT7 and PP2 of the single chip microcomputer U8 are connected with the base electrodes of the gear switching module driving triodes respectively to control gear switching.
3. The embedded control board of automatic driving automobile chassis according to claim 2, characterized in that the gear shift module comprises a current limiting resistor R18, a current limiting resistor R19, a current limiting resistor R20, a driving transistor Q2, a driving transistor Q3, a driving transistor Q4, a gear shift relay K2, a gear shift relay K3, a gear shift relay K4, a vehicle gear switch interface P3, a freewheeling diode D2, a freewheeling diode D3, a freewheeling diode D4; one end of the current-limiting resistor R18 is connected with the PP2 of a singlechip in the controller, and the other end of the current-limiting resistor R18 is connected with the base electrode of the driving triode Q2 to control the gear switching relay K2; one end of the current-limiting resistor R19 is connected with PT7 of a singlechip in the controller, and the other end of the current-limiting resistor R19 is connected with a base electrode of a driving triode Q3 to control a gear switching relay K3; one end of a current-limiting resistor R20 is connected with PT6 of a singlechip in the controller, and the other end of the current-limiting resistor R20 is connected with the base electrode of a driving triode Q4 to control a gear switching relay K4; the vehicle range switch interface P3 is externally connected to a vehicle range switch.
4. The embedded control board of automatic driving automobile chassis according to claim 2 or 3, wherein the brake driver comprises a power driver U9, a power driver U10, a pull-up resistor R21, a pull-up resistor R25, a current-limiting resistor R22, a current-limiting resistor R26, a pull-down resistor R23, a pull-down resistor R24, a pull-down resistor R28, a pull-down resistor R29, and a motor interface P4; the model of the power driver is BTS 7960; the INH pin of the power driver IS connected with a power supply through a pull-up resistor, the IS pin and the SR pin are respectively grounded through a pull-down resistor, the control signal input ends of the two power drivers are respectively connected with PP0 and PP1 ports of a single chip in the controller, and the output ends of the two power drivers are both connected with a motor interface P4.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113189971A (en) * | 2021-05-27 | 2021-07-30 | 湖南汽车工程职业学院 | Chassis embedded control panel test platform for automatic driving control |
| CN113609710A (en) * | 2021-09-09 | 2021-11-05 | 安徽江淮汽车集团股份有限公司 | Power simulation method, power chassis simulation system and vehicle body area test system |
| CN113954862A (en) * | 2021-07-29 | 2022-01-21 | 山东中科先进技术研究院有限公司 | Multi-mode control system and method based on intelligent networked vehicle |
-
2019
- 2019-06-14 CN CN201920905570.3U patent/CN209803600U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113189971A (en) * | 2021-05-27 | 2021-07-30 | 湖南汽车工程职业学院 | Chassis embedded control panel test platform for automatic driving control |
| CN113954862A (en) * | 2021-07-29 | 2022-01-21 | 山东中科先进技术研究院有限公司 | Multi-mode control system and method based on intelligent networked vehicle |
| CN113954862B (en) * | 2021-07-29 | 2023-09-08 | 山东中科先进技术有限公司 | Multi-mode control system and method based on intelligent network-connected vehicle |
| CN113609710A (en) * | 2021-09-09 | 2021-11-05 | 安徽江淮汽车集团股份有限公司 | Power simulation method, power chassis simulation system and vehicle body area test system |
| CN113609710B (en) * | 2021-09-09 | 2024-02-27 | 安徽江淮汽车集团股份有限公司 | Power simulation method, power chassis simulation system and vehicle body domain test system |
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Effective date of registration: 20211230 Address after: 518054 Room 501, unit C, building 7, Nanguang garden, Haide Erdao, Nanshan street, Nanshan District, Shenzhen, Guangdong Patentee after: Shenzhen zhizunbao Automobile Technology Co.,Ltd. Address before: 412001 no.476, Hongqi North Road, Hetang District, Zhuzhou City, Hunan Province Patentee before: HUNAN AUTOMOTIVE ENGINEERING VOCATIONAL College |
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