CN209879304U

CN209879304U - Automobile chassis control system

Info

Publication number: CN209879304U
Application number: CN201920995649.XU
Authority: CN
Inventors: 余子衿; 胡正宏
Original assignee: Nanjing Anyang Intelligent Technology Co Ltd
Current assignee: Nanjing Anyang Intelligent Technology Co Ltd
Priority date: 2019-06-28
Filing date: 2019-06-28
Publication date: 2019-12-31
Anticipated expiration: 2029-06-28

Abstract

The utility model provides an automobile chassis control system, include: the system comprises a vehicle control unit VCU, a push rod motor, an electronic throttle, an encoder, a steering motor, a spindle motor, a gear switching control system and a braking system; the VCU of the vehicle controller comprises a single chip microcomputer, a relay circuit, a push rod motor driving circuit, an electronic throttle control circuit, a communication interface circuit and a power supply circuit; the power supply circuit converts the direct-current power supply into voltage required by the singlechip and other circuits; the communication interface circuit provides a communication interface for the singlechip; the encoder collects the displacement of an accelerator pedal in the electronic accelerator and sends the displacement to the single chip microcomputer; the single chip microcomputer drives the push rod motor through the push rod motor driving circuit, drives the electronic throttle through the electronic throttle control circuit, and starts/closes the steering motor, the spindle motor, the gear switching system and the braking system through the relay circuit. The scheme can completely get rid of manual control through the wire control system of the VCU of the vehicle control unit, and the chassis can operate autonomously.

Description

Automobile chassis control system

Technical Field

The utility model belongs to the technical field of drive-by-wire chassis technique and specifically relates to vehicle chassis control system.

Background

The conventional chassis is such that: the device consists of a transmission system, a steering system, a braking system and a running system. The driver's control commands are transmitted to the actuators through a series of mechanical devices. The actuator begins to execute the functional device.

The defects of the traditional chassis are as follows: traditional mechanical devices for transmitting commands tend to be bulky and complex; the control of the whole vehicle is not accurate enough, and the error is large, so that the execution deviation caused by transmission is easy to occur;

in order to overcome the defects of the traditional chassis, the drive-by-wire chassis is produced, and the existing drive-by-wire chassis has the following structure:

the transmission control is realized using an electric signal, rather than being operated by a mechanical connection device. The electronic sensor and the actuator which are accurate and sensitive are used for replacing some heavy and low-accuracy mechanical structures, and a plurality of originally complicated mechanical transmission mechanisms are omitted. The electronic device is used to replace the transmission link device and hydraulic connection device of the original chassis. The driver converts the driving instruction into an electric signal through the man-machine interface and transmits the electric signal to the actuating mechanism, the actuating mechanism then transmits the electric signal to the function device, and the sensor senses the state of the function device and feeds the state back to the driver through the man-machine interface.

However, the existing drive-by-wire chassis has the defects that: although the wire control technology is realized, the man-machine interaction is finally needed, and man-machine interaction structure devices such as a seat and a steering wheel need to be reserved for manual operation, so that the automatic operation cannot be realized.

Disclosure of Invention

The purpose of the invention is as follows: for overcoming prior art's defect, the utility model provides a vehicle chassis control system.

The technical scheme is as follows: the utility model provides a technical scheme does:

an automotive chassis control system comprising: the system comprises a vehicle control unit VCU, and a push rod motor, an electronic throttle, an encoder, a steering motor, a spindle motor, a gear switching control system and a braking system which are respectively connected with the vehicle control unit VCU; the steering servo motor and the speed reducing motor connected with the steering servo motor jointly form a steering mechanism of the chassis, and the push rod motor is used as a driving motor of the hydraulic disc brake system;

the VCU of the vehicle controller comprises a single chip microcomputer, a relay circuit, a push rod motor driving circuit, an electronic throttle control circuit, a communication interface circuit and a power supply circuit; the power supply circuit converts the direct-current power supply into voltage required by the singlechip and other circuits; the communication interface circuit provides communication interfaces for the singlechip, the upper computer, the steering motor, the spindle motor, the gear switching control system and the brake system; the encoder collects the rotation speed information of the rear wheel of the whole vehicle and sends the information to the single chip microcomputer; the single chip microcomputer drives the push rod motor through the push rod motor driving circuit, drives the electronic throttle through the electronic throttle control circuit, and starts/closes the steering motor, the spindle motor, the gear switching system and the braking system through the relay circuit.

Further, the interface provided by the communication interface circuit comprises: TTL interface, PWM interface, 485 interface, IIC interface, RST interface and I/O interface.

Furthermore, the electronic throttle control circuit is a digital-to-analog conversion circuit, the digital-to-analog conversion circuit interacts with the single chip microcomputer through an IIC interface, a control signal output by the single chip microcomputer is converted into an analog voltage, and then the analog voltage is directly input into the traction motor driver to serve as the throttle voltage.

Further, the voltage provided by the power circuit comprises 5V voltage, 12V voltage, upper computer power voltage and power voltage of a sensor on the electric vehicle.

The vehicle lighting system is connected with the single chip microcomputer through a relay circuit, and the single chip microcomputer controls the on-off of each lighting branch through the relay circuit.

Has the advantages that: compared with the prior art, the invention has the following advantages:

the utility model provides a structure on new drive-by-wire chassis, the drive-by-wire system through vehicle control unit VCU can break away from artificial control completely, realizes that the chassis can independently operate, has obvious price advantage in the drive-by-wire chassis of the same kind.

Drawings

Fig. 1 is an overall structural view of a drive-by-wire chassis of an unmanned electric vehicle according to an embodiment;

FIG. 2 is a circuit topology diagram of a single chip microcomputer circuit;

FIG. 3 is a peripheral circuit of the single chip microcomputer;

FIG. 4 is a circuit topology diagram of the push rod motor drive circuit;

FIG. 5 is a circuit topology diagram of an electronic throttle control circuit;

FIG. 6 is a relay control circuit topology diagram of the steering motor;

FIG. 7 is a topological diagram of a relay control circuit of the spindle motor;

FIG. 8 is a schematic diagram of a relay control circuit for braking;

FIG. 9 is a relay control circuit topology of the shift circuit;

FIG. 10 is a circuit topology diagram of the communication interface of the communication device;

FIG. 11 is a 485 interface circuit topology diagram;

FIG. 12 is a GPS interface circuit topology diagram;

FIG. 13 is an ultrasonic interface circuit topology;

FIG. 14 is a limit switch interface circuit topology;

FIG. 15 is a schematic diagram of a power supply circuit.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and specific embodiments.

The embodiment provides an automobile chassis control system, the overall structure of which is shown in fig. 1, and the drive-by-wire chassis can independently realize all operations except for opening and closing of the chassis by matching an autonomously designed vehicle control unit VCU with a push rod motor, an electronic throttle, an encoder, a steering motor, a spindle motor, a gear switching control system, a braking system and the like controlled by a bus.

Fig. 1 is an overall structural view of a drive-by-wire chassis of the unmanned electric vehicle, including: the single chip microcomputer, the relay circuit, the push rod motor driving circuit, the electronic throttle control circuit, the communication interface circuit and the power supply circuit; the power supply circuit converts the direct-current power supply into voltage required by the singlechip and other circuits; the communication interface circuit provides communication interfaces for the singlechip, the upper computer, the steering motor, the spindle motor, the gear switching control system and the brake system; the encoder collects the rotating speed of the rear wheel of the whole vehicle and sends the rotating speed to the single chip microcomputer; the single chip microcomputer drives the push rod motor through the push rod motor driving circuit, drives the electronic throttle through the electronic throttle control circuit, and starts/closes the steering motor, the spindle motor, the gear switching system and the braking system through the relay circuit.

Wherein, the program that the singlechip carried can be realized according to the demand programming, the utility model discloses only through adopting the connection structure of each part of drive-by-wire chassis realizes whole chassis drive-by-wire to make the electric motor car break away from artificial control, realize that the chassis can independently move.

Fig. 2 is a circuit topology diagram of a single chip microcomputer circuit, fig. 3 is a peripheral circuit of the single chip microcomputer, and the model of the single chip microcomputer is ATMEGA-2560.

Fig. 4 is a circuit topology diagram of the push rod motor driving circuit, the push rod motor driving circuit adopts an MC33926 chip as a push rod motor driving chip, the push rod motor driving chip is connected with a single chip microcomputer, the duty ratio is adjusted according to the output signal of the single chip microcomputer, the output torque of the push rod motor is controlled, the push rod motor is driven towards the designated direction and outputs the thrust, and the thrust output by the push rod motor is used as the pressure of the hydraulic disc brake, so as to complete the braking action. The hydraulic brake can be involved in the conditions of the chassis for preventing the chassis from running away and sliding down a slope, and the driving safety of the chassis is guaranteed. Meanwhile, the push rod motor driving circuit further comprises an encoder interface, and the encoder interface is connected with the single chip microcomputer and can be directly connected with the encoder.

The original speed system of the chassis is that the traditional accelerator handle manually adjusts the voltage of a potentiometer outputting 0-5V and is connected into an accelerator input interface of a spindle motor driver of the chassis. In the embodiment, as shown in fig. 5, a circuit topology diagram of the electronic throttle control circuit is shown, an MCP4725 digital-to-analog converter chip is adopted, the MCP4725 interacts with the single chip microcomputer through an IIC interface, a control signal output by the single chip microcomputer is converted into a real-time adjustable analog voltage to replace a handle to output a throttle voltage, and the analog voltage is input into an electronic throttle system to serve as a throttle voltage, so that the speed of the chassis is controlled to be more stable and controllable than the throttle control. The speed of the chassis can be kept stable and constant for a long time by matching with a brake system controlled by a VCU of the vehicle controller.

Fig. 6 to 9 are relay circuits, wherein fig. 6 is a relay control circuit of a steering motor, fig. 7 is a relay control circuit of a spindle motor, fig. 8 is a relay control circuit of a brake, and fig. 9 is a relay control circuit of a shift circuit. The relay circuit can be flexibly configured through program setting and peripheral connection according to the control requirements of the relay switch, for example, a chassis driver switch, front and rear headlights of a chassis, a power switch of corresponding external equipment and the like can be controlled through the relay.

Fig. 10 to 14 are interface circuits, wherein fig. 10 is an interface for communication between the communication interface of the communication device, i.e. RS232, and the upper computer; FIG. 11 shows a 485 interface circuit for acquiring ultrasonic signals; fig. 12 is a GPS interface circuit, fig. 13 is an ultrasonic interface circuit, and fig. 14 is a limit switch interface circuit for detecting a signal indicating whether the vehicle has turned back.

Fig. 15 is a power supply circuit that provides various voltages, such as 5V, 12V, upper computer power supply voltage, and power supply voltage of sensors on an electric vehicle.

The above description is only a preferred embodiment of the present invention, and it should be noted that: for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be considered as the protection scope of the present invention.

Claims

1. An automotive chassis control system, characterized by comprising: the system comprises a vehicle control unit VCU, and a push rod motor, an electronic throttle, an encoder, a steering motor, a spindle motor, a gear switching control system and a braking system which are respectively connected with the vehicle control unit VCU; the steering servo motor and the speed reducing motor connected with the steering servo motor jointly form a steering mechanism of the chassis, and the push rod motor is used as a driving motor of the hydraulic disc brake system;

2. The vehicle chassis control system of claim 1, wherein the communication interface circuit provides an interface comprising: RS232 interface, PWM interface, 485 interface, IIC interface, RST interface and I/O interface.

3. The vehicle chassis control system of claim 2, wherein the electronic throttle control circuit is a digital-to-analog conversion circuit, the digital-to-analog conversion circuit interacts with the single chip microcomputer through an IIC interface, a control signal output by the single chip microcomputer is converted into an analog voltage, and then the analog voltage is directly input to the traction motor driver as the throttle voltage.

4. The vehicle chassis control system of claim 1, wherein the voltage provided by the power circuit comprises a 5V voltage, a 12V voltage, a host power voltage, and a power voltage of a sensor on the electric vehicle.

5. The automobile chassis control system according to claim 1, further comprising a vehicle lighting system, wherein the vehicle lighting system is connected with the single chip microcomputer through a relay circuit, and the single chip microcomputer controls the on-off of each lighting branch through the relay circuit.