CN210881972U - Chassis integrated control system and vehicle chassis - Google Patents
Chassis integrated control system and vehicle chassis Download PDFInfo
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- CN210881972U CN210881972U CN201921529096.5U CN201921529096U CN210881972U CN 210881972 U CN210881972 U CN 210881972U CN 201921529096 U CN201921529096 U CN 201921529096U CN 210881972 U CN210881972 U CN 210881972U
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Abstract
The utility model provides a chassis integrated control system and vehicle chassis belongs to car control technical field. The system comprises: the brake controller is used for sending a control signal to the brake device; the steering controller is used for sending a control signal to the steering device; a suspension controller for sending a control signal to the suspension device; the vehicle control unit is used for respectively sending control commands to the brake controller, the steering controller and the suspension controller; the vehicle control system further comprises more than two environment information sensing devices used for sending the collected environment information to the vehicle control unit. Because the environmental information received by the vehicle control unit is multisourced, the multisourced environmental information is fused, the sensing range of the surrounding environment of the vehicle can be expanded, and the detection accuracy and the reliability are improved, so that a control instruction is generated by utilizing the fused multisourced environmental information to control the braking device, the steering device and the suspension device, and the comfort and the operation stability of the chassis can be improved.
Description
Technical Field
The utility model relates to a chassis integrated control system and vehicle chassis belongs to car control technical field.
Background
The number and complexity of electric control systems of an automobile chassis are increasing continuously, and how to realize integrated control of a braking device, a steering device and a suspension device in the automobile chassis so as to improve the comfort and the operation stability of the chassis is a problem which needs to be solved urgently.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a chassis integrated control system and vehicle chassis for solve how to realize arresting gear in to vehicle chassis, turn to device and suspension's integrated control, with the travelling comfort that promotes the chassis and the problem of operating stability.
In order to achieve the above object, the utility model provides a chassis integrated control system, include:
the brake controller is used for sending a control signal to the brake device;
the steering controller is used for sending a control signal to the steering device;
a suspension controller for sending a control signal to the suspension device;
the vehicle control unit is used for respectively sending control commands to the brake controller, the steering controller and the suspension controller;
the environment information sensing device comprises more than two environment information sensing devices, wherein the environment information sensing devices are as follows: a vision sensor, a laser radar, a millimeter wave radar, an ultrasonic radar, an acceleration sensor, or a gyroscope; each environmental information perception device is used for sending the collected environmental information to the vehicle control unit.
The chassis integrated control system has the beneficial effects that: the system comprises a plurality of environment information sensing devices, the types of the plurality of environment information sensing devices can be different, so that the environment information received by the vehicle control unit is multisourced, the environment information of multiple sources is fused, the sensing range of the surrounding environment of the vehicle can be expanded, and the detection accuracy and the reliability of the surrounding environment of the vehicle can be improved.
Furthermore, each environmental information perception device is connected with the vehicle control unit through a bus.
The utility model also provides a vehicle chassis, which comprises a chassis body, wherein the chassis body is integrated with a braking device, a steering device and a suspension device; still integrated chassis integrated control system on the chassis body, this system includes:
the brake controller is used for sending a control signal to the brake device;
the steering controller is used for sending a control signal to the steering device;
a suspension controller for sending a control signal to the suspension device;
the vehicle control unit is used for respectively sending control commands to the brake controller, the steering controller and the suspension controller;
the chassis integrated control system also comprises more than two environment information sensing devices, wherein the environment information sensing devices are as follows: a vision sensor, a laser radar, a millimeter wave radar, an ultrasonic radar, an acceleration sensor, or a gyroscope; each environmental information perception device is used for sending the collected environmental information to the vehicle control unit.
The vehicle chassis has the beneficial effects that: the chassis integrated control system of the vehicle chassis comprises a plurality of environment information sensing devices, the types of the environment information sensing devices can be different, so that the environment information received by the vehicle control unit is multisourced, the environment information of multiple sources is fused, the sensing range of the surrounding environment of the vehicle can be enlarged, and the detection accuracy and reliability of the surrounding environment of the vehicle are improved.
Furthermore, each environmental information perception device is connected with the vehicle control unit through a bus.
Further, the brake controller, the steering controller and the suspension controller control the brake device, the steering device and the suspension device in a PWM control manner.
Drawings
Fig. 1 is a schematic structural diagram of a chassis integrated control system of the present invention;
FIG. 2 is a schematic structural view of the vehicle chassis of the present invention;
in the figure, 21 denotes a brake device, 22 denotes a steering device, 23 denotes a suspension device, 31 denotes a vehicle control unit, 32 denotes a brake controller, 33 denotes a steering controller, and 34 denotes a suspension controller.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.
Chassis integrated control system embodiment:
as shown in fig. 1, the chassis integrated control system of the present embodiment includes a brake controller, a steering controller, a suspension controller, a vehicle control unit, and an environment information sensing system composed of 5 environment information sensing devices of different types; wherein, these 5 different kinds of environmental information perception devices are respectively: the system comprises a monocular camera, a laser radar, a three-axis acceleration sensor, a gyroscope and a millimeter wave radar, wherein each environmental information sensing device is connected with a vehicle control unit through a bus (such as a CAN bus) and used for sending acquired environmental information to the vehicle control unit; the vehicle control unit is used for respectively sending control commands to the brake controller, the steering controller and the suspension controller; the brake controller is used for sending a control signal to the brake device; the steering controller is used for sending a control signal to the steering device; and the suspension controller is used for sending a control signal to the suspension device.
The chassis integrated control system of the embodiment comprises 5 different types of environment information sensing devices, so that environment information received by the vehicle control unit is multi-sourced, the multi-sourced environment information is fused, the sensing range of the surrounding environment of the vehicle can be expanded, and the detection accuracy and the reliability of the surrounding environment of the vehicle can be improved.
As another embodiment, the number and the types of the environmental information sensing devices may be adjusted according to actual needs, for example, the chassis integrated control system may include more than two environmental information sensing devices, and the types of the environmental information sensing devices may be: a vision sensor, a laser radar, a millimeter wave radar, an ultrasonic radar, an acceleration sensor, or a gyroscope. In this embodiment, a monocular camera is used as the vision sensor, and as other embodiments, the vision sensor may be a monocular camera, a binocular camera, a trinocular camera, or the like, as long as it can detect a road lane line, road unevenness, and a distance from a chassis to a road; in the present embodiment, a three-axis acceleration sensor is used as the acceleration sensor, and as another embodiment, a dedicated vibration acceleration sensor, a lateral acceleration sensor, a yaw rate sensor, and the like may be used as the acceleration sensor as long as the vibration acceleration, the lateral acceleration, and the yaw rate of the vehicle can be measured.
Vehicle chassis embodiments:
as shown in fig. 2, the vehicle chassis of the present embodiment includes a chassis body on which a braking device 21, a steering device 22, and a suspension device 23 are integrated; the chassis body is also integrated with a chassis integrated control system, and the system comprises a brake controller 32, a steering controller 33, a suspension controller 34, a vehicle control unit 31 and more than two environmental information sensing devices; each environmental information sensing device is connected with the vehicle control unit 31 through a bus (such as a CAN bus) and is used for sending the acquired environmental information to the vehicle control unit 31; the vehicle control unit 31 is used for respectively sending control commands to the brake controller 32, the steering controller 33 and the suspension controller 34; a brake controller 32 for sending a control signal to the brake device 21; a steering controller 33 for sending a control signal to the steering device 22; and a suspension controller 34 for sending a control signal to the suspension device 23.
In the present embodiment, the brake controller 32, the steering controller 33, and the suspension controller 34 control the brake device 21, the steering device 22, and the suspension device 23 by a PWM control method.
The type of the environmental information sensing device may be: a vision sensor, a laser radar, a millimeter wave radar, an ultrasonic radar, an acceleration sensor, or a gyroscope. The vision sensor comprises a monocular camera, a binocular camera, a trinocular camera and the like, and only the road surface lane line, the road surface unevenness and the distance from the chassis to the road surface can be detected; the acceleration sensor includes a triaxial acceleration sensor and a dedicated vibration acceleration sensor, a lateral acceleration sensor, a yaw rate sensor, etc., as long as the acceleration sensor can measure the vibration acceleration, the lateral acceleration, and the yaw rate of the vehicle.
The environment information sensing system is composed of more than two environment information sensing devices, the environment information sensing system sends acquired longitudinal, vertical and transverse road surface information to the vehicle control unit, the vehicle control unit processes the information to generate control instructions (including braking control instructions, steering control instructions and suspension control instructions) and sends corresponding control instructions to the braking controller, the steering controller and the suspension controller respectively, the braking controller, the steering controller and the suspension controller generate control signals (including braking control signals, steering control signals and suspension control signals) according to the received control instructions, and the braking device, the steering device and the suspension device are controlled in a PWM control mode.
The braking device is a general term for all braking and decelerating systems installed in a vehicle, and has a function of decelerating or stopping the vehicle in running or keeping the stopped vehicle still. A steering device, i.e., a steering system, is a generic term for a series of devices for changing or maintaining the traveling or reverse direction of an automobile. The suspension device, i.e. the suspension, is a general term for all force-transmitting connecting devices between the frame (or the load-bearing vehicle body) and the axle (or the wheel) of the vehicle, and has the functions of transmitting the force and moment acting between the wheel and the frame, buffering the impact force transmitted to the frame or the vehicle body from the uneven road surface, and reducing the vibration caused by the impact force, so as to ensure the smooth running of the vehicle.
Claims (5)
1. A chassis integrated control system comprising:
the brake controller is used for sending a control signal to the brake device;
the steering controller is used for sending a control signal to the steering device;
a suspension controller for sending a control signal to the suspension device;
the vehicle control unit is used for respectively sending control commands to the brake controller, the steering controller and the suspension controller;
the system is characterized by further comprising more than two environment information sensing devices, wherein the environment information sensing devices are as follows: a vision sensor, a laser radar, a millimeter wave radar, an ultrasonic radar, an acceleration sensor, or a gyroscope; each environmental information perception device is used for sending the collected environmental information to the vehicle control unit.
2. The chassis integrated control system according to claim 1, wherein each environmental information sensing device is connected to the vehicle control unit through a bus.
3. A vehicle chassis comprises a chassis body, wherein a braking device, a steering device and a suspension device are integrated on the chassis body; still integrated chassis integrated control system on the chassis body, this system includes:
the brake controller is used for sending a control signal to the brake device;
the steering controller is used for sending a control signal to the steering device;
a suspension controller for sending a control signal to the suspension device;
the vehicle control unit is used for respectively sending control commands to the brake controller, the steering controller and the suspension controller;
the chassis integrated control system is characterized by further comprising more than two environment information sensing devices, wherein the environment information sensing devices are as follows: a vision sensor, a laser radar, a millimeter wave radar, an ultrasonic radar, an acceleration sensor, or a gyroscope; each environmental information perception device is used for sending the collected environmental information to the vehicle control unit.
4. The vehicle chassis of claim 3, wherein the environmental information sensing devices are connected to the vehicle control unit via a bus.
5. The vehicle chassis of claim 3 or 4, wherein the brake controller, steering controller and suspension controller control the brake device, steering device and suspension device by means of PWM control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921529096.5U CN210881972U (en) | 2019-09-12 | 2019-09-12 | Chassis integrated control system and vehicle chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921529096.5U CN210881972U (en) | 2019-09-12 | 2019-09-12 | Chassis integrated control system and vehicle chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210881972U true CN210881972U (en) | 2020-06-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921529096.5U Active CN210881972U (en) | 2019-09-12 | 2019-09-12 | Chassis integrated control system and vehicle chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210881972U (en) |
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2019
- 2019-09-12 CN CN201921529096.5U patent/CN210881972U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 450061 Yudao Road, Guancheng District, Zhengzhou City, Henan Province Patentee after: Yutong Bus Co.,Ltd. Address before: No.1, Shibali Heyu Road, Guancheng Hui District, Zhengzhou City, Henan Province Patentee before: ZHENGZHOU YUTONG BUS Co.,Ltd. |
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| CP03 | Change of name, title or address |