CN219687244U - Controller and vehicle - Google Patents

Abstract

The utility model provides a controller and a vehicle.A intelligent driving domain controller comprises a chassis arbitration module and an intelligent driving domain control module; the intelligent driving domain control module is connected with the vehicle sensor module, the intelligent driving domain control module is connected with the chassis arbitration module, the chassis arbitration module is connected with the chassis domain controller, and the chassis domain controller is connected with the braking mechanism and the steering mechanism of the vehicle; the intelligent driving domain control module is used for receiving the sensing signal of the vehicle sensor module, sending the control signal, the chassis arbitration module is used for receiving the control signal sent by the intelligent driving domain control module, sending the signal arbitration result of the control signal to the chassis domain controller, and the chassis domain controller is used for sending the braking signal to the braking mechanism and/or sending the steering signal to the steering mechanism according to the signal arbitration result. The signal transmission between the chassis arbitration module and the intelligent driving domain control module does not need to pass through a bus, so that the load pressure of the bus is reduced, and the real-time performance of the control operation executed by each controller in the chassis domain controller is ensured.

Description

Controller and vehicle

Technical Field

The utility model relates to the technical field of vehicle electronics and electrics, in particular to a controller and a vehicle.

Background

With the development of intelligent driving, the improvement of vehicle comfort, the growth of information interaction and the evolution of power transmission, the functions of automobiles are increasingly complex, the number of software and hardware and the complexity are obviously increased, and the safety of automobile driving is ensured to be an important part of an electronic and electric architecture of the automobile.

Currently, the control part of intelligent driving and the algorithms of executing mechanisms such as power, braking and steering belong to different domain controllers, each domain controller is directly connected through CAN/CANFD or connected through a gateway to transmit information, referring to figure 1, the vehicle comprises an intelligent driving domain controller and a chassis domain controller, each chassis arbitration module in the chassis domain controller is respectively connected with the intelligent driving domain controller through a CAN/CANFD bus, the intelligent driving domain controller sends control information to the bus through a bus interface, and the gateway forwards related signals to the controllers corresponding to each system of the chassis domain.

However, the steering and braking functions of the chassis domain controller are very sensitive to time, the forwarding of the control information of intelligent driving through the CAN/CANFD bus or gateway causes great time delay, the steering and braking functions cannot respond timely, the risk of product function safety is increased, meanwhile, each chassis arbitration module of the chassis domain controller needs to communicate with other chassis arbitration modules to acquire the priorities of the control signals received by other chassis arbitration modules, then the control signals are arbitrated, namely, the control signals are ordered according to the priority, and then each chassis arbitration module executes the control signals received respectively according to the priority indicated by the arbitration result, so that the execution time of the control instruction with the high priority is prevented from being occupied by the control instruction with the low priority, the performance of the whole product is influenced, and the bus load is challenged by excessive signal interaction.

Disclosure of Invention

The embodiment of the utility model aims to provide a controller and a vehicle, so that the load pressure of a bus is reduced, and a chassis domain can execute control commands in time.

In a first aspect, an embodiment of the present utility model provides a controller, including: an intelligent driving domain controller and a chassis domain controller;

the intelligent driving domain controller comprises a chassis arbitration module and an intelligent driving domain control module;

the intelligent driving domain control module is connected with the vehicle sensor module, the intelligent driving domain control module is connected with the chassis arbitration module, the chassis arbitration module is connected with the chassis domain controller, and the chassis domain controller is connected with the braking mechanism and the steering mechanism of the vehicle;

the intelligent driving domain control module is used for receiving the sensing signal of the vehicle sensor module and sending a control signal, the chassis arbitration module is used for receiving the control signal sent by the intelligent driving domain control module and sending a signal arbitration result of the control signal to the chassis domain controller, and the chassis domain controller is used for receiving the signal arbitration result, sending a braking signal to the braking mechanism and/or sending a steering signal to the steering mechanism.

Optionally, the chassis domain controller includes: an electronic stability control system, an electronic parking brake system and an electronic power steering system; the electronic stability control system is connected with the braking mechanism, and the electronic parking braking system is connected with the braking mechanism; the electronic power steering system is connected with the steering mechanism.

Optionally, the controller further comprises: a power domain controller;

the intelligent driving domain controller further comprises a power arbitration module, wherein the power arbitration module is connected with the intelligent driving domain control module, the power arbitration module is connected with the power domain controller, and the power domain controller is connected with a vehicle transmission;

the power arbitration module is used for receiving the speed control signal sent by the intelligent driving domain control module, sending a signal arbitration result of the speed control signal to the power domain controller, and the power domain controller is used for receiving the signal arbitration result and sending a speed regulation signal to the vehicle transmission.

Optionally, the power domain controller is connected with the intelligent driving domain controller through a CAN bus or a CANFD bus.

Optionally, the power domain controller includes: one or more vehicle controllers.

Optionally, the chassis domain controller is connected with the intelligent driving domain controller through a CAN bus or a CANFD bus.

Optionally, the intelligent driving domain control module is connected with the chassis arbitration module to share a memory area.

Optionally, the intelligent driving domain control module is connected with the power arbitration module to share a memory area.

A second aspect an embodiment of the utility model provides a vehicle comprising a controller, a sensor module, a brake mechanism and a steering mechanism as described in the first aspect;

the sensor module is used for sending a sensing signal;

the controller is used for receiving the sensing signal, sending a braking signal to the braking mechanism and/or sending a steering signal to the steering mechanism;

the braking mechanism is used for receiving the braking signal and executing braking operation;

the steering mechanism is used for receiving the steering signal and executing steering operation.

Optionally, the vehicle further comprises: a vehicle transmission;

the controller is used for receiving the sensing signal and sending a speed regulation signal to the vehicle transmission;

the vehicle transmission is used for receiving the speed regulating signal and executing speed regulating operation.

In the embodiment of the utility model, the intelligent driving domain controller comprises a chassis arbitration module and an intelligent driving domain control module; the intelligent driving domain control module is connected with the vehicle sensor module, the intelligent driving domain control module is connected with the chassis arbitration module, the chassis arbitration module is connected with the chassis domain controller, and the chassis domain controller is connected with the braking mechanism and the steering mechanism of the vehicle; the intelligent driving domain control module is used for receiving the sensing signal of the vehicle sensor module, sending the control signal, the chassis arbitration module is used for receiving the control signal sent by the intelligent driving domain control module, sending the signal arbitration result of the control signal to the chassis domain controller, and the chassis domain controller is used for sending the braking signal to the braking mechanism and/or sending the steering signal to the steering mechanism according to the signal arbitration result. The control braking mechanism and the steering mechanism execute braking and steering operations, so that signal transmission between the chassis arbitration module and the intelligent driving domain control module does not need to pass through a bus, but is performed in the intelligent driving domain controller, the load pressure of the bus is reduced, in addition, the chassis domain arbitration module is arranged in the intelligent driving domain controller, so that the intelligent driving domain controller can directly execute the control operations according to arbitration results, re-arbitration is not needed, and the real-time performance of each controller in the chassis domain controller for executing the control operations is ensured.

Drawings

Fig. 1 is a block diagram of a prior art vehicle electrical apparatus provided by the present utility model.

Fig. 2 is a structural diagram of an electronic appliance for a vehicle according to the present utility model.

Fig. 3 is a block diagram of still another vehicle electronic appliance provided by the present utility model.

Detailed Description

Exemplary embodiments of the present utility model will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present utility model are shown in the drawings, it should be understood that the present utility model may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the utility model to those skilled in the art.

Referring to fig. 2, an embodiment of the present utility model provides a controller including: an intelligent driving domain controller and a chassis domain controller; the intelligent driving domain controller comprises a chassis arbitration module and an intelligent driving domain control module; the intelligent driving domain control module is connected with the vehicle sensor module, the intelligent driving domain control module is connected with the chassis arbitration module, the chassis arbitration module is connected with the chassis domain controller, and the chassis domain controller is connected with the braking mechanism and the steering mechanism of the vehicle; the intelligent driving domain control module is used for receiving the sensing signal of the vehicle sensor module, sending the control signal, the chassis arbitration module is used for receiving the control signal sent by the intelligent driving domain control module and sending the signal arbitration result of the control signal to the chassis domain controller, and the chassis domain controller is used for receiving the signal arbitration result, sending the braking signal to the braking mechanism and/or sending the steering signal to the steering mechanism.

Specifically, the "domain" is a set of electronic and electric architectures for controlling a certain large functional module of an automobile, each domain is realized by unified control of a domain controller, and the chassis domain controller mainly controls the running behavior and the running gesture of the automobile, including brake system management, automobile transmission system management, running system management, steering system management, automobile speed sensor management, automobile body gesture sensor management, air suspension system management, air bag system management and the like; the intelligent driving domain controller is used for realizing and controlling the automatic driving function of the automobile, can realize the receiving of image information, the processing and judging of the image information, the processing and calculating of data, the navigation and route planning, the rapid judging and deciding of real-time conditions, and is connected with a plurality of sensors of the automobile to receive the automobile data obtained by the sensors, such as the current running state, the user operation data and the like.

Further, the intelligent driving domain control module obtains a control signal according to the received sensing signal, where the control signal may include: the intelligent driving domain control module sends the control signal to the chassis arbitration module, the chassis arbitration module arbitrates the control signal, determines the chassis domain controller executing the control signal, and sends the signal arbitration result of the control signal to the chassis domain controller executing the control signal. In the controller provided by the embodiment of the utility model, all signals required by the chassis arbitration module are acquired from the bus in the related technology instead of being acquired from the inside of the intelligent driving domain control module of the intelligent driving domain controller, so that the transmission time and bus resources of external signals are saved, and the real-time performance of control signal execution is further improved.

In addition, compared with the related art, the controller provided by the embodiment of the utility model integrates a plurality of chassis arbitration modules arranged in the chassis domain controller into one chassis arbitration module, does not need to acquire the priority of the received control signal from other chassis arbitration modules, and only needs one chassis arbitration module to arbitrate the control signal once, thus greatly reducing delay compared with the related art.

Optionally, the chassis domain controller includes: an electronic stability control system, an electronic parking brake system and an electronic power steering system; the electronic stability control system is connected with the braking mechanism, and the electronic parking braking system is connected with the braking mechanism; the electronic power steering system is connected with the steering mechanism.

In some embodiments, an electronic stability control system (ESC, electronic Stability Controller) system controls primarily the longitudinal and lateral stability of the vehicle, ensuring that the vehicle is traveling in the conscious of the driver. When the understeer or oversteer of the vehicle is found, the system controls a single wheel or a plurality of wheels to brake so as to adjust the vehicle body posture of the vehicle when the vehicle changes lanes or turns over, so that the vehicle can be more stable and safer when the vehicle changes lanes or turns over.

In some embodiments, an electronic parking brake system (EPB, electrical Park Brake) electronically controls the parking brake to select an appropriate braking force based on vehicle speed to ensure travel safety.

In some embodiments, an electronic power steering system (EPS, electric Power Steering) is configured to provide assist torque to an electric motor, and to command the electric motor controller to output a corresponding magnitude and direction of steering assist torque to generate assist power based on torque signals, rotational direction, and vehicle speed signals detected by a torque sensor, and the like.

According to the scheme provided by the embodiment of the utility model, the ESC, the EPB and the arbitration module related to the intelligent driving domain controller are integrated into the whole chassis arbitration module, the chassis arbitration module is arranged in the intelligent driving domain controller, in the related technology, the chassis arbitration module is arranged in the chassis domain controller, the braking deceleration interface signal and the steering torque interface signal generated by the intelligent driving domain control module are required to be acquired from a bus, then arbitration is carried out, and an arbitration result is executed, so that delay is caused.

In some embodiments, the chassis arbitration module may further send the signal arbitration result to the controllers of the ESC, the EPB and the EPS respectively according to the execution priority, where each controller only needs to execute corresponding control operations according to the control signals, so as to avoid the problem that execution states of the controllers are mutually acquired, which affects execution instantaneity of the control signals, and the priority of the control signals executed by each controller is different when manufacturers of the controllers are different, which can prevent the low priority control instruction from occupying execution time of the high priority control instruction, and affecting performance of the whole product.

In some embodiments, the controller further comprises: a power domain controller; the intelligent driving domain controller also comprises a power arbitration module, wherein the power arbitration module is connected with the intelligent driving domain control module, the power arbitration module is connected with the power domain controller, and the power domain controller is connected with the vehicle transmission; the power arbitration module is used for receiving the speed control signal sent by the intelligent driving domain control module, sending a signal arbitration result of the speed control signal to the power domain controller, and the power domain controller is used for receiving the signal arbitration result and sending a speed regulation signal to the vehicle transmission.

In some embodiments, the power domain controller primarily optimizes the power performance of the vehicle, ensuring power safety of the vehicle. The functions of the power domain controller comprise engine management, gearbox management, battery management, power distribution management, emission management, speed limiting management, oil saving and electricity saving management and the like; the power arbitration module is used for arbitrating speed control signals such as acceleration signals to determine the speed control signals finally executed by the power domain controller, so that the power domain controller is used for controlling the vehicle transmission to execute speed regulation operation.

All signals required by the power arbitration module are acquired from a bus in the related technology instead of being acquired from the inside of the intelligent driving domain control module of the intelligent driving domain controller, and the intelligent driving domain control module and the power arbitration module transmit signals in an internal data interaction mode, so that the transmission time and bus resources of external signals are saved, and the instantaneity of the system is further improved.

Optionally, the power domain controller and the intelligent driving domain controller are connected through a CAN bus or a CANFD bus.

In an alternative embodiment, the whole vehicle controller of the power domain controller is connected with the power arbitration module of the intelligent driving domain controller through a CAN bus or a CANFD bus.

It is understood that the CAN bus (Controller Area Network) is a standard bus for an automotive computer control system and an embedded industrial control local area network, and is a serial communication network that effectively supports distributed control or real-time control, so as to realize real-time and reliable data communication between nodes of the distributed control system. The CANFD bus is a modified CAN bus. And a power arbitration module in the intelligent driving domain controller sends a signal arbitration result of the speed control signal to the power domain controller through a CAN bus or a CANFD bus, so that the power domain controller executes a speed regulation instruction.

Optionally, the power domain controller includes: one or more vehicle controllers.

In some embodiments, the overall vehicle controller (VCU, vehicle control unit) is based on driver drive torque demand and vehicle actual state. And optimizing and managing the dynamic control process controlled by the whole driving system. The powertrain components are adapted to the driver's driving needs in an optimized operating mode. For example, the power arbitration module sends the signal arbitration result to the VCU to achieve different acceleration effects through arbitration of acceleration signals such as control (depth, depression rate, etc.) of the accelerator pedal.

Optionally, the chassis domain controller is connected with the intelligent driving domain controller through a CAN bus or a CANFD bus.

In an alternative embodiment, the controllers of the ESC, EPB and EPS of the chassis domain controller are connected to the chassis arbitration module of the intelligent drive domain controller via a CAN bus or a CANFD bus, respectively.

In some embodiments, a chassis domain arbitration module within the intelligent drive domain controller issues a final signal arbitration result to each of the chassis domain controllers via the CAN bus or CANFD bus, causing each of the chassis domain controllers to execute instructions for braking or steering.

Optionally, the intelligent driving domain control module is connected with the chassis arbitration module to share the memory area.

In some embodiments, the shared memory area is a shared memory area that can be accessed by both the intelligent driving domain control module and the chassis arbitration module, so that the intelligent driving domain control module and the chassis arbitration module communicate in an internal variable or shared memory manner, thereby saving transmission time and bus resources of external signals and further improving the instantaneity of the system.

Optionally, the intelligent driving domain control module is connected with the power arbitration module to share a memory area.

In some embodiments, the shared memory area is a shared memory area that can be accessed by both the intelligent driving domain control module and the power arbitration module, so that the intelligent driving domain control module and the power arbitration module communicate in an internal variable or shared memory manner, thereby saving transmission time and bus resources of external signals and further improving the instantaneity of the system.

In some embodiments, the sensing signals of the vehicle sensor module include brake sensing signals, and the control signals sent by the intelligent drive domain control module include brake control signals, respectively. That is, the intelligent driving domain control module is configured to receive a brake sensing signal of the vehicle sensor module, and generate and transmit a brake control signal according to the brake sensing signal. Correspondingly, the chassis arbitration module receives the braking control signal to arbitrate the braking control signal, and sends a signal arbitration result of the braking control signal to the chassis domain controller, and the chassis domain controller is used for receiving the signal arbitration result, generating a braking signal, sending the braking signal to the braking mechanism, and the braking mechanism responds to the braking signal to execute braking operation.

In some embodiments, the brake sensing signal may be a brake sensing signal (a deceleration brake sensing signal) corresponding to deceleration braking generated by the vehicle sensor module according to a user stepping on the brake pad, or may be a brake sensing signal (a parking brake sensing signal) corresponding to parking braking generated by a user operating an electronic hand brake button or a handle brake.

In some possible application scenarios, a user may control parking of the vehicle, for example, the user may operate an electronic hand brake button or pull up a hand brake, the vehicle sensor module may generate a brake sensing signal (parking brake sensing signal) according to the operation of the user parking brake, and send the brake sensing signal to the intelligent driving domain control module, the intelligent driving domain control module receives the brake sensing signal, generates a brake control signal (parking brake control signal), and sends the brake control signal to the chassis arbitration module, the chassis arbitration module arbitrates the brake control signal to obtain a signal arbitration result, the signal arbitration result indicates that the EPB performs brake control, the EPB of the chassis domain controller receives the signal arbitration result, and the EPB generates a brake signal (parking brake signal) according to the signal arbitration result, and sends the brake signal to the brake mechanism, thereby controlling the vehicle to perform the parking brake operation.

In some possible application scenarios, the user may control the vehicle to decelerate, for example, the user may tread a brake pad to brake, the vehicle sensor module may generate a brake sensing signal (deceleration brake sensing signal) according to the operation of the user for decelerating and braking, and send the brake sensing signal to the intelligent driving domain control module, the intelligent driving domain control module receives the brake sensing signal and generates a brake control signal (deceleration brake control signal), and sends the brake control signal to the chassis arbitration module, the chassis arbitration module arbitrates the brake control signal to obtain a signal arbitration result, the signal arbitration result indicates that the EPB performs brake control, the EPB of the chassis domain controller receives the signal arbitration result, and the EPB generates a brake signal (deceleration brake signal) according to the signal arbitration result, and sends the brake signal to the brake mechanism, thereby controlling the vehicle to perform the deceleration and braking operation.

In some embodiments, the sensing signals of the vehicle sensor module include steering sensing signals, such as those generated by the vehicle sensor module based on a user controlling steering of the steering wheel. Correspondingly, the control signals sent by the intelligent driving domain control module comprise steering control signals. That is, the intelligent driving domain control module is configured to receive a steering sensing signal of the vehicle sensor module, and generate and transmit a steering control signal according to the steering sensing signal. Correspondingly, the chassis arbitration module receives the steering control signal to arbitrate the steering control signal, and sends a signal arbitration result of the steering control signal to the chassis domain controller, and the chassis domain controller is used for receiving the signal arbitration result, generating a steering signal, sending the steering signal to the steering mechanism, and responding to the steering signal by the steering mechanism to execute steering operation.

In some possible application scenarios, a user needs to turn, the vehicle steering operation is controlled, for example, the user turns a steering wheel, a vehicle sensor module generates a steering sensing signal according to the operation of turning the steering wheel by the user, the steering sensing signal is sent to an intelligent driving domain control module, the intelligent driving domain control module receives the steering sensing signal, generates a steering control signal, and sends the steering control signal to a chassis arbitration module, the chassis arbitration module arbitrates the steering control signal to obtain a signal arbitration result, the signal arbitration result indicates that the EPS performs steering control, the EPS of the chassis domain controller receives the signal arbitration result, the EPS generates a steering signal according to the signal arbitration result, and the EPS sends the steering signal to a steering mechanism, thereby controlling the vehicle to perform steering operation.

In some possible application scenarios, a user may control a steering operation of the vehicle, for example, the user may turn a steering wheel, the vehicle sensor module may generate a steering sensing signal according to the operation of the user turning the steering wheel, and send the steering sensing signal to the intelligent driving domain control module, the intelligent driving domain control module receives the steering sensing signal, generates a steering control signal, and sends the steering control signal to the chassis arbitration module, the chassis arbitration module arbitrates the steering control signal to obtain a signal arbitration result, the signal arbitration result indicates that the EPS performs steering control first, then performs stable braking control by the ESC, the chassis arbitration module sends the signal arbitration result to the EPS and the ESC of the chassis domain controller, the EPS receives the signal arbitration result, the EPS generates a steering signal according to the signal arbitration result, and the ESC of the chassis domain controller generates a braking signal according to the signal arbitration result, and the EPS sends the steering signal to the steering mechanism, and then sends the braking signal to the braking mechanism, thereby controlling the vehicle to perform steering operation, so that the vehicle turns or changes lanes more stably.

In some embodiments, the sensing signals of the vehicle sensor module include a speed change sensing signal, wherein the speed change sensing signal includes an acceleration sensing signal, for example, generated by the vehicle sensor module based on a user stepping on a throttle, or a deceleration sensing signal, for example, generated by the user relaxing the stepping on the throttle. Correspondingly, the control signals sent by the intelligent driving domain control module comprise speed control signals, and the speed control signals comprise acceleration control signals and deceleration control signals. That is, the intelligent driving domain control module is configured to receive a speed change sensing signal of the vehicle sensor module, and generate and transmit a speed control signal according to the speed change sensing signal. Correspondingly, the power arbitration module receives the steering control signal to arbitrate the speed control signal, and sends a signal arbitration result of the speed control signal to the power domain controller, the power domain controller is used for receiving the signal arbitration result and generating a speed regulation signal, the speed regulation signal comprises an acceleration signal and a deceleration signal, and sends the speed regulation signal to the vehicle transmission mechanism, and the vehicle transmission mechanism responds to the speed regulation signal to execute speed regulation operation.

In some possible application scenarios, a user may step on an accelerator (accelerator pedal) when accelerating, the vehicle sensor module may generate an acceleration sensing signal according to an operation of stepping on the accelerator by the user, and send the acceleration sensing signal to the intelligent driving domain control module, the intelligent driving domain control module receives the acceleration sensing signal, generates an acceleration control signal, and sends the acceleration control signal to the power arbitration module, the power arbitration module arbitrates the acceleration control signal to obtain a signal arbitration result, the signal arbitration result indicates that the whole vehicle controller performs acceleration control, the whole vehicle controller VCU of the power domain controller receives the signal arbitration result, generates an acceleration signal according to the signal arbitration result, and sends the acceleration signal to the vehicle transmission, thereby controlling the vehicle to perform acceleration operation.

It should be noted that, the user needs to decelerate and reduce the force of stepping on the accelerator by foot, and the generated deceleration scene is similar to the application scene of acceleration, which is not described in detail in this embodiment.

In some embodiments, the sensing signals of the vehicle sensor module include: the intelligent driving domain control module generates a braking control signal and a steering control signal according to the sensing signals, the two control signals are sent to the chassis arbitration module, the chassis arbitration module carries out arbitration calculation on the control signals to obtain a signal arbitration result, the signal arbitration result can comprise priority ordering of various control signals, the chassis arbitration module sends the obtained signal arbitration result to the chassis domain controller, the chassis domain controller receives the signal arbitration result to generate a braking signal and a steering signal, and the braking signal and the steering signal are sent to the braking mechanism and the steering mechanism according to the priority order in the signal arbitration result, so that the braking mechanism is controlled to execute braking operation and the steering mechanism to execute steering operation.

In some possible application scenarios, a user needs to control the vehicle to turn and brake at a reduced speed, the user steps on a brake pad and controls the steering wheel of the vehicle to turn, a vehicle sensor module generates a brake sensing signal and a steering sensing signal according to the user steps on the brake pad and operates the steering wheel to turn, the sensing signals are sent to an intelligent driving domain control module, the intelligent driving domain control module receives the brake sensing signal and the steering sensing signal and generates a brake control signal and a steering control signal, the control signals are sent to a chassis arbitration module, the chassis arbitration module arbitrates the control signals to obtain a signal arbitration result, the signal arbitration result indicates that the ESC preferentially performs brake control, then the EPS performs steering control, the ESC and the EPS of the chassis domain controller respectively receive the signal arbitration result, then the ESC and the EPS respectively generate the brake signal and the steering signal according to the signal arbitration signal, the ESC firstly sends the brake signal to a brake mechanism, and then sends the steering signal to the steering mechanism, and thus controls the vehicle to perform operation of decelerating and steering simultaneously. In this embodiment, it is avoided that in the related art, after the ESC and the EPS respectively receive the control signals of the braking deceleration interface signals, respective arbitration modules are required to perform arbitration calculation, so as to determine the priority order of finally executing the braking signals.

In some embodiments, the sensing signals of the vehicle sensor module include: the intelligent driving domain control module generates an acceleration control signal and a steering control signal according to the sensing signals, the steering control signal is sent to the chassis arbitration module, the acceleration control signal is sent to the power arbitration module, the chassis arbitration module arbitrates the steering control signal to obtain a signal arbitration result, the signal arbitration result of the steering control signal is sent to the chassis domain controller, the chassis domain controller generates a braking signal according to the signal arbitration result of the steering control signal, and the braking mechanism receives the braking signal to execute braking operation; the power arbitration module arbitrates the acceleration control signals to obtain signal arbitration results, and sends the signal arbitration results of the acceleration control signals to the power domain controller, the power domain controller generates acceleration signals according to the signal arbitration results of the acceleration control signals and sends the acceleration signals to the vehicle transmission, and the vehicle transmission executes acceleration operation according to the acceleration signals.

In some possible scenarios, the user needs to control the vehicle to turn and accelerate, and steps on the accelerator while controlling the steering wheel to turn, the vehicle sensor module generates an acceleration sensing signal and a steering sensing signal according to the user stepping on the accelerator and operating the steering wheel to turn, and sends the sensing signals to the intelligent driving domain control module, the intelligent driving domain control module receives the acceleration sensing signal and the steering sensing signal, generates an acceleration control signal and a steering control signal, and sends the steering control signal to the chassis arbitration module, the acceleration control signal is sent to the power arbitration module, the chassis arbitration module arbitrates the brake control signal to obtain a signal arbitration result, the signal arbitration result indicates that the EPS of the chassis domain controller receives the signal arbitration result, then the EPS generates the steering signal according to the signal arbitration signal, and then the EPS sends the steering signal to the steering mechanism, the power arbitration module arbitrates the received acceleration control signal to obtain a signal arbitration result, and sends the signal arbitration result to the power domain controller, and the whole vehicle controller VCU of the power domain controller generates the acceleration signal according to the signal arbitration result and sends the acceleration signal to the vehicle transmission, thereby performing steering operation while performing steering operation of the vehicle transmission.

In some embodiments, the signal arbitration result generated by the chassis arbitration module includes a name or an identification of a system of the chassis domain controller that received the signal arbitration result, where the system of the chassis domain controller is one or more of ESC, EPB, and EPS, a priority of the system that received the signal arbitration result to send the respective generated signal (a priority of the one or more of ESC, EPB, and EPS to send the respective generated signal), a magnitude of a braking speed, and/or a magnitude of a steering torque.

In some embodiments, the signal arbitration result generated by the power arbitration module includes a name (or identifier) of a target whole vehicle controller of the power domain controller that receives the signal arbitration result, and a magnitude of the accelerated speed.

In a second aspect, referring to fig. 3, an embodiment of the present utility model provides a vehicle comprising a controller, a sensor module, a brake mechanism and a steering mechanism as described in the first aspect; the sensor module is used for sending a sensing signal; the controller is connected with the sensor module and is used for receiving the sensing signal, sending a braking signal to the braking mechanism and/or sending a steering signal to the steering mechanism; a brake mechanism for receiving a brake signal and performing a brake operation; and the steering mechanism is used for receiving the steering signal and executing steering operation.

In some embodiments, the vehicle may include the controller provided in the first aspect, wherein the chassis domain controller mainly controls a running behavior and a running posture of the vehicle, including brake system management, vehicle drive system management, running system management, steering system management, vehicle speed sensor management, vehicle body posture sensor management, air suspension system management, airbag system management, and the like; the intelligent driving domain controller can also be used for realizing and controlling the automatic driving function of the automobile, and can realize the receiving of image information, the processing and judging of the image information, the processing and calculating of data, the navigation and route planning, the rapid judging and deciding of real-time conditions and the connection with a plurality of sensors of the automobile so as to receive the automobile data obtained by the sensors, such as the current running state, the user operation data and the like.

The chassis domain arbitration module is arranged in the intelligent driving domain controller, so that signal interaction between the intelligent driving domain control module and the chassis domain arbitration module is the signal interaction inside the intelligent driving domain controller, and the intelligent driving domain arbitration module does not need to be forwarded through a bus, so that failure risk caused by signal transmission delay is reduced, the number of signals on the bus is reduced, and the load pressure of the bus is lightened. Meanwhile, each module can uniformly arbitrate and distribute tasks in the intelligent driving domain controller, so that the real-time performance of executing braking, steering or accelerating actions is ensured, the SOA architecture of the future vehicle-mounted Ethernet is met, and the development trend of the future vehicle intellectualization, electrodynamic and networking is supported. In addition, the method comprises the following steps. Because the arbitration modules related to the intelligent driving domain controller in the ESC, the EPB and the EPS controller are integrated into the same chassis domain arbitration module, the number of controller interfaces and buses is reduced, and the cost of the vehicle is reduced.

Optionally, referring to fig. 3, the vehicle further includes: a vehicle transmission; the controller is used for receiving the sensing signal and sending a speed regulation signal to the vehicle transmission; the vehicle transmission is used for receiving the speed regulating signal and executing speed regulating operation.

Specifically, the power domain controller mainly optimizes the power performance of the vehicle and ensures the power safety of the vehicle. The vehicle further includes a vehicle transmission coupled to the power domain controller.

In some embodiments, the vehicle transmission is a set of speed change device for coordinating the rotation speed of the engine and the actual running speed of the wheels, after the intelligent driving domain control module of the intelligent driving domain controller receives the speed change sensing signal sent by the vehicle sensor module, the intelligent driving domain control module generates a speed control signal, sends the speed control signal to the power arbitration module, arbitrates the speed control signal through the power arbitration module arranged inside the intelligent driving domain controller, sends the signal arbitration result to the power domain controller after the power arbitration module arbitrates the speed control signal, and the power domain controller receives the signal arbitration result and sends a speed regulation signal to the vehicle transmission according to the signal arbitration result so that the vehicle performs speed regulation operation. After receiving the speed control signal, the power arbitration module can uniformly dispatch each task of the intelligent driving domain control module and the power arbitration module in the intelligent driving domain controller according to the priority order of each task, so that the real-time performance of each task is ensured.

The controller provided by the embodiment of the utility model comprises an intelligent driving domain controller and a chassis domain controller, wherein the intelligent driving domain controller comprises a chassis arbitration module and an intelligent driving domain control module; the intelligent driving domain control module is connected with the vehicle sensor module, the intelligent driving domain control module is connected with the chassis arbitration module, the chassis arbitration module is connected with the chassis domain controller, and the chassis domain controller is connected with the braking mechanism and the steering mechanism of the vehicle; the intelligent driving domain control module is used for receiving the sensing signal of the vehicle sensor module, sending a control signal, the chassis arbitration module is used for receiving the control signal sent by the intelligent driving domain control module and sending a signal arbitration result of the control signal to the chassis domain controller, the chassis domain controller is used for receiving the signal arbitration result and sending a braking signal to the braking mechanism and/or sending a steering signal to the steering mechanism, and controlling the braking mechanism and the steering mechanism to execute braking and steering operation, so that the signal transmission between the chassis arbitration module and the intelligent driving domain control module does not need to pass through a bus but is carried out in the intelligent driving domain controller, the load pressure of the bus is reduced, and in addition, the chassis domain arbitration module is arranged in the intelligent driving domain controller, so that the intelligent driving domain controller can directly execute the control operation according to the signal arbitration result without arbitrating again, and the real-time performance of the control operation executed by each controller in the chassis domain controller is ensured.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. For embodiments of an apparatus, an electronic device, a computer-readable storage medium, and a computer program product containing instructions, the description is relatively simple, as it is substantially similar to method embodiments, with reference to the section of the method embodiments being relevant.

The foregoing description is only of the preferred embodiments of the present utility model and is not intended to limit the scope of the present utility model. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model are included in the protection scope of the present utility model.

Claims (10)

1. A controller, comprising: an intelligent driving domain controller and a chassis domain controller;

the intelligent driving domain controller comprises a chassis arbitration module and an intelligent driving domain control module;

the intelligent driving domain control module is connected with the vehicle sensor module, the intelligent driving domain control module is connected with the chassis arbitration module, the chassis arbitration module is connected with the chassis domain controller, and the chassis domain controller is connected with the braking mechanism and the steering mechanism of the vehicle;

the intelligent driving domain control module is used for receiving the sensing signal of the vehicle sensor module and sending a control signal, the chassis arbitration module is used for receiving the control signal sent by the intelligent driving domain control module and sending a signal arbitration result of the control signal to the chassis domain controller, and the chassis domain controller is used for receiving the signal arbitration result, sending a braking signal to the braking mechanism and/or sending a steering signal to the steering mechanism.

2. The controller of claim 1, wherein the chassis domain controller comprises: an electronic stability control system, an electronic parking brake system and an electronic power steering system; the electronic stability control system is connected with the braking mechanism, and the electronic parking braking system is connected with the braking mechanism; the electronic power steering system is connected with the steering mechanism.

3. The controller of claim 1, wherein the controller further comprises: a power domain controller;

the intelligent driving domain controller further comprises a power arbitration module, wherein the power arbitration module is connected with the intelligent driving domain control module, the power arbitration module is connected with the power domain controller, and the power domain controller is connected with a vehicle transmission;

the power arbitration module is used for receiving the speed control signal sent by the intelligent driving domain control module, sending a signal arbitration result of the speed control signal to the power domain controller, and the power domain controller is used for receiving the signal arbitration result and sending a speed regulation signal to the vehicle transmission.

4. A controller according to claim 3, wherein the power domain controller and the intelligent drive domain controller are connected by a CAN bus or CANFD bus.

5. A controller according to claim 3, wherein the power domain controller comprises: one or more vehicle controllers.

6. The controller of claim 1, wherein the chassis domain controller and the intelligent drive domain controller are connected by a CAN bus or a CANFD bus.

7. The controller of claim 1, wherein the intelligent drive domain control module is coupled to the chassis arbitration module in a shared memory area.

8. The controller of claim 3, wherein the intelligent drive domain control module is coupled to the power arbitration module in a shared memory area.

9. A vehicle comprising a controller according to any one of claims 1-8, a sensor module, a brake mechanism and a steering mechanism;

the sensor module is used for sending a sensing signal;

the controller is used for receiving the sensing signal, sending a braking signal to the braking mechanism and/or sending a steering signal to the steering mechanism;

the braking mechanism is used for receiving the braking signal and executing braking operation;

the steering mechanism is used for receiving the steering signal and executing steering operation.

10. The vehicle of claim 9, characterized in that the vehicle further comprises: a vehicle transmission;

the controller is used for receiving the sensing signal and sending a speed regulation signal to the vehicle transmission;

the vehicle transmission is used for receiving the speed regulating signal and executing speed regulating operation.