Vehicle control system and vehicle

Abstract

The utility model provides a vehicle control system and a vehicle. The control system comprises a vehicle-mounted computing device, a signal transfer controller, a data acquisition module and a suspension execution module, and the data acquisition module, the suspension execution module and the vehicle-mounted computing device are all connected with the signal transfer controller; the data acquisition module is set to acquire sensing information and transmit the sensing information to the signal transfer controller; the sensing information is related to suspension control of the vehicle; the signal transfer controller is set to receive the sensing information and transmit the sensing information to the vehicle-mounted computing device; the vehicle-mounted computing device is set to receive the sensing information, generate a control signal according to the sensing information and transmit the control signal to the signal transfer controller; the signal transfer controller is further set to receive the control signal and transmit the control signal to the suspension execution module; the suspension execution module is set to receive the control signal and act according to the control signal so as to control suspension parameters.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the technical field of circuit design, and more specifically, to a vehicle control system and a vehicle. Background Art

[0002] Suspension is an important assembly in a car. It is a general term for all force-transmitting connection devices between the car frame (or load-bearing body) and the axle (or wheel). Its function is to transmit the force and torque acting between the wheel and the frame, and to cushion the impact force transmitted to the frame or body by the uneven road surface, and reduce the vibration caused by it, so as to ensure that the car can run smoothly.

[0003] In actual driving, the suspension can greatly reduce the vibration from the road and the rebound of the spring when encountering bumpy roads, so that the vehicle body remains stable. In theory, when the wheels shake violently up and down, the vehicle body only rises and falls like a ship in the sea. In intense driving, the suspension damping can be increased, providing sufficient support force, and making the chassis respond more quickly, improving the vehicle's handling.

[0004] In the prior art, the vehicle's electronic control unit (ECU) usually obtains the vehicle's body height information from a data acquisition module, performs real-time calculations on the obtained information, and then generates a control signal to act on the shock absorber to control the shock absorber's action to change the shock absorber's damping coefficient, thereby changing the stiffness of the suspension. Utility Model Content

[0005] One purpose of the embodiments of the present disclosure is to provide a new technical solution for a vehicle control system.

[0006] According to a first aspect of the present disclosure, a control system of a vehicle is provided, comprising an on-board computing device, a signal relay controller, a data acquisition module, and a suspension execution module, wherein the data acquisition module, the suspension execution module, and the on-board computing device are all connected to the signal relay controller;

[0007] A data acquisition module, configured to collect sensor information and transmit the sensor information to the signal relay controller; the sensor information is related to the suspension control of the vehicle;

[0008] The signal relay controller is configured to receive the sensor information and transmit the sensor information to the vehicle-mounted computing device;

[0009] The vehicle-mounted computing device is configured to receive the sensor information, generate a control signal based on the sensor information, and transmit the control signal to the signal relay controller;

[0010] The signal relay controller is further configured to receive the control signal and transmit the control signal to the suspension execution module;

[0011] The suspension execution module is configured to receive the control signal and act according to the control signal to control suspension parameters.

[0012] Optionally, the computing power of the on-board computing device is higher than the computing power of the signal relay controller.

[0013] Optionally, the signal relay controller is also configured to perform signal conditioning processing on the sensing information.

[0014] Optionally, the suspension execution module includes a shock absorber;

[0015] The shock absorber is configured to act according to the control signal to change its own damping so as to control the stiffness of the suspension.

[0016] Optionally, the signal relay controller includes a first area controller and a second area controller, the data acquisition module includes a first group of height sensors and a second group of height sensors, and the suspension execution module includes a first group of shock absorbers and a second group of shock absorbers; each group of height sensors includes at least one height sensor, and each group of shock absorbers includes at least one shock absorber;

[0017] The first group of height sensors and the first group of shock absorbers are both connected to the first area controller, the second group of height sensors and the second group of shock absorbers are both connected to the second area controller, and the first area controller and the second area controller are both connected to the vehicle-mounted computing device.

[0018] Optionally, the first group of height sensors includes a first height sensor corresponding to the first wheel of the vehicle, and a second height sensor corresponding to the second wheel of the vehicle, and the second group of height sensors includes a third height sensor corresponding to the third wheel of the vehicle, and a fourth height sensor corresponding to the fourth wheel of the vehicle; the first group of shock absorbers includes a first shock absorber corresponding to the first wheel, and a second shock absorber corresponding to the second wheel, and the second group of shock absorbers includes a third shock absorber corresponding to the third wheel, and a fourth shock absorber corresponding to the fourth wheel.

[0019] Optionally, the first group of height sensors, the first group of shock absorbers, and the first zone controller are all arranged on a first side of the vehicle, and the second group of height sensors, the second group of shock absorbers, and the second zone controller are arranged on a second side of the vehicle.

[0020] Optionally, the control system further includes an inertial measurement unit, and the inertial measurement unit is connected to the vehicle-mounted computing device;

[0021] The vehicle-mounted computing device is further configured to generate the control signal according to the inertial signal collected by the inertial measurement unit.

[0022] Optionally, the inertial measurement unit is arranged at a position close to the center of mass of the vehicle.

[0023] Optionally, the suspension execution module also includes an exhaust valve and a gas distribution valve, and the exhaust valve and the gas distribution valve are configured to operate according to corresponding control signals to inflate and deflate the air spring of the vehicle to adjust the suspension height of the vehicle.

[0024] Optionally, the suspension execution module further includes a relay arranged on a power supply circuit of the air compressor, and the signal relay controller is further connected to a control end of the relay;

[0025] The relay is configured to control the on / off state of the power supply circuit of the air compressor according to the control signal.

[0026] Optionally, the data acquisition module also includes a temperature sensor.

[0027] According to a second aspect of the present disclosure, a vehicle is provided, comprising the control system according to the first aspect of the present disclosure.

[0028] Since the suspension control algorithm has high computing power requirements, strong user perception, and a wide range of influence, compared to the existing solution of setting the suspension control algorithm in the electronic control unit (Engine Control Unit, ECU), this embodiment sets the suspension control algorithm in the vehicle-mounted computing device, so that controllers other than the vehicle-mounted computing device no longer require higher-level computing power and storage resources, which can improve the computing power utilization and storage resource utilization of the vehicle-mounted computing device. In addition, changes to the suspension control algorithm only need to be iterated within the vehicle-mounted computing device, and no other component software needs to be involved, which can increase the iteration speed of the suspension control algorithm and reduce the iteration cost. In addition, the traditional interaction between signal functions is replaced by inter-process communication based on middleware, which can improve the intelligence and aggregation of the suspension control algorithm.

[0029] Other features and advantages of the embodiments of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the embodiments of the present disclosure.

[0031] Figure 1 is a block diagram of a control system of a vehicle according to an embodiment of the present disclosure;

[0032] Figure 2 is a block diagram of a control system of a vehicle according to an embodiment of the present disclosure;

[0033] Figure 3 is a block diagram of a control system of a vehicle according to an embodiment of the present disclosure;

[0034] Figure 4 It is a block diagram of a control system of a vehicle according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0035] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention.

[0036] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present invention, its application, or uses.

[0037] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0038] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0039] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0040] Suspension is an important assembly in a car. It is the general name for all the force transmission connection devices between the car frame (or load-bearing body) and the axle (or wheel). Its function is to transmit the force and torque acting between the wheel and the frame, and to buffer the impact force transmitted to the frame or body by the uneven road surface, and reduce the vibration caused by it, so as to ensure that the car can run smoothly. The suspension is composed of elastic elements, guide mechanisms and shock absorbers.

[0041] The shock absorber is the main component that generates damping force. Its function is to quickly attenuate the vibration of the car, improve the driving smoothness of the car, and enhance the adhesion between the wheel and the ground. In addition, the shock absorber can reduce the dynamic load of the car body and extend the service life of the car. At present, the shock absorbers widely used in automobiles are mainly cylinder-type hydraulic shock absorbers, and their structures can be divided into three types: double-cylinder type, single-cylinder inflatable type and double-cylinder inflatable type. During the up and down jumping of the wheel, the shock absorber piston reciprocates in the working chamber, causing the shock absorber liquid to pass through the throttle hole on the piston. Due to the certain viscosity of the liquid and the friction between the liquid and the hole wall when passing through the throttle hole, the kinetic energy is converted into heat energy and dissipated into the air, thereby achieving the function of attenuating vibration.

[0042] Elastic elements are used to support vertical loads and mitigate and suppress vibration and impact caused by uneven roads. Elastic elements mainly include leaf springs, coil springs, torsion bar springs, air springs and rubber springs. Elastic elements are parts made of highly elastic materials. When the wheel is subjected to a large impact, the kinetic energy is converted into elastic potential energy and stored, which is released when the wheel jumps down or returns to the original driving state.

[0043] The function of the guide mechanism is to transmit force and torque, and also to guide. During the driving process of the car, it can control the movement trajectory of the wheels.

[0044] The structure of the shock absorber is that the piston rod with a piston is inserted into the cylinder, and the cylinder is filled with oil. There is a throttle hole on the piston, so that the oil in the two parts of the space separated by the piston can complement each other. Damping is generated when the viscous oil passes through the throttle hole. The smaller the throttle hole, the greater the damping force. The greater the viscosity of the oil, the greater the damping force. If the size of the throttle hole remains unchanged, when the shock absorber works at a fast speed, excessive damping will affect the absorption of impact. Therefore, a disc-shaped leaf spring valve is set at the outlet of the throttle hole. When the pressure increases, the valve is pushed open, the throttle hole opening increases, and the damping decreases. Since the piston moves in both directions, leaf spring valves are installed on both sides of the piston, which are called compression valves and extension valves respectively.

[0045] The components of the double-tube oil-gas shock absorber include: piston rod, working cylinder, piston, extension valve, oil storage cylinder, compression valve, compensation valve, circulation valve, guide seat, dust cover, and oil seal. When the car wheel moves closer to the car body and the shock absorber is compressed, the piston in the shock absorber moves downward. The volume of the chamber below the piston decreases, the oil pressure increases, and the oil flows through the circulation valve to the chamber above the piston (upper chamber). The upper chamber is partially occupied by the piston rod, so the increased volume of the upper chamber is less than the reduced volume of the lower chamber, so part of the oil pushes open the compression valve and flows back to the oil storage cylinder. The oil conservation of these valves forms a damping force for the compression movement of the suspension. When the wheel is away from the car body, the shock absorber is stretched, and the piston of the shock absorber moves upward. The oil pressure in the upper chamber of the piston increases, the circulation valve is closed, and the oil in the upper chamber pushes open the extension valve and flows into the lower chamber. Due to the presence of the piston rod, the oil flowing from the upper chamber is not enough to fill the increased volume of the lower chamber, causing a vacuum in the lower chamber. At this time, the oil in the oil storage cylinder pushes the compensation valve to flow into the lower chamber for replenishment. Due to the throttling effect of these valves, they play a damping role when the suspension is doing extension movement.

[0046] The Electronic Control Unit (ECU) usually obtains the vehicle's body height information from the data acquisition module, and obtains information such as the sprung acceleration and shock absorber travel, performs real-time calculations on the obtained information, and then generates a control signal to act on the shock absorber, controlling the shock absorber to perform corresponding actions, thereby changing the size of the valve hole, which changes the resistance of the oil passing through the valve, and thus changes the damping coefficient of the shock absorber, thereby changing the stiffness of the suspension.

[0047] Figure 1 It is a block diagram of a control system of a vehicle according to an embodiment of the present disclosure.

[0048] like Figure 1 As shown, the control system 1000 of the vehicle may include an on-board computing device 1100, a signal relay controller 1200, a data acquisition module 1300 and a suspension execution module 1400, and the data acquisition module 1300, the suspension execution module 1400 and the on-board computing device 1100 are all connected to the signal relay controller 1200.

[0049] The data acquisition module 1300 is configured to collect sensor information and transmit the sensor information to the signal relay controller 1200. The sensor information is related to the suspension control of the vehicle.

[0050] The signal relay controller 1200 is configured to receive sensor information and transmit the sensor information to the onboard computing device 1100 .

[0051] The vehicle-mounted computing device 1100 is configured to receive sensor information, generate a control signal based on the sensor information, and transmit the control signal to the signal relay controller 1200 .

[0052] The signal relay controller 1200 is further configured to receive a control signal and transmit the control signal to the suspension execution module 1400 .

[0053] The suspension execution module 1400 is configured to receive a control signal and act according to the control signal to control suspension parameters of the vehicle.

[0054] The vehicle-mounted computing device of this embodiment may be a high performance computer (HPC).

[0055] The data acquisition module 1300 in this embodiment may include multiple sensors, and specifically may include at least one of a height sensor, an acceleration sensor, and a temperature sensor.

[0056] In this embodiment, the signal relay controller 1200 may be connected to the vehicle-mounted computing device 1100 via Ethernet (ETH). Each sensor in the data acquisition module 1300 may communicate with the signal relay controller 1200 via the PSI5 (Peripheral Sensor Interface) protocol, and multiple sensors may be connected to the signal relay controller 1200 in a point-to-point or daisy chain manner.

[0057] In one embodiment of the present disclosure, the signal relay controller 1200 is further configured to perform signal conditioning processing on the sensor information before transmitting the sensor information to the vehicle-mounted computing device.

[0058] Signal conditioning is the process of converting various signals detected by sensitive components into standard signals for subsequent processing and transmission. The signal conditioning process may include but is not limited to the following aspects:

[0059] 1. Debounce: Remove short-term fluctuations caused by random events.

[0060] 2. Filtering: Reduce unnecessary components, such as noise, high-frequency components, etc., to make the signal purer.

[0061] 3. Protection: Prevent the signal from being damaged due to exceeding the normal range.

[0062] 4. Level conversion: adjust the voltage level of the signal according to different input ranges and output requirements.

[0063] 5. Isolation: Avoid mutual interference between signals, especially in the presence of high voltage or dangerous environments.

[0064] 6. Amplification: Increase the amplitude of the input signal to make it more suitable for subsequent analog-to-digital conversion (ADC).

[0065] 7. Linearization: Ensure that the output of the signal maintains the correct proportional relationship, especially when precise measurement is required.

[0066] 8. Signal format conversion: Convert the signal into another form as needed, such as current to voltage conversion.

[0067] 9. Filtering and impedance matching: further improve signal quality and ensure smooth transmission.

[0068] By performing signal conditioning on the sensor information, the performance and accuracy of the control system can be improved. In practical applications, the selection and application of signal conditioning technology depends on the nature of the signal to be measured and the required measurement accuracy. For example, for measurements that require high accuracy, it may be necessary to use multiple signal conditioning methods simultaneously to maximize the accuracy and stability of the data.

[0069] In one embodiment, when the data acquisition module 1300 includes a height sensor, the signal relay controller 1200 may perform signal conditioning processing on the sensor information collected by each height sensor respectively, and upload the sensor information to the on-board computing device 1100 based on the Ethernet protocol. The on-board computing device 1100 generates a control signal according to the conditioned sensor information.

[0070] Specifically, the vehicle-mounted computing device 1100 may be provided with a suspension control algorithm, and performs calculations based on the sensor information and the suspension control algorithm to obtain a control signal of the suspension execution module 1400, and transmits the control signal to the signal relay controller 1200. The signal relay controller 1200 outputs the received control signal to the suspension execution module 1400, so that the suspension execution module 1400 performs an action corresponding to the control signal to adjust the suspension parameters of the vehicle.

[0071] Since the suspension control algorithm has high computing power requirements, strong user perception, and a wide range of influence, compared to the existing solution of setting the suspension control algorithm in the electronic control unit (Engine Control Unit, ECU), this embodiment sets the suspension control algorithm in the vehicle-mounted computing device 1100, so that controllers other than the vehicle-mounted computing device no longer require higher-level computing power and storage resources, which can improve the computing power utilization and storage resource utilization of the vehicle-mounted computing device. In addition, changes to the suspension control algorithm only need to be iterated within the vehicle-mounted computing device, and no other component software needs to be involved, which can increase the iteration speed of the suspension control algorithm and reduce the iteration cost. In addition, the traditional interaction between signal functions is replaced by inter-process communication based on middleware, which can improve the intelligence and aggregation of the suspension control algorithm.

[0072] In addition, in existing solutions, the load of the controller is usually aggregated according to the function, and the load group required by any function is centrally driven by the controller newly added due to the function.

[0073] The signal relay controller of this embodiment can be provided by a regional controller. On this basis, the regional controller is connected between the vehicle-mounted computing device 1100 and the data acquisition module 1300 and the suspension execution module 1400, and the load (data acquisition module 1300, suspension execution module 1400) is connected and driven by the regional controllers distributed in different positions nearby, and the data acquisition module 1300 and the suspension execution module 1400 are connected to the regional controller nearby, without connecting the data acquisition module 1300 to the corresponding function controller, and connecting the suspension execution module 1400 to the corresponding function controller, which can reduce the length of the wiring harness, reduce costs and reduce the weight of the control system. In addition, the regional sensors are used to perform regional control on the data acquisition module 1300 and the suspension execution module 1400. The functions of many traditional controllers (such as BCM (body control module), VCU (Vehicle Control Unit), CCM (Chassis Control Module), etc.) are integrated into the regional controller, which can reduce the number of controllers of the whole vehicle, reduce the complexity of the whole vehicle software development and project management, and thus reduce the development cost. In addition, the regional controller is responsible for the driving, signal processing, and service agent of the data acquisition module and the suspension execution module in its own area, so that the on-board computing device does not need to process more cumbersome differentiated content, reducing the load and impact on the on-board computing device. In addition, the regional sensors are used to perform regional control on the data acquisition module 1300 and the suspension execution module 1400, and the same group of loads (data acquisition module 1300 and suspension execution module 1400) are distributed to different regional controllers. The regional controller is used for cross-driving, which can improve the safety of the control system.

[0074] In this embodiment, the computing power of the onboard computing device 1100 is higher than the computing power of the transfer controller 1200 .

[0075] In one embodiment of the present disclosure, the suspension execution module 1400 may include multiple actuators. Then, the on-board computing device 1100 may obtain a control signal corresponding to each actuator based on the sensing information, and transmit each control signal to the corresponding actuator through the signal relay controller 1200. Each actuator acts according to the corresponding control signal received.

[0076] In one embodiment of the present disclosure, the suspension execution module 1400 includes a shock absorber, which is configured to act according to a control signal and change its own damping to control the stiffness of the suspension.

[0077] In one embodiment of the present disclosure, Figures 2 to 4 As shown, the signal relay controller 1200 includes a first area controller 1210 and a second area controller 1220, the data acquisition module 1300 includes a first group of height sensors 1310 and a second group of height sensors 1320, and the suspension execution module 1400 includes a first group of shock absorbers 1410 and a second group of shock absorbers 1420. Each group of height sensors includes at least one height sensor, and each group of shock absorbers includes at least one shock absorber.

[0078] The first group of height sensors 1310 and the first group of shock absorbers 1410 are both connected to the first regional controller 1210 , the second group of height sensors 1320 and the second group of shock absorbers 1420 are both connected to the second regional controller 1220 , and the first regional controller 1210 and the second regional controller 1220 are both connected to the vehicle-mounted computing device 1100 .

[0079] In this embodiment, the first zone controller 1210 and the second zone controller 1220 are respectively arranged on both sides of the vehicle, for example, the first zone controller 1210 can be arranged on the left side of the vehicle, and the second zone controller 1220 can be arranged on the right side of the vehicle. For another example, the first zone controller 1210 can be arranged in front of the vehicle, and the second zone controller 1220 can be arranged in the rear of the vehicle.

[0080] On this basis, the first group of height sensors 1310, the first group of shock absorbers 1410, and the first zone controller 1210 may be arranged on the same side of the vehicle, and the second group of height sensors 1320, the second group of shock absorbers 1420, and the second zone controller 1220 may be arranged on the same side of the vehicle.

[0081] Specifically, Figure 3 As shown, the first group of height sensors 1310 includes a first height sensor 1311 corresponding to the first wheel of the vehicle, and a second height sensor 1312 corresponding to the second wheel of the vehicle, and the second group of height sensors 1320 includes a third height sensor 1321 corresponding to the third wheel of the vehicle, and a fourth height sensor 1322 corresponding to the fourth wheel of the vehicle; the first group of shock absorbers 1410 includes a first shock absorber 1411 corresponding to the first wheel, and a second shock absorber 1422 corresponding to the second wheel, and the second group of shock absorbers 1420 includes a third shock absorber 1421 corresponding to the third wheel, and a fourth shock absorber 1422 corresponding to the fourth wheel.

[0082] On this basis, a first height sensor 1311 is arranged near the first wheel for detecting the vehicle body height corresponding to the first wheel, and a first shock absorber 1411 is connected between the first wheel and the vehicle body; a second height sensor 1312 is arranged near the second wheel for detecting the vehicle body height corresponding to the second wheel, and a second shock absorber 1412 is connected between the second wheel and the vehicle body; a third height sensor 1321 is arranged near the third wheel for detecting the vehicle body height corresponding to the third wheel, and a third shock absorber 1421 is connected between the third wheel and the vehicle body; a fourth height sensor 1322 is arranged near the fourth wheel for detecting the vehicle body height corresponding to the fourth wheel, and a fourth shock absorber 1422 is connected between the fourth wheel and the vehicle body.

[0083] In an embodiment where the first area controller 1210 is disposed on the left side of the vehicle and the second area controller 1220 is disposed on the right side of the vehicle, the first wheel may be the left front wheel of the vehicle, the second wheel may be the left rear wheel of the vehicle, the third wheel may be the right front wheel of the vehicle, and the fourth wheel may be the right rear wheel of the vehicle.

[0084] The vehicle-mounted computing device 1100 is configured to generate a control signal for controlling each shock absorber according to the conditioned sensor information, and transmit the control signal for controlling the first shock absorber 1411 and the second shock absorber 1422 to the first regional controller 1210, and transmit the control signal for controlling the third shock absorber 1421 and the fourth shock absorber 1422 to the second regional controller 1220. The first regional controller 1210 is configured to transmit the control signal for controlling the first shock absorber 1411 to the first shock absorber 1411, and transmit the control signal for controlling the second shock absorber 1422 to the second shock absorber 1422. The second regional controller 1220 is configured to transmit the control signal for controlling the third shock absorber 1421 to the third shock absorber 1421, and transmit the control signal for controlling the fourth shock absorber 1422 to the fourth shock absorber 1422.

[0085] In this embodiment, the height sensor and shock absorber corresponding to the same wheel are connected to the nearest regional controller, and the regional controller performs regional control on the height sensor and shock absorber within its own area, which can reduce the length of the wiring harness, reduce the cost and reduce the weight of the control system.

[0086] In one embodiment of the present disclosure, Figures 2 to 4 As shown, the control system 1000 further includes an inertial measurement unit 1500 , which is connected to the onboard computing device 1100 .

[0087] Specifically, the inertial measurement unit 1500 may be connected to the vehicle-mounted computing device 1100 via a CAN bus (Controller Area Network).

[0088] In one embodiment, the inertial measurement unit 1500 may be located close to the center of mass of the vehicle.

[0089] On this basis, the on-board computing device 1100 can also generate a control signal according to the inertial signal collected by the inertial measurement unit 1500 .

[0090] In one embodiment of the present disclosure, the elastic element of the suspension may be an air spring, and the vehicle-mounted computing device 1100 is further configured to generate a control signal for controlling the suspension execution module 1400 according to the conditioned sensor information. The signal relay controller 1200 is configured to transmit the control signal to the suspension execution module 1400. The suspension execution module 1400 is further configured to act according to the control signal to adjust the suspension height of the vehicle.

[0091] Since the suspension height control algorithm has high computing power requirements, strong user perception, and a wide range of influence, compared to the existing solution of setting the suspension height control algorithm in the electronic control unit (Engine Control Unit, ECU), this embodiment sets the suspension height control algorithm in the vehicle-mounted computing device 1100, so that controllers other than the vehicle-mounted computing device no longer require higher-level computing power and storage resources, which can improve the computing power utilization and storage resource utilization of the vehicle-mounted computing device. In addition, changes to the suspension height control algorithm only need to be iterated within the vehicle-mounted computing device, and no other component software is required to participate, which can increase the iteration speed of the suspension height control algorithm and reduce the iteration cost. In addition, the traditional interaction between signal functions is replaced by inter-process communication based on middleware, which can improve the intelligence and aggregation of the suspension height control algorithm.

[0092] In addition, in the existing scheme, the load of the controller is usually aggregated according to the function, and the load group required by any function is centrally driven by the controller newly added due to the function. In this embodiment, the regional controller is connected between the on-board computing device 1100 and the data acquisition module 1300 and the suspension execution module 1400, and the load (data acquisition module 1300, suspension execution module 1400) is connected and driven by the regional controllers distributed in different positions nearby. The data acquisition module 1300 and the suspension execution module 1400 are connected to the regional controller nearby, without connecting the data acquisition module 1300 to the corresponding function controller, and connecting the suspension execution module 1400 to the corresponding function controller, which can reduce the length of the wiring harness, reduce costs and reduce the weight of the control system. In addition, the regional sensors are used to perform regional control on the data acquisition module 1300 and the suspension execution module 1400. The functions of many traditional controllers (such as BCM (body control module), VCU (Vehicle Control Unit), CCM (Chassis Control Module), etc.) are integrated into the regional controller, which can reduce the number of controllers of the whole vehicle, reduce the complexity of the whole vehicle software development and project management, and thus reduce the development cost. In addition, the regional controller is responsible for the driving, signal processing, and service agent of the data acquisition module and the suspension execution module in its own area, so that the on-board computing device does not need to process more cumbersome differentiated content, reducing the load and impact on the on-board computing device. In addition, the regional sensors are used to perform regional control on the data acquisition module 1300 and the suspension execution module 1400, and the same group of loads (data acquisition module 1300 and suspension execution module 1400) are distributed to different regional controllers. The regional controller is used for cross-driving, which can improve the safety of the control system.

[0093] On this basis, if Figure 4 As shown, the suspension actuation module 1400 further includes an exhaust valve 1430 and a gas distribution valve 1440 .

[0094] Specifically, each of the exhaust valve 1430 and the gas distribution valve 1440 may be connected to a nearby signal relay controller 1200 .

[0095] Furthermore, the exhaust valve 1430 and the gas distribution valve 1440 may also be connected to the same nearby signal relay controller 1200.

[0096] The on-board computing device 1100 is configured to generate a control signal for controlling the exhaust valve 1430 and the gas distribution valve 1440 based on the sensor information, and transmit the control signal corresponding to the exhaust valve 1430 to the exhaust valve 1430 and the control signal corresponding to the gas distribution valve 1440 to the gas distribution valve 1440 through the signal relay controller 1200.

[0097] The exhaust valve 1430 and the gas distribution valve 1440 are both configured to operate according to received control signals to inflate and deflate the air springs of the vehicle to adjust the suspension height of the vehicle.

[0098] In one embodiment of the present disclosure, Figure 4 As shown, the suspension execution module 1400 also includes a relay 1450 arranged on the power supply circuit of the air compressor, and the signal relay controller is also connected to the control end of the relay.

[0099] The vehicle computing device 1100 is also configured to generate a control signal corresponding to the relay according to the sensing information, and transmit the control signal corresponding to the relay 1450 to the relay 1450 through the signal relay controller 1200. The relay 1450 is also configured to control the on / off state of the power supply circuit of the air compressor according to the control signal.

[0100] The control signal corresponding to relay 1450 can control the switching state of relay 1450. When the control signal controls relay 1450 to be turned on, the power supply can supply power to the air compressor; when the control signal controls relay 1450 to be turned off, the power supply cannot supply power to the air compressor.

[0101] In this embodiment, the relay 1450 may be connected to the nearest signal relay controller 1200. Alternatively, the relay 1450 may also be connected to the same signal relay controller 1200 as the exhaust valve 1430 and the gas distribution valve 1440.

[0102] In one embodiment of the present disclosure, Figure 4 As shown, the data acquisition module 1300 also includes a temperature sensor 1330 .

[0103] In this embodiment, the temperature sensor 1330 may be connected to the nearest signal relay controller 1200. Alternatively, the temperature sensor 1330 may also be connected to the same signal relay controller 1200 as the exhaust valve 1430, the gas distribution valve 1440, and the relay 1450.

[0104] The vehicle-mounted computing device 1100 also generates a control signal according to the temperature signal collected by the temperature sensor 1330 .

[0105] <Vehicle>

[0106] The present disclosure also provides a vehicle, which may include the control system 1000 described in the aforementioned embodiment.

[0107] The above embodiments mainly focus on describing the differences from other embodiments, but it should be clear to those skilled in the art that the above embodiments can be used alone or in combination with each other as needed.

[0108] Although some specific embodiments of the present disclosure have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. It should be understood by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A vehicle control system, It is characterized in that It includes a vehicle-mounted computing device, a signal transfer controller, a data acquisition module, and a suspension execution module, wherein the data acquisition module, the suspension execution module, and the vehicle-mounted computing device are all connected to the signal transfer controller; A data acquisition module, configured to collect sensor information and transmit the sensor information to the signal relay controller; the sensor information is related to the suspension control of the vehicle; The signal relay controller is configured to receive the sensor information and transmit the sensor information to the vehicle-mounted computing device; The vehicle-mounted computing device is configured to receive the sensor information, generate a control signal based on the sensor information, and transmit the control signal to the signal relay controller; The signal relay controller is further configured to receive the control signal and transmit the control signal to the suspension execution module; The suspension execution module is configured to receive the control signal and act according to the control signal to control suspension parameters.

2. The control system according to claim 1, It is characterized in that The computing power of the on-board computing device is higher than the computing power of the signal relay controller.

3. The control system according to claim 1, It is characterized in that The signal relay controller is also configured to perform signal conditioning processing on the sensing information.

4. The control system according to claim 1, It is characterized in that The suspension execution module includes a shock absorber; The shock absorber is configured to act according to the control signal to change its own damping so as to control the stiffness of the suspension.

5. The control system according to claim 4, It is characterized in that The signal relay controller includes a first area controller and a second area controller, the data acquisition module includes a first group of height sensors and a second group of height sensors, and the suspension execution module includes a first group of shock absorbers and a second group of shock absorbers; each group of height sensors includes at least one height sensor, and each group of shock absorbers includes at least one shock absorber; The first group of height sensors and the first group of shock absorbers are both connected to the first area controller, the second group of height sensors and the second group of shock absorbers are both connected to the second area controller, and the first area controller and the second area controller are both connected to the vehicle-mounted computing device.

6. The control system according to claim 5, It is characterized in that The first group of height sensors includes a first height sensor corresponding to the first wheel of the vehicle and a second height sensor corresponding to the second wheel of the vehicle; the second group of height sensors includes a third height sensor corresponding to the third wheel of the vehicle and a fourth height sensor corresponding to the fourth wheel of the vehicle; the first group of shock absorbers includes a first shock absorber corresponding to the first wheel and a second shock absorber corresponding to the second wheel; the second group of shock absorbers includes a third shock absorber corresponding to the third wheel and a fourth shock absorber corresponding to the fourth wheel.

7. The control system according to claim 5, It is characterized in that The first group of height sensors, the first group of shock absorbers, and the first zone controller are all arranged on a first side of the vehicle, and the second group of height sensors, the second group of shock absorbers, and the second zone controller are arranged on a second side of the vehicle.

8. The control system according to claim 1, It is characterized in that The control system further includes an inertial measurement unit, wherein the inertial measurement unit is connected to the vehicle-mounted computing device; The vehicle-mounted computing device is further configured to generate the control signal according to the inertial signal collected by the inertial measurement unit.

9. The control system according to claim 1, It is characterized in that The suspension execution module also includes an exhaust valve and a gas distribution valve, and the exhaust valve and the gas distribution valve are both configured to operate according to corresponding control signals to inflate and deflate the air spring of the vehicle to adjust the suspension height of the vehicle.

10. The control system according to claim 9, It is characterized in that The suspension execution module further includes a relay arranged on a power supply circuit of the air compressor, and the signal relay controller is further connected to a control end of the relay; The relay is configured to control the on / off state of the power supply circuit of the air compressor according to the control signal.

11. The control system according to claim 9, It is characterized in that The data acquisition module also includes a temperature sensor.

12. A vehicle, It is characterized in that The vehicle comprises a control system as claimed in any one of claims 1 to 11.

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