A vehicle controller and a vehicle control method

Abstract

The disclosed embodiments disclose a vehicle controller and vehicle control method. The vehicle controller includes a main control chip and a CAN bus driver module. The CAN bus driver module is connected to a user interaction device on the vehicle via the CAN bus, and the main control chip is connected to the CAN bus driver module. The CAN bus driver module is configured to detect user operation information on the user interaction device, the operation information including a user selection of a vehicle control mode from multiple selectable vehicle control modes. The main control chip is configured to control vehicle operation based on the vehicle control mode selected by the user. The vehicle controller and vehicle control method disclosed in the disclosed embodiments can integrate multiple control mode functions, enabling unified and coordinated control and saving hardware costs.

Description

Technical Field

[0001] The present disclosure relates to, but is not limited to, the automotive field, and in particular to a vehicle controller and a vehicle control method. Background Art

[0002] At present, most vehicles are equipped with air suspension technology, four-wheel drive system or water sensing system. However, air suspension technology, four-wheel drive system and water sensing system are generally directly controlled by their own independent controllers. Each system may be equipped with 1 or 2 controllers, and the hardware cost is relatively high. Summary of the Invention

[0003] The embodiment of the present disclosure provides a vehicle controller, comprising: a main control chip and a CAN bus driver module;

[0004] The CAN bus driver module is connected to the user interaction device on the vehicle via the CAN bus, and the main control chip is connected to the CAN bus driver module;

[0005] The CAN bus driving module is configured to detect user operation information on the user interaction device, the operation information including: a vehicle control mode selected by the user from a plurality of selectable vehicle control modes, the plurality of selectable vehicle control modes including at least two of the following: energy-saving mode, comfort mode, sport mode, off-road mode, wading mode, and transport mode;

[0006] The main control chip is configured to control the operation of the vehicle according to the vehicle control mode selected by the user.

[0007] The present disclosure also provides a vehicle control method, including:

[0008] detecting user operation information on a user interaction device on the vehicle, the operation information comprising: a vehicle control mode selected by the user from a plurality of selectable vehicle control modes, the plurality of selectable vehicle control modes comprising at least two of the following: an energy-saving mode, a comfort mode, a sport mode, an off-road mode, a wading mode, or a transport mode;

[0009] The vehicle operation is controlled according to the vehicle control mode selected by the user.

[0010] The vehicle controller and vehicle control method provided by at least one embodiment of the present disclosure offer the following advantages over existing technologies: The vehicle controller can coordinate control with the vehicle's braking system, integrating multiple control modes and functions. It can include air suspension, four-wheel drive, vehicle roll, and water-wading monitoring, saving hardware costs. The control logic for each control function is integrated into a single controller for unified and coordinated control. Furthermore, through human-computer interaction, users can directly access the desired control mode with a single click, eliminating the need to carefully consider the operating switches for individual subsystems such as the air suspension, transfer case, and ESP.

[0011] Other features and advantages of the present disclosure will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present disclosure. Other advantages of the present disclosure can be realized and obtained through the solutions described in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The accompanying drawings are used to provide an understanding of the technical solution of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the technical solution of the present disclosure and do not constitute a limitation to the technical solution of the present disclosure.

[0013] Figure 1 A structural block diagram of a vehicle controller provided in accordance with an exemplary embodiment of the present disclosure;

[0014] Figure 2 A schematic diagram of a human-computer interaction interface of a central control screen provided in an exemplary embodiment of the present disclosure;

[0015] Figure 3 A schematic structural diagram of a vehicle controller provided in an exemplary embodiment of the present disclosure;

[0016] Figure 4 A flowchart of a vehicle control method provided in accordance with an exemplary embodiment of the present disclosure;

[0017] Figure 5 A flowchart of switching management of each subsystem provided in an exemplary embodiment of the present disclosure;

[0018] Figure 6 An engine and transmission mode control flow chart provided for an exemplary embodiment of the present disclosure;

[0019] Figure 7 A transfer case and steering system control flow chart provided for an exemplary embodiment of the present disclosure;

[0020] Figure 8 An air suspension mode control flow chart is provided for an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0021] The present disclosure describes a plurality of embodiments, but this description is exemplary rather than restrictive, and it will be apparent to those skilled in the art that there may be more embodiments and implementations within the scope of the embodiments described in the present disclosure. Although many possible feature combinations are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with any other feature or element in any other embodiment, or may replace any other feature or element in any other embodiment.

[0022] The present disclosure includes and contemplates combinations of features and elements known to those of ordinary skill in the art. The disclosed embodiments, features, and elements of the present disclosure may also be combined with any conventional features or elements to form a unique inventive solution defined by the claims. Any features or elements of any embodiment may also be combined with features or elements from other inventive solutions to form another unique inventive solution defined by the claims. Therefore, it should be understood that any feature shown and / or discussed in this disclosure may be implemented individually or in any appropriate combination. Therefore, the embodiments are not subject to other limitations except for the limitations set forth in the appended claims and their equivalents. In addition, various modifications and changes may be made within the scope of protection of the appended claims.

[0023] In addition, when describing representative embodiments, the specification may have presented the method and / or process as a specific sequence of steps. However, to the extent that the method or process does not rely on the specific order of the steps described herein, the method or process should not be limited to the steps in the specific order described. As will be understood by those skilled in the art, other orders of steps are also possible. Therefore, the specific order of the steps set forth in the specification should not be interpreted as a limitation on the claims. In addition, the claims to the method and / or process should not be limited to performing their steps in the order written, and those skilled in the art can readily understand that these orders can be changed and still remain within the spirit and scope of the disclosed embodiments.

[0024] Figure 1 A structural block diagram of a vehicle controller provided in an exemplary embodiment of the present disclosure is shown as follows: Figure 1 As shown, the vehicle controller may include: a main control chip 11 and a CAN bus driver module 12. The CAN bus driver module is connected to the user interaction device on the vehicle via the CAN bus, and the main control chip is connected to the CAN bus driver module.

[0025] The CAN bus driver module is configured to detect user operation information on the user interaction device, where the operation information includes: a vehicle control mode selected by the user from a plurality of optional vehicle control modes, where the plurality of optional vehicle control modes include at least two of the following: energy-saving mode, comfort mode, sports mode, off-road mode, wading mode, and transport mode.

[0026] The main control chip is configured to control the vehicle operation according to the vehicle control mode selected by the user.

[0027] The disclosed embodiments provide a multifunctional vehicle controller that can be mounted on the vehicle chassis and referred to as a chassis controller. The disclosed embodiments can be applied to fuel-powered urban SUVs and some off-road vehicles, or to pure electric vehicles.

[0028] The vehicle controller can coordinate control with the vehicle's braking system, integrate multiple control mode functions, and can have multiple control functions such as air suspension, four-wheel drive, vehicle roll, and water wading monitoring, saving hardware costs. The control logic of each control function is integrated into one controller for unified and coordinated control.

[0029] Control modes for various actual working conditions can be preset based on vehicle characteristics. With the driver's needs as the purpose, the driver can operate on the vehicle's user interaction device through human-computer interaction according to personal wishes. A vehicle control mode can be selected from multiple optional vehicle control modes, and the required vehicle control mode can be directly accessed with one click.

[0030] After the driver enters the one-button automatic adjustment mode through the human-machine interface of the user interaction device, the driver selects any vehicle control mode from multiple optional vehicle control modes on the human-machine interface. The vehicle controller can control the various relevant subsystems of the vehicle to comply with the control mode settings and execute corresponding control strategies according to the control mode selected by the user.

[0031] The CAN bus driver module of the vehicle controller can be connected to the user interaction device on the vehicle through the CAN network. The CAN bus driver module can obtain the control mode selected by the user on the user interaction device through the CAN network, and the main control chip of the vehicle controller can control the vehicle to enter the control mode required by the driver.

[0032] According to the vehicle operating conditions and driver needs, six control modes, namely energy-saving mode, comfort mode, sports mode, off-road mode, wading mode and transport mode, can be set in the vehicle controller. The driver can combine personal needs with the current operating environment of the vehicle and use human-computer interaction to directly access the required control mode with one click, without having to consider the operating switches of various subsystems such as air suspension, transfer case, ESP, etc. in detail.

[0033] In one example, the optional vehicle control modes may further include: an expert mode, where the expert mode refers to a control mode in which the vehicle operating parameters are set by the user himself.

[0034] In terms of control strategy, the vehicle controller can be configured with "6+X" control modes based on vehicle operating conditions and driver needs, with X representing the expert mode. In addition to the six control modes already set in the vehicle controller—Energy Saving, Comfort, Sport, Off-Road, Wading, and Transport—the expert mode is added. Drivers can use human-machine interaction to select the desired control mode with a single click, tailored to their individual needs and the vehicle's current operating environment.

[0035] The six control modes—Energy Saving, Comfort, Sport, Off-Road, Water Wading, and Transport—are collectively referred to as Automatic Mode. Automatic Mode is suitable for casual outdoor drivers, beginner off-roaders, or those unfamiliar with terrain, vehicle conditions, and vehicle mode operation. Expert Mode is for drivers who are very familiar with the vehicle or advanced off-roaders, allowing for manual adjustments to individual subsystem settings based on the six Automatic Control Modes.

[0036] In one example, the vehicle controller can switch modes based on the driver's intent, or issue a suggested control mode prompt based on the current vehicle state. The suggested control mode can be displayed via a user interface. The vehicle controller can be connected to relevant sensors to collect status signals from various vehicle systems and comprehensively assess the current vehicle driving conditions to determine the suggested control mode.

[0037] The main control chip of the vehicle controller can pre-store a mode control strategy table corresponding to each control mode. The main control chip can control the various relevant subsystems of the vehicle to comply with the control mode settings according to the control mode selected by the user, and execute the control strategy corresponding to the control mode selected by the user based on the mode control strategy table to achieve the optimal vehicle control effect.

[0038] The mode control strategy table corresponding to each control mode can be found in Tables 1, 2, 3 and 4 below. Table 1 is the mode control strategy table for fuel vehicles, Table 2 is the control mode option table for each subsystem of fuel vehicles, Table 3 is the mode control strategy table for electric vehicles, and Table 4 is the control mode option table for each subsystem of electric vehicles.

[0039] Table 1

[0040]

[0041]

[0042] Table 2

[0043]

[0044]

[0045]

[0046] Table 3

[0047]

[0048] Table 4

[0049]

[0050]

[0051] The vehicle controller provided by the disclosed embodiments can coordinate control with the vehicle's braking system, integrating multiple control modes and functions. It can provide multiple control functions, such as air suspension, four-wheel drive, vehicle roll, and water-wading monitoring, saving hardware costs. The control logic of each control function is integrated into a single controller for unified and coordinated control. Furthermore, through human-computer interaction, users can directly access the desired control mode with a single click, eliminating the need to carefully consider the operating switches for individual subsystems such as the air suspension, transfer case, and ESP.

[0052] In an exemplary embodiment of the present disclosure, the user interaction device may include: a central control screen, and a vehicle control mode selected by a user from a plurality of optional vehicle control modes may include: a control mode selected by the user from a plurality of optional vehicle control modes on the central control screen.

[0053] The user interaction device can be a central control screen (also called a central control screen, or IT) on the vehicle, and the vehicle controller can communicate via the vehicle's central control screen. While driving the vehicle, the driver can access a control mode adjustment interface through the central control screen and select a control mode from multiple selectable vehicle control modes on the control mode adjustment interface.

[0054] In an example embodiment of the present disclosure, the central control screen may include a first touch area, the first touch area includes multiple icons placed according to a set arrangement rule, each icon corresponds to a control mode; each icon may include: a touch button and a text label, the text label is used to describe the control mode of the touch button.

[0055] Figure 2 A schematic diagram of the human-computer interaction interface of the central control screen provided in an exemplary embodiment of the present disclosure is shown as follows: Figure 2As shown, the six control modes of energy saving, comfort, sport, off-road, wading, and transport can be referred to as automatic modes. The icons corresponding to these six control modes and the expert mode can be located in the first touch area of the central control screen. The icon corresponding to each control mode can include a touch button and a text label. For example, the icon corresponding to energy saving mode can include a touch button and the text label "Energy Saving Mode" on the button.

[0056] In one example, all icons in the first touch area are touch buttons with text labels.

[0057] The icons corresponding to each control mode can be placed in the first touch area according to the set arrangement rules. The set arrangement rules can be determined according to the shape and size of the central control screen. The set arrangement rules may include: Figure 2 The arrangement shown is from left to right; alternatively, setting the arrangement rule may include: arranging from top to bottom; alternatively, setting the arrangement rule may include: arranging in a circular or annular shape.

[0058] When selecting or switching control modes via the central control screen, the driver can first tap Automatic mode, then tap the corresponding icon for Energy Saving, Comfort, Sport, Off-Road, Wading, or Transport mode as the user's selected control mode. After the vehicle controller receives the bus command from the central control screen via the CAN network, the bus command indicates the user's selected control mode. The vehicle controller coordinates and controls the various subsystems to execute the corresponding control commands or switching commands according to the control strategy in the mode control strategy table. For example, if the user first taps Automatic mode and then Energy Saving mode, the vehicle controller will receive the bus command from the central control screen via the CAN network, indicating that the user's selected control mode is Energy Saving mode. The vehicle controller then controls the vehicle according to the control strategy corresponding to the Energy Saving mode in the mode control strategy table.

[0059] In an exemplary embodiment of the present disclosure, Figure 2 As shown, the first touch area may further include: an execution button, configured to confirm the user's selection of the touched icon.

[0060] The bus driver module is further configured to detect that a certain icon is touched and that the execution button is touched, and determine that the control mode corresponding to the touched icon is the control mode of the vehicle selected by the user.

[0061] The first touch area can also be equipped with an execute button, which confirms the user's selection of the icon touched. When selecting or switching control modes on the central control screen, the driver can first tap Automatic mode, then tap the icons corresponding to Energy Saving, Comfort, Sport, Off-Road, Wading, or Transport modes, and then tap the execute button to confirm. If the vehicle controller detects that the execute button has been tapped, it confirms the user's tap on the icon corresponding to the control mode and controls the vehicle according to the control mode corresponding to the icon tapped.

[0062] In an exemplary embodiment of the present disclosure, the central control screen may further include: a second touch area configured to display vehicle operating parameters under the current control mode.

[0063] When the icon corresponding to the expert mode is not touched, the vehicle operating parameters in the second touch area cannot be modified by the user; when the icon corresponding to the expert mode is touched, the vehicle operating parameters in the second touch area can be modified by the user.

[0064] The central control screen can include two touch areas: a first touch area and a second touch area. The first touch area is the control mode selection area, and the second touch area is the parameter display area. The central control screen can be divided into the first and second touch areas according to a preset division rule. The preset division rule can be determined based on the shape and size of the central control screen. The preset division rule may include: vertical division or horizontal division.

[0065] In one example, if Figure 2 As shown, the central control screen can be divided into two upper and lower functional areas, the upper half can be the first touch area, and the lower half can be the second touch area.

[0066] The second touchscreen area displays the current status of each subsystem, displaying the vehicle's operating parameters under the current control mode. The current execution status of each subsystem under the current control mode can be determined through the values of the variables in the second touchscreen area. For example, the transfer case's gear position under the current control mode can be determined through variable 1, the steering mode through variable 2, the air suspension's ride height, damping, and roll through variables 3, 4, and 5, respectively, and the Electronic Stability Program (ESP) mode through variable 7.

[0067] Only when in Expert Mode can the driver set vehicle operating parameters or subsystem function states in the second touch area. For example, only when the driver clicks Expert Mode and then clicks Execute can they set Variable 1, Variable 2, Variable 3, and so on, Variable 7 in the second touch area.

[0068] In an exemplary embodiment of the present disclosure, Figure 3 A schematic diagram of the structure of a vehicle controller provided in an exemplary embodiment of the present disclosure is shown in FIG. Figure 3 As shown, the vehicle controller may further include: an air suspension processing module 13 and an air suspension driving circuit. The air suspension driving circuit may include: an air suspension exhaust valve driving circuit 14 and an air suspension compressor driving circuit 15 .

[0069] The air suspension processing module is configured to obtain the vehicle body suspension height and vehicle tilt angle and send them to the main control chip.

[0070] The input signals collected from outside the vehicle controller may include: vehicle body suspension height and vehicle tilt angle. Figure 3 As shown, the air suspension processing module can be connected to the air suspension front axle height sensor 16, the air suspension rear axle height sensor 17, the air suspension left inclination sensor 18 and the air suspension right inclination sensor 19 on the vehicle respectively to obtain the air suspension front axle height, the air suspension rear axle height, the air suspension left inclination and the air suspension right inclination respectively.

[0071] In one example, the main control chip controls the vehicle operation according to the vehicle control mode selected by the user, which may include:

[0072] The main control chip determines the vehicle suspension height and vehicle tilt angle that match the control mode selected by the user from the preset control strategy table and performs at least one of the following operations:

[0073] The obtained vehicle body suspension height is compared with the matched vehicle body suspension height to determine a height adjustment value, and a control signal is sent to the air suspension drive circuit according to the height adjustment value to adjust the vehicle body suspension height.

[0074] The vehicle controller can have the control function of the air suspension. The working principle of the air suspension is to use an air compressor to form compressed air and send the compressed air to the air chamber of the spring and shock absorber to change the height of the vehicle.

[0075] The vehicle can be equipped with air suspension front axle height sensors and air suspension rear axle height sensors on the front and rear axles, respectively. The relevant signal data is input into the vehicle controller via a wiring harness. Based on the vehicle height signals from the air suspension front axle height sensors and the rear axle height sensors, the vehicle controller determines the vehicle height change and determines the height adjustment value.

[0076] Based on the height adjustment value, the vehicle controller sends a control signal to the air suspension drive circuit. This signal is used to control the air compressor and exhaust solenoid valve via the air suspension drive circuit to adjust the vehicle's body suspension height. Based on the height adjustment value, the vehicle controller controls the air compressor and exhaust valve via the air suspension exhaust valve drive circuit and the air suspension compressor drive circuit, respectively, automatically compressing or extending the spring, thereby lowering or raising the chassis ground clearance to improve vehicle stability at high speeds or maneuverability in complex road conditions.

[0077] like Figure 3 As shown, the device driven externally by the vehicle controller may include: right front suspension exhaust solenoid valve DF1, left front suspension exhaust solenoid valve DF2, right rear suspension exhaust solenoid valve DF3 and left rear suspension exhaust solenoid valve DF4, a total of four exhaust solenoid valves. The vehicle controller can control the four exhaust solenoid valves through the air suspension exhaust valve drive circuit according to the height adjustment value.

[0078] like Figure 3 As shown, the device externally driven by the vehicle controller may include: relay JD1 for controlling the left air compressor and relay JD2 for controlling the right air compressor, a total of two relays. The vehicle controller can control the two relays through the air suspension compressor drive circuit according to the height adjustment value.

[0079] In one example, the main control chip controls the vehicle operation according to the vehicle control mode selected by the user, which may include:

[0080] The main control chip determines the vehicle suspension height and vehicle tilt angle that match the control mode selected by the user from the preset control strategy table and performs at least one of the following operations:

[0081] The obtained vehicle body tilt angle is compared with the matched vehicle body tilt angle to determine a tilt angle adjustment value, and the vehicle body tilt angle is adjusted according to the tilt angle adjustment value.

[0082] The vehicle can be equipped with a left air suspension tilt sensor and a right air suspension tilt sensor on the left and right sides of the vehicle, respectively. The relevant signal data can be input into the vehicle controller via a wiring harness. Based on the vehicle body tilt angles measured by the left and right air suspension tilt sensors, the vehicle controller determines the change in the vehicle body tilt angle and, therefore, determines a tilt angle adjustment value. The vehicle body tilt angle can be adjusted based on the tilt angle adjustment value. The vehicle body tilt angle adjustment can utilize existing solutions, which are not limited or detailed in this embodiment.

[0083] In one example, the vehicle controller can automatically determine the suspension height based on sensor signals such as vehicle speed, steering wheel angle, vehicle body tilt angle, and vehicle body height.

[0084] The vehicle controller monitors and controls vehicle posture (suspension height, vehicle center of gravity), as well as vehicle roll angle, to prevent rollovers and driver errors caused by unfamiliar subsystems. The vehicle controller ensures that each subsystem works together to achieve comprehensive and coordinated vehicle control, focusing on the driver's driving objectives and vehicle maneuverability and safety. This improves vehicle safety, comfort, and maneuverability.

[0085] In an exemplary embodiment of the present disclosure, the vehicle controller may further include: a signal acquisition module 20 and a motor drive module 21; the signal acquisition module is configured to acquire a drive switch signal and send it to the main control chip.

[0086] The main control chip controls the vehicle operation according to the vehicle control mode selected by the user, which may include:

[0087] The current driving mode of the vehicle is determined according to the driving switch signal, and the driving mode that matches the control mode is determined from the preset control strategy table according to the control mode selected by the user. When the current driving mode of the vehicle is different from the matched driving mode, a motor control signal is sent to the motor driving module according to the matched driving mode to control the drive of the motor.

[0088] The vehicle controller can have the function of timely four-wheel drive control. Timely four-wheel drive means that the vehicle controller can control the switching between two-wheel drive and four-wheel drive. On normal roads, the vehicle travels in two-wheel drive mode. When encountering off-road roads or wheels slipping, the vehicle travels in four-wheel drive mode. The vehicle controller will detect and automatically distribute power to the other two wheels.

[0089] like Figure 3 As shown, the input signals collected externally by the vehicle controller may include: a drive switch signal. The drive mode may include a two-wheel drive mode or a four-wheel drive mode, and the drive switch signal may include: the transfer case gear position. The transfer case gear positions include: 2H, 4H, and 4L. 2H indicates two-wheel drive; 4H indicates high-speed four-wheel drive with a 50:50 front-to-rear torque split; 4L indicates low-speed four-wheel drive with a transfer case ratio of 2.56 and a 50:50 front-to-rear torque split.

[0090] The signal acquisition module inside the vehicle controller obtains the drive switch signal, and the main control chip inside the vehicle controller compares the drive switch signal (such as the gear position of the transfer case) with the drive switch signal (such as the gear position of the transfer case) that matches the control mode selected by the user determined in the preset control strategy table. According to the comparison result, the drive of the motor M can be controlled by the motor drive.

[0091] In one example, the signal acquisition module is further configured to obtain a motor feedback signal and send it to the main control chip. The main control chip identifies the position of the motor based on the obtained motor feedback signal.

[0092] In one example, the signal acquisition module is further configured to acquire air suspension pressure switch signals and send them to the main control chip. The air suspension pressure switch signals may include: air suspension front axle pressure switch signals and air suspension rear axle pressure switch signals.

[0093] The vehicle controller monitors and controls vehicle posture (suspension height, center of gravity), roll angle, and two-wheel drive (2WD) or four-wheel drive (4WD) mode, preventing rollovers and driver errors caused by unfamiliar subsystems. The vehicle controller coordinates the subsystems around the driver's driving objectives and vehicle maneuverability and safety, achieving comprehensive and coordinated control of the vehicle and improving safety, comfort, and maneuverability.

[0094] In an exemplary embodiment of the present disclosure, the vehicle controller may further include: a wading processing module 22; the wading processing module is configured to obtain the wading depth of the vehicle and send it to the main control chip.

[0095] The main control chip is also configured to compare the vehicle's wading depth with a wading depth threshold, and to send a warning signal when the vehicle's wading depth is greater than or equal to the wading depth threshold.

[0096] The vehicle controller can be equipped with a wading control function. Two radar sensors can be installed at the bottom of the exterior rearview mirrors: a left water depth detection sensor 23 and a right water depth detection sensor 24. The relevant signal data is input to the vehicle controller via a wiring harness. These two radar sensors can be installed at the bottom of the left and right exterior rearview mirrors, respectively, to detect the depth of the water the vehicle is passing through.

[0097] When the vehicle enters a wading environment, the radar sensor on the rearview mirror can monitor the distance between the rearview mirror and the water surface and identify the current wading depth of the vehicle. The wading processing module inside the vehicle controller obtains the wading depth of the vehicle, and the main control chip inside the vehicle controller compares the wading depth with the wading depth threshold. When the vehicle's wading depth approaches the maximum wading depth, a warning signal is issued to the driver.

[0098] In one example, the vehicle controller can send a water-wading warning message and the water depth to the instrument panel or central control screen to inform the driver. Furthermore, the vehicle controller can proactively prompt the driver to enter a preset water-wading mode. If the driver confirms the entry of water-wading mode on the central control screen, the vehicle controller can coordinate and control the relevant subsystems to execute the corresponding operation commands of the water-wading mode.

[0099] The vehicle controller monitors and controls vehicle posture (suspension height, center of gravity), roll angle, two-wheel drive (2WD) or four-wheel drive (4WD) mode, wading depth, speed, steering angle, fuel consumption, or battery charge, among other factors. This helps prevent rollovers and driver errors caused by unfamiliar subsystems. The vehicle controller ensures that each subsystem works together, focusing on the driver's driving objectives and vehicle maneuverability and safety, achieving comprehensive and coordinated control of the vehicle and improving safety, comfort, and maneuverability.

[0100] In an exemplary embodiment of the present disclosure, the main control chip may include: a master controller 25 and a slave controller 26 that are redundant with each other, and the master controller and the slave controller are connected via a serial peripheral interface (SPI).

[0101] The vehicle controller can adopt a dual-core control solution from the hardware principle design. The main microcontroller unit (MCU) and the slave MCU can be used as the main control chip respectively. The main MCU and the slave MCU transmit signals through SPI serial communication and serve as redundant backup for each other.

[0102] In one example, the master controller and the slave controller may acquire signals simultaneously.

[0103] The vehicle controller can use two master and slave MCUs to jointly control the signal acquisition end and the output drive end. All input signals, processing logic, and external drives have redundant control functions, which can meet the functional safety ASIL B level requirements.

[0104] The vehicle controller can connect to four external power inputs, which are divided into two low-current (5A) power supplies and two high-current (30A) power supplies via fuse F. The power input can be a battery. The vehicle controller can also include a watchdog power module 27, which distributes power within the vehicle controller and can communicate with the master and slave MCUs via SPI. This ensures that even if one of the MCUs fails, or if any of the external power supplies fails or has a problem, as long as each MCU receives normal power from one high-current power supply and one low-current power supply, the entire vehicle controller can still function normally, preventing any problems with the external air suspension system or four-wheel drive system.

[0105] like Figure 3 As shown, the vehicle controller can be connected to an ignition switch power supply externally. The vehicle controller can also include: an activation pulse module 28, which is connected to the ignition switch KG and the watchdog power supply module. The activation pulse module is used inside the vehicle controller to perform electronic pulse ignition. Figure 3In the figure, KL15 refers to the ignition signal, KL30 refers to the battery supply voltage, and GND represents ground. A diode D can be set between a fuse F and the watchdog power module, and a diode D can be set between the ignition switch KG and the activation pulse module.

[0106] like Figure 3 As shown, for fuel-powered vehicles, the vehicle controller can communicate and interact with the vehicle's central control screen (IT) 29, engine management system (EMS) 30, transmission control unit (TCU) 31, electric power steering (EPS) 32, brake system controller (BCM) 33, and electronic stability program (ESP) 34 through the vehicle's CAN bus. For electric drive vehicles, the vehicle controller can also communicate and interact with the vehicle control unit (VCU) 35 through the vehicle's CAN bus.

[0107] In one example, three network bus driver modules may be designed inside the vehicle controller: two CAN bus driver modules and one FlaxRey bus driver module 123 , where the two CAN bus driver modules are respectively a first CAN bus driver module 121 and a second CAN bus driver module 122 .

[0108] The first CAN bus driver module connects to the vehicle's CAN bus and can communicate with CAN nodes such as the IT, EMS, TCU, EPS, BCM, and ESP. For electric vehicles, the first CAN bus driver module can also communicate with the VCU. The second CAN bus driver module is a reserved module and supports CAN FD communication, which has a communication rate of 2 Mbit / s. The FlaxRey bus driver module is a reserved module and can reach a communication rate of up to 10 Mbit / s, meeting the various network bus communication requirements of different vehicle models and meeting the needs of subsequent functional expansion.

[0109] Figure 4 A flow chart of a vehicle control method provided by an exemplary embodiment of the present disclosure is as follows: Figure 4 As shown, the vehicle control method may include:

[0110] S401: Detecting operation information of a user on a user interaction device on a vehicle, where the operation information includes: a vehicle control mode selected by the user from a plurality of optional vehicle control modes.

[0111] The plurality of selectable vehicle control modes may include at least two of the following: energy saving mode, comfort mode, sport mode, off-road mode, wading mode or transport mode.

[0112] S402: Control the vehicle operation according to the vehicle control mode selected by the user.

[0113] The execution subject of the vehicle control method provided by the embodiment of the present disclosure is the vehicle controller shown in any embodiment, and its implementation principle and implementation effect are similar, which will not be repeated here.

[0114] In an exemplary embodiment of the present disclosure, the optional vehicle control modes may further include: an expert mode, where the expert mode refers to a control mode in which the vehicle operating parameters are set by the user himself.

[0115] In an exemplary embodiment of the present disclosure, the user interaction device may include: a central control screen, and a vehicle control mode selected by a user from a plurality of optional vehicle control modes includes: a control mode selected by the user from a plurality of optional control modes on the central control screen.

[0116] In an exemplary embodiment of the present disclosure, controlling the operation of a vehicle according to a vehicle control mode selected by a user may include:

[0117] According to the control mode selected by the user, the vehicle body suspension height and vehicle body tilt angle that match the control mode are determined from the preset control strategy table, and at least one of the following operations is performed:

[0118] Comparing the obtained vehicle body suspension height with a matched vehicle body suspension height to determine a height adjustment value, and adjusting the vehicle body suspension height according to the height adjustment value;

[0119] The obtained vehicle body tilt angle is compared with the matched vehicle body tilt angle to determine a tilt angle adjustment value, and the vehicle body tilt angle is adjusted according to the tilt angle adjustment value.

[0120] In an exemplary embodiment of the present disclosure, controlling the operation of a vehicle according to a vehicle control mode selected by a user may include:

[0121] Acquire a driving switch signal, and determine a current driving mode of the vehicle according to the driving switch signal;

[0122] Determine a driving mode that matches the control mode from a preset control strategy table according to the control mode selected by the user;

[0123] When a current driving mode of the vehicle is different from the matched driving mode, driving of the motor is controlled according to the matched driving mode.

[0124] In an exemplary embodiment of the present disclosure, the vehicle control method may further include:

[0125] Obtain the vehicle's wading depth, compare the vehicle's wading depth with a wading depth threshold, and issue a warning signal when the vehicle's wading depth is greater than or equal to the wading depth threshold.

[0126] Figure 5 A flowchart of the switching management of each subsystem provided in an exemplary embodiment of the present disclosure is shown as follows: Figure 5 As shown, the switching management of each subsystem may include:

[0127] S501: Determine the controlled state of the engine and the transmission. If the engine is ready to be controlled and the transmission is ready to be controlled, execute S502; if the engine is ready to be controlled and the transmission can be controlled, end.

[0128] When switching management between subsystems, the control status of the engine and transmission can be determined first. The function ENG_Mode_Ctrl can be used to indicate the control status of the engine. ENG_Mode_Ctrl = 1 indicates that the engine is ready for control, and ENG_Mode_Ctrl = 0 indicates that the engine can accept control.

[0129] The function TRANS_Mode_Ctrl can be used to indicate the controlled state of the transmission. TRANS_Mode_Ctrl=1 indicates that the transmission is to be controlled, and TRANS_Mode_Ctrl=0 indicates that the transmission can be controlled.

[0130] Among them, for all functions in the program, Mode_Ctrl=0 indicates that they can accept control (control has been completed), and Mode_Ctrl=1 indicates that they are waiting to be controlled (control has not been completed yet).

[0131] S502: Execute EMS mode control and TCU mode control.

[0132] S503: Determine the current controlled state of the engine and transmission, and determine the controlled state of the transfer case and steering system. If the engine is ready to be controlled and the transmission can accept control, and the transfer case and steering system are ready to be controlled, execute S504; otherwise, end.

[0133] After the engine and transmission are currently in control, the control status of the transfer case and steering system is determined. The function CASE_Mode_Ctrl can be used to indicate the transfer case's control status. CASE_Mode_Ctrl = 1 indicates the transfer case is ready for control, while CASE_Mode_Ctrl = 0 indicates it is ready for control. The function DIFF_Mode_Ctrl can be used to indicate the steering system's control status. DIFF_Mode_Ctrl = 1 indicates the steering system is ready for control, while DIFF_Mode_Ctrl = 0 indicates it is ready for control.

[0134] S504: Execute transfer case mode control and steering system mode control.

[0135] S505: Determine the current controlled state of the transfer case and steering system, and determine the controlled state of the air suspension system. If the transfer case and steering system can be controlled, and the air suspension system is ready to be controlled, execute S506; otherwise, end.

[0136] After the transfer case and steering system are currently in control, the air suspension system's control state is determined. The SUM_Mode_Ctrl function can be used to indicate the air suspension system's control state. SUM_Mode_Ctrl = 1 indicates the air suspension system is ready for control, while SUM_Mode_Ctrl = 0 indicates the air suspension system is ready for control.

[0137] S506: Execute air suspension mode control.

[0138] S507: Determine the current controlled state of the air suspension system and the controlled state of the brake system. If the air suspension system can be controlled and the brake system is ready to be controlled, execute S508; otherwise, end.

[0139] After the current controlled state of the air suspension system is acceptable for control, the controlled state of the brake system is determined.

[0140] The function BCM_Mode_Ctrl can be used to indicate the controlled state of the braking system. BCM_Mode_Ctrl=1 indicates that the braking system is to be controlled, and BCM_Mode_Ctrl=0 indicates that the braking system can be controlled.

[0141] S508: Execute brake system mode control.

[0142] S509: Check that the controlled status of all subsystems is acceptable for control, and end.

[0143] Check that all subsystems are in a state that can be controlled and then end. If any process encounters an exception, end and return to the initial state.

[0144] Figure 6 An engine and transmission mode control flow chart is provided for an exemplary embodiment of the present disclosure, as shown in FIG. Figure 6 As shown, engine and transmission mode controls may include:

[0145] S601: Determine whether the automatic adjustment function is satisfied. If so, execute S602; otherwise, continue to determine.

[0146] The user can determine whether the conditions for entering the automatic adjustment function are met by clicking on the central control screen. When the user clicks the automatic mode touch button on the central control screen, it is determined that the conditions for entering the automatic adjustment function are met.

[0147] S602: Determine the controlled state of the engine and transmission. If the engine and transmission are ready to be controlled, proceed to S603-S618 for control mode adjustment; if the engine and transmission are ready to be controlled, return to S601.

[0148] The judgment of the controlled state of the engine and transmission can be found in Figure 5 The embodiment shown is not limited or elaborated herein.

[0149] When the engine and transmission are controllable, based on the mode control strategy tables shown in Tables 1 to 4, the vehicle controller controls the engine and transmission according to the control strategy corresponding to the control mode selected by the user.

[0150] S603: Determine whether the control mode selected by the user is the energy-saving mode. If so, execute S604; otherwise, execute S605.

[0151] S604: Determine that the control strategies of the EMS and TCU are both economic, and execute S617.

[0152] When the control mode selected by the user is the energy-saving mode, based on the mode control strategy tables shown in Tables 1 to 4, it can be determined that the control strategies of the EMS and TCU are both economic: the accelerator pedal characteristic adjustment is weak, the response to the throttle opening is slow, and filtering adjustment is performed; the idle start-stop function is turned on.

[0153] S605: Determine whether the control mode selected by the user is the comfort mode. If so, execute S606; otherwise, execute S607.

[0154] S606: Determine that the control strategies of the EMS and TCU are both standard, and execute S617.

[0155] When the control mode selected by the user is comfort mode, based on the mode control strategy tables shown in Tables 1 to 4, it can be determined that the control strategies of the EMS and TCU are both standard: the accelerator pedal characteristics are adjusted moderately, and the response to the throttle opening is moderate; the idle start-stop function is turned on.

[0156] S607: Determine whether the control mode selected by the user is the sports mode. If so, execute S608; otherwise, execute S609.

[0157] S608: Determine that the control strategies of the EMS and TCU are both power, and execute S617.

[0158] When the control mode selected by the user is the sport mode, based on the mode control strategy tables shown in Tables 1 to 4, it can be determined that the control strategies of the EMS and TCU are both power: the accelerator pedal characteristics are tuned to be stronger and respond directly to the throttle opening; the idle start-stop function is turned off.

[0159] S609: Determine whether the control mode selected by the user is the off-road mode. If so, execute S610; otherwise, execute S611.

[0160] S610: Determine that the control strategies of the EMS and TCU are both power, and execute S617.

[0161] When the control mode selected by the user is off-road mode, based on the mode control strategy tables shown in Tables 1 to 4, it can be determined that the control strategies of the EMS and TCU are both power: the accelerator pedal characteristics are tuned to be stronger and respond directly to the throttle opening; the idle start-stop function is turned off.

[0162] S611: Determine whether the control mode selected by the user is the wading mode. If so, execute S612; otherwise, execute S613.

[0163] S612: Determine that the control strategies of the EMS and TCU are both power, and execute S617.

[0164] When the control mode selected by the user is the wading mode, based on the mode control strategy tables shown in Tables 1 to 4, it can be determined that the control strategies of the EMS and TCU are both power: the accelerator pedal characteristics are tuned to be stronger and respond directly to the throttle opening; the idle start-stop function is turned off.

[0165] S613: Determine whether the control mode selected by the user is the transport mode. If so, execute S614; otherwise, execute S615.

[0166] S614: Determine that the control strategies of the EMS and TCU are both economic, and execute S617.

[0167] When the control mode selected by the user is transport mode, based on the mode control strategy tables shown in Tables 1 to 4, it can be determined that the control strategies of the EMS and TCU are both economic: the accelerator pedal characteristic is tuned weakly, the response to the throttle opening is slow, and filtering adjustment is performed; the idle start-stop function is turned on.

[0168] S615: Determine whether the control mode selected by the user is the expert mode. If so, execute S616; otherwise, execute S617.

[0169] S616: The control strategies of EMS and TCU remain unchanged.

[0170] When the control mode selected by the user is the expert mode, based on the mode control strategy tables shown in Tables 1 to 4, it can be determined that the control strategies of the EMS and TCU cannot be set, and the control strategies of the EMS and TCU remain unchanged.

[0171] S617: Determine the current status of the EMS and TCU.

[0172] S618: Determine whether the control strategies of the EMS and TCU are consistent with the current state. If they are consistent, the process ends; if not, the process goes to S602.

[0173] Figure 7 A transfer case and steering system control flow chart is provided for an exemplary embodiment of the present disclosure, as shown in FIG. Figure 7 As shown, the transfer case and steering system controls may include:

[0174] S701: Determine whether the automatic adjustment function is satisfied. If so, execute S702; otherwise, continue to determine.

[0175] The user can determine whether the conditions for entering the automatic adjustment function are met by clicking on the central control screen. When the user clicks the automatic mode touch button on the central control screen, it is determined that the conditions for entering the automatic adjustment function are met.

[0176] S702: Determine the control status of the transfer case and steering system. If the transfer case and steering system can be controlled, enter the control mode adjustment of S703-S725; if the transfer case and steering system can be controlled, return to S701.

[0177] The judgment of the controlled state of the transfer case and steering system can be found in Figure 5 The embodiment shown is not limited or elaborated herein.

[0178] When the transfer case and the steering system are controllable, based on the mode control strategy tables shown in Tables 1 to 4, the vehicle controller controls the transfer case and the steering system according to the control strategy corresponding to the control mode selected by the user.

[0179] S703: Determine whether the control mode selected by the user is the energy-saving mode. If so, execute S704; otherwise, execute S705.

[0180] S704: Determine that the transfer case's gear position is 2H and the steering system's control strategy is standard, and execute S717.

[0181] When the control mode selected by the user is the energy-saving mode, based on the mode control strategy tables shown in Tables 1 to 4, the transfer case gear position can be determined to be 2H, and the steering system control strategy is standard: moderate steering torque and moderate steering wheel force.

[0182] S705: Determine whether the control mode selected by the user is the comfort mode. If so, execute S706; otherwise, execute S707.

[0183] S706: Determine that the transfer case's gear position is 2H and the steering system's control strategy is comfort, and execute S717.

[0184] When the control mode selected by the user is the comfort mode, based on the mode control strategy tables shown in Tables 1 to 4, it can be determined that the gear position of the transfer case is 2H and the control strategy of the steering system is comfort: the steering control torque is small and the steering wheel hand force is comfortable.

[0185] S707: Determine whether the control mode selected by the user is the sports mode. If so, execute S708; otherwise, execute S709.

[0186] S708: Determine that the transfer case's gear position is 4H and the steering system's control strategy is sport, and execute S717.

[0187] When the control mode selected by the user is the sport mode, based on the mode control strategy tables shown in Tables 1 to 4, it can be determined that the transfer case gear is 4H and the steering system control strategy is sport: the steering control torque is large and the steering wheel hand force is heavy.

[0188] S709: Determine whether the control mode selected by the user is the off-road mode. If so, execute S710; otherwise, execute S711.

[0189] S710: Determine that the transfer case's gear position is 4L and the steering system's control strategy is comfort, and then execute S717.

[0190] When the control mode selected by the user is off-road mode, based on the mode control strategy tables shown in Tables 1 to 4, the transfer case gear position can be determined to be 4L, and the steering system control strategy is comfortable: the steering control torque is small and the steering wheel hand force is comfortable.

[0191] S711: Determine whether the control mode selected by the user is the wading mode. If so, execute S712; otherwise, execute S713.

[0192] S712: Determine that the transfer case's gear position is 4L and the steering system's control strategy is comfort, and execute S717.

[0193] When the control mode selected by the user is the wading mode, based on the mode control strategy tables shown in Tables 1 to 4, it can be determined that the gear position of the transfer case is 4L, and the control strategy of the steering system is comfortable: the steering control torque is small and the steering wheel hand force is comfortable.

[0194] S713: Determine whether the control mode selected by the user is the transport mode. If so, execute S714; otherwise, execute S715.

[0195] S714: Determine that the transfer case's gear position is 2H and the steering system's control strategy is comfort, and execute S717.

[0196] When the control mode selected by the user is transport mode, based on the mode control strategy tables shown in Tables 1 to 4, it can be determined that the transfer case gear is 2H and the steering system control strategy is comfort: the steering torque is small and the steering wheel hand force is comfortable.

[0197] S715: Determine whether the control mode selected by the user is the expert mode. If so, execute S716; otherwise, execute S717.

[0198] S716: Determine the transfer case gear position and steering system control strategy based on the driver's operation.

[0199] When the control mode selected by the user is the expert mode, the driver can set the control strategy for determining the gear position of the transfer case and the steering system based on the mode control strategy tables shown in Tables 1 to 4.

[0200] S717: Determine whether the transfer case's gear position and the steering system's control strategy are consistent with the current state. If they are, the process ends; if not, proceed to S718.

[0201] S718: Determine whether the transmission is in neutral. If so, execute S719; otherwise, execute S720.

[0202] S719: Send a transfer case shift request.

[0203] S720: Record the current gear position of the transmission.

[0204] S721: Determine whether parking brake or service brake is in effect. If so, execute S723; otherwise, execute S722.

[0205] S722: Send a parking brake request and execute S721.

[0206] S723: Acquire transmission control.

[0207] S724: Determine whether the control right is obtained. If so, execute S725; otherwise, end.

[0208] S725: Send a neutral request.

[0209] Figure 8 An air suspension mode control flow chart provided in an exemplary embodiment of the present disclosure is as follows: Figure 8 As shown, air suspension mode control may include:

[0210] S801: Determine whether the conditions for entering the automatic adjustment function are met. If so, execute S802; otherwise, continue to determine.

[0211] The user can determine whether the conditions for entering the automatic adjustment function are met by clicking on the central control screen. When the user clicks the automatic mode touch button on the central control screen, it is determined that the conditions for entering the automatic adjustment function are met.

[0212] S802: Determine the controlled state of the air suspension. If the air suspension is ready for control, proceed to S803-S820 for control mode adjustment; if the air suspension is ready for control, return to S801.

[0213] The judgment of the controlled state of the air suspension can be found in Figure 5 The embodiment shown is not limited or elaborated herein.

[0214] When the air suspension is controllable, based on the mode control strategy tables shown in Tables 1 to 4, the vehicle controller controls the air suspension according to the control strategy corresponding to the control mode selected by the user.

[0215] S803: Determine whether the control mode selected by the user is the energy-saving mode. If so, execute S804; otherwise, execute S805.

[0216] S804: Determine that the control strategies for vehicle height posture, damping adjustment, and roll control correspond to comfort, standard, and off, respectively, and execute S817.

[0217] When the control mode selected by the user is the energy-saving mode, based on the mode control strategy tables shown in Tables 1 to 4, the control strategies for vehicle height posture, damping adjustment, and roll control correspond to comfort, standard, and off, respectively.

[0218] S805: Determine whether the control mode selected by the user is the comfort mode. If so, execute S806; otherwise, execute S807.

[0219] S806: Determine that the control strategies for vehicle height posture, damping adjustment, and roll control correspond to comfort, comfort, and open, respectively, and execute S817.

[0220] When the control mode selected by the user is the comfort mode, based on the mode control strategy tables shown in Tables 1 to 4, it can be determined that the control strategies for vehicle height posture, damping adjustment, and roll control correspond to comfort, comfort, and open, respectively.

[0221] S807: Determine whether the control mode selected by the user is the sports mode. If so, execute S808; otherwise, execute S809.

[0222] S808: Determine that the control strategies for vehicle height posture, damping adjustment, and roll control correspond to sport, sport, and on, respectively, and execute S817.

[0223] When the control mode selected by the user is the sport mode, based on the mode control strategy tables shown in Tables 1 to 4, the control strategies for vehicle height posture, damping adjustment, and roll control can be determined to correspond to sport, sport, and open, respectively.

[0224] S809: Determine whether the control mode selected by the user is the off-road mode. If so, execute S810; otherwise, execute S811.

[0225] S810: Determine that the control strategies for vehicle height posture, damping adjustment, and roll control correspond to off-road, sport, and on, respectively, and execute S817.

[0226] When the control mode selected by the user is off-road mode, based on the mode control strategy tables shown in Tables 1 to 4, the control strategies for vehicle height posture, damping adjustment, and roll control can be determined to correspond to off-road, sport, and open, respectively.

[0227] S811: Determine whether the control mode selected by the user is the wading mode. If so, execute S812; otherwise, execute S813.

[0228] S812: Determine that the control strategies for vehicle height posture, damping adjustment, and roll control correspond to high position, sport, and open, respectively, and execute S817.

[0229] When the control mode selected by the user is the wading mode, based on the mode control strategy tables shown in Tables 1 to 4, the control strategies for vehicle height posture, damping adjustment, and roll control can be determined to correspond to high position, sport, and open, respectively.

[0230] S813: Determine whether the control mode selected by the user is the transport mode. If so, execute S814; otherwise, execute S815.

[0231] S814: Determine that the control strategies for vehicle height posture, damping adjustment, and roll control correspond to comfort, standard, and off, respectively, and execute S817.

[0232] When the control mode selected by the user is transport mode, based on the mode control strategy tables shown in Tables 1 to 4, the control strategies for vehicle height posture, damping adjustment, and roll control may be determined to correspond to comfort, standard, and off, respectively.

[0233] S815: Determine whether the control mode selected by the user is the expert mode. If so, execute S816; otherwise, execute S817.

[0234] S816: Determine the control strategies for vehicle height posture, damping adjustment, and roll control based on the driver's operation.

[0235] When the control mode selected by the user is expert mode, the control strategies for vehicle height, damping adjustment and roll control can be set by the driver based on the mode control strategy tables shown in Tables 1 to 4.

[0236] S817: Determine whether the air suspension is speed-dependently controlled. If so, execute S818; otherwise, execute S819.

[0237] S818: Determine the air suspension speed control strategy.

[0238] S819: Determine the target change of the air suspension mode.

[0239] In S817 to S819, the control mode required by the driver and the specific working condition requirements of the current control mode can be comprehensively judged to determine whether the air suspension speed control strategy needs to be called.

[0240] Multiple control modes can be combined with the suspension speed-dependent control strategy. The air suspension control strategy can be comprehensively determined based on the driver's desired control mode, the vehicle's current state, and speed. The specific implementation of the air suspension speed-dependent control strategy can adopt existing solutions and is not limited or elaborated upon in this embodiment.

[0241] In the disclosed embodiment, the vehicle controller may have an air suspension function, as well as functions such as vehicle body posture balancing, easy boarding (active welcoming), and vehicle height adjustment with speed.

[0242] S820: Determine whether the air suspension control strategy is consistent with the current state and whether the air suspension adjustment is complete. If so, end; otherwise, execute S819.

[0243] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In hardware implementations, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or temporary medium). As is well known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable, and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those skilled in the art that communication media generally embodies computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

Claims

1. A vehicle controller, characterized in that: include: Main control chip, CAN bus driver module, air suspension processing module and air suspension driver circuit; The CAN bus driver module is connected to the user interaction device on the vehicle via the CAN bus, and the main control chip is connected to the CAN bus driver module; The CAN bus driving module is configured to detect user operation information on the user interaction device, the operation information including: a vehicle control mode selected by the user from a plurality of selectable vehicle control modes, the plurality of selectable vehicle control modes including at least two of the following: energy-saving mode, comfort mode, sport mode, off-road mode, wading mode, and transport mode; The main control chip is configured to control the operation of the vehicle according to the vehicle control mode selected by the user; The air suspension processing module is configured to obtain the vehicle body suspension height and vehicle tilt angle and send them to the main control chip; The main control chip controls the vehicle operation according to the vehicle control mode selected by the user, including: The main control chip determines the vehicle body suspension height and vehicle body tilt angle that match the control mode selected by the user from the preset control strategy table and performs the following operations: comparing the acquired vehicle body suspension height with a matched vehicle body suspension height to determine a height adjustment value, and sending a control signal to the air suspension drive circuit according to the height adjustment value to adjust the vehicle body suspension height; The obtained vehicle body tilt angle is compared with a matched vehicle body tilt angle to determine a tilt angle adjustment value, and the vehicle body tilt angle is adjusted according to the tilt angle adjustment value.

2. The vehicle controller according to claim 1, wherein: The optional vehicle control mode also includes: an expert mode, which refers to a control mode in which the vehicle operating parameters are set by the user himself.

3. The vehicle controller according to claim 2, characterized in that The user interaction device includes: a central control screen, and the vehicle control mode selected by the user from multiple optional vehicle control modes includes: a control mode selected by the user from multiple optional vehicle control modes on the central control screen.

4. The vehicle controller according to claim 3, characterized in that The central control screen includes a first touch area, the first touch area includes a plurality of icons arranged according to a set arrangement rule, each icon corresponding to a control mode; Each icon includes: a touch button and a text mark, and the text mark is used to describe the control mode of the touch button.

5. The vehicle controller according to claim 4, characterized in that The first touch area further includes: an execution button configured to confirm the user's selection of the touched icon; The bus driving module is further configured to detect that a certain icon is touched and that the execution button is touched, and determine that the control mode corresponding to the touched icon is the control mode of the vehicle selected by the user.

6. The vehicle controller according to claim 4, characterized in that The central control screen further includes: a second touch area; The second touch area is configured to display the vehicle operating parameters under the current control mode; When the icon corresponding to the expert mode is not touched, the vehicle operating parameters in the second touch area cannot be modified by the user; when the icon corresponding to the expert mode is touched, the vehicle operating parameters in the second touch area can be modified by the user.

7. The vehicle controller according to claim 1 or 2, characterized in that: The vehicle controller further comprises: a signal acquisition module and a motor drive module; The signal acquisition module is configured to obtain a drive switch signal and send it to the main control chip; The main control chip controls the vehicle operation according to the vehicle control mode selected by the user, including: The current driving mode of the vehicle is determined according to the driving switch signal, and the driving mode matching the control mode is determined from the preset control strategy table according to the control mode selected by the user. When the current driving mode of the vehicle is different from the matching driving mode, the motor control signal is sent to the motor driving module according to the matching driving mode.

8. The vehicle controller according to claim 1 or 2, characterized in that: The vehicle controller further includes: a wading processing module; The wading processing module is configured to obtain the wading depth of the vehicle and send it to the main control chip; The main control chip is further configured to compare the vehicle's wading depth with a wading depth threshold, and to send a warning signal when the vehicle's wading depth is greater than or equal to the wading depth threshold.

9. The vehicle controller according to claim 1 or 2, characterized in that: The main control chip includes: a main controller and a slave controller which are redundant to each other, and the main controller and the slave controller are connected via a serial peripheral interface.

10. A vehicle control method, characterized in that: include: detecting user operation information on a user interaction device on the vehicle, the operation information comprising: a vehicle control mode selected by the user from a plurality of selectable vehicle control modes, the plurality of selectable vehicle control modes comprising at least two of the following: an energy-saving mode, a comfort mode, a sport mode, an off-road mode, a wading mode, or a transport mode; Control the vehicle operation according to the vehicle control mode selected by the user, including: According to the control mode selected by the user, the vehicle body suspension height and vehicle body tilt angle that match the control mode are determined from the preset control strategy table, and at least one of the following operations is performed: comparing the acquired vehicle body suspension height with a matched vehicle body suspension height to determine a height adjustment value, and adjusting the vehicle body suspension height according to the height adjustment value; The obtained vehicle body tilt angle is compared with a matched vehicle body tilt angle to determine a tilt angle adjustment value, and the vehicle body tilt angle is adjusted according to the tilt angle adjustment value.

11. The method according to claim 10, characterized in that The optional vehicle control mode also includes: an expert mode, which refers to a control mode in which the vehicle operating parameters are set by the user himself.

12. The method according to claim 10 or 11, characterized in that The user interaction device includes: a central control screen, and the vehicle control mode selected by the user from multiple optional vehicle control modes includes: a control mode selected by the user from multiple optional control modes on the central control screen.

13. The method according to claim 10, characterized in that The controlling of the vehicle operation according to the vehicle control mode selected by the user further includes: Acquire a driving switch signal, and determine a current driving mode of the vehicle according to the driving switch signal; Determine a driving mode that matches the control mode from a preset control strategy table according to the control mode selected by the user; When a current driving mode of the vehicle is different from the matched driving mode, driving of the motor is controlled according to the matched driving mode.

14. The method according to claim 10, characterized in that The method further comprises: The vehicle wading depth is obtained, the vehicle wading depth is compared with a wading depth threshold, and when the vehicle wading depth is greater than or equal to the wading depth threshold, a warning signal is issued to warn.

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