A chassis component control device and method for a layered wire-controlled chassis system

Abstract

The present application discloses a chassis component control device and method for a hierarchical wire-controlled chassis system, wherein the chassis component control device includes a function control interaction module, an execution component control module, and a chassis domain controller. The chassis domain controller is connected to each functional unit in the chassis function module of the hierarchical wire-controlled chassis system to control each functional unit. The execution component control module includes a function control subsystem with the same number of functional units as the chassis function module. Each function control subsystem is used to control the connected functional unit. The function control interaction module is used to change the control subject of the function realization of the functional unit when the chassis domain controller or the execution component control module fails in the function control of the functional unit in the chassis function module. Since the chassis domain controller and the execution component control module can freely switch the function control of the functional unit, the reliability and safety of the hierarchical wire-controlled chassis system can be greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent automobiles, and in particular to a chassis component control device and method for a layered wire-controlled chassis system. Background Art

[0002] With the development of automobile intelligence, the demand for chassis systems is gradually increasing. In addition to the load-bearing and driving functions, the chassis system also needs to have the ability to recognize, predict and control the interaction between the wheels and the ground and the ability to manage its own operating status. As a new intelligent chassis technology, the wire-controlled chassis technology is gradually becoming a technical stage that the chassis system must go through for intelligence. The wire-controlled chassis system consists of chassis domain controllers and chassis execution components such as wire-controlled steering subsystems, wire-controlled braking subsystems, wire-controlled drive subsystems, and wire-controlled suspension subsystems. Each subsystem component has eliminated complex mechanical connections and uses signal lines to transmit control instructions. The chassis domain controller is generally equipped between each subsystem and the driver or the automatic driving control unit to interact with the control instructions and feedback information, as well as to coordinate and implement chassis dynamics-related functions. In the existing wire-controlled chassis system, the chassis domain controller is mainly used to implement ADAS functions of L2 and below, such as LKA, ACC, etc. Through the coordination of the function in the chassis domain control, the corresponding control instructions are sent to the execution component. The execution component control module enters the functional mode and performs the function according to the control instruction. Its control methods are mostly based on vector control, which can only perform control coordination of a single function. Its essence is the transformation and optimization based on the traditional chassis distributed architecture.

[0003] At present, two control strategies are generally adopted for the architecture of the drive-by-wire chassis system, one is centralized and the other is hierarchical. Among them, the centralized control strategy adopts a function-concentrated control strategy, which concentrates most of the function control in the chassis domain controller, and the remaining chassis components are only responsible for executing the instructions of the domain controller. The advantage of the centralized method is that the chassis motion posture can be coordinated from the chassis dynamics in the system, and the optimal chassis control strategy can be executed when performing complex driving conditions. The difference between the hierarchical and centralized methods is that the chassis functions are layered, and the chassis domain controller is only responsible for the coordination and allocation of advanced functions. The basic functions involving mechanical feedback information are implemented using the actuator control module. The advantage is that the feedback information transmission cycle is reduced, making the control faster and more accurate. Because most automotive chassis systems belong to a decentralized architecture, there is no specific way for the centralized and decentralized chassis domain controller control strategies. They are more based on the integration of the functions of the vector control and actuator subsystems to undertake the control instructions of the driver or the automatic driving unit. For example, the hierarchical strategy and control method in Chinese patent document CN111775721 can also be applied to the wire-controlled chassis system in theory. However, due to the architecture, the hierarchical strategy requires high security requirements for the domain controller. At the system level, since the domain controller is an important node in the control flow, it needs to be redundant to ensure the security of the entire system. The current chassis architecture can only ensure the security of basic functions by adding redundant devices, but cannot protect non-basic functional failures in the domain controller. It can only perform downgrade operations or direct fault handling after the failure. In the prior art, due to the system architecture, the chassis domain controller and the chassis execution component must exist. If the technical means of hardware redundancy are used for protection, the hardware of the chassis domain controller and the chassis execution component must be increased at the same time, which will bring technical disadvantages such as high cost and low hardware utilization. Summary of the invention

[0004] The present application proposes a chassis component control device for a layered wire-controlled chassis system to optimize the technical defects of the chassis control system in terms of safety protection.

[0005] According to the first aspect, an embodiment discloses a chassis component control device for a layered drive-by-wire chassis system, comprising a function control interaction module, an execution component control module and a chassis domain controller;

[0006] The chassis domain controller is connected to a chassis function module of a layered wire-controlled chassis system, wherein the chassis function module includes at least one function unit for adjusting a vehicle driving state; the chassis domain controller is used to control each function unit in the chassis function module;

[0007] The execution component control module includes the same number of function control subsystems as the function units of the chassis function module; each of the function control subsystems is connected to a function unit in the chassis function module to control the connected function unit;

[0008] The function control interaction module is connected to each function control subsystem in the chassis domain controller and the execution component control module; the function control interaction module is used to monitor the function control implementation of each function unit in the chassis function module by the chassis domain controller and / or the execution component control module;

[0009] When the function control interaction module detects that the chassis domain controller has abnormal function control over the function unit in the chassis function module, the execution component control module is switched to control the function unit in the chassis function module;

[0010] When the function control interaction module detects that the function control of the function unit in the chassis function module by the execution component control module is abnormal, it switches to the chassis domain controller to control the function unit in the chassis function module.

[0011] In one embodiment, the functional units of the chassis functional module include a power unit, a suspension unit, a steering unit, a braking unit and / or a wheel drive unit.

[0012] In one embodiment, the functional control subsystem of the actuator control module includes a power control subsystem, a suspension control subsystem, a steering control subsystem, a braking control subsystem and / or a wheel drive control subsystem.

[0013] In one embodiment, the execution component control module is communicatively connected with the chassis domain controller and the execution component control module respectively through a dedicated private communication bus.

[0014] According to the second aspect, in one embodiment, a chassis component control method for a layered wire-controlled chassis system is disclosed, which is applied to the chassis component control device as described above, and includes:

[0015] Monitoring the implementation of the functional control of the functional units in the chassis functional module by each of the functional control subsystems in the chassis domain controller and the execution component control module;

[0016] When the chassis domain controller performs functional control on the functional unit in the chassis functional module and an abnormality occurs, the execution component control module is switched to control the functional unit in the chassis functional module;

[0017] When the functional control subsystem in the execution component control module performs functional control on the functional unit in the chassis functional module and an abnormality occurs, the chassis domain controller is switched to control the functional unit in the chassis functional module, and the data information received and / or sent by the functional control subsystem that causes the abnormality is blocked to isolate the functional control subsystem.

[0018] In one embodiment, the method for monitoring the implementation of the functional control of the functional unit in the chassis functional module by each of the functional control subsystems in the chassis domain controller and the execution component control module comprises:

[0019] Monitoring message interaction data sent and received by each of the functional control subsystems in the chassis domain controller and the execution component control module;

[0020] When the message interaction data sent and received by each of the functional control subsystems in the chassis domain controller and the execution component control module is fault prompt data or irregular data, it is determined that a control implementation abnormality occurs in the functional control subsystems in the chassis domain controller and the execution component control module.

[0021] In one embodiment, the unconventional data includes data that should be obtained is not received within a preset time period, data that should not be obtained is received within a preset time period, data exceeding a preset amount is received within a preset time period, and / or unrecognizable data.

[0022] In one embodiment, the chassis component control method further includes:

[0023] When it is monitored that both the chassis domain controller and the execution component control module have abnormalities when performing functional control on the functional unit in the chassis functional module, an abnormality warning message indicating that the functional unit is abnormal is issued.

[0024] The chassis component control device according to the above embodiment includes a function control interaction module, an execution component control module and a chassis domain controller. Since the chassis domain controller and the execution component control module can freely switch the function control of the functional unit, the reliability and safety of the layered wire-controlled chassis system can be greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the structural connection of a chassis component control device in one embodiment of the present application;

[0026] Figure 2 This is a flow chart of a chassis component control method in one embodiment of the present application;

[0027] Figure 3This is a schematic diagram of a flow chart for realizing the function of a steering unit in one embodiment of the present application;

[0028] Figure 4 It is a flowchart of a chassis component control method in another embodiment of the present application. DETAILED DESCRIPTION

[0029] The present invention is further described in detail below by specific embodiments in conjunction with the accompanying drawings. Wherein similar elements in different embodiments adopt associated similar element numbers. In the following embodiments, many detailed descriptions are for making the present application better understood. However, those skilled in the art can easily recognize that some features can be omitted in different situations, or can be replaced by other elements, materials, methods. In some cases, some operations related to the present application are not shown or described in the specification, this is to avoid the core part of the present application being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations according to the description in the specification and the general technical knowledge in the art.

[0030] In addition, the features, operations or characteristics described in the specification can be combined in any appropriate manner to form various implementations. At the same time, the steps or actions in the method description can also be interchanged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for the purpose of clearly describing a certain embodiment and are not meant to be a required sequence, unless otherwise specified that a certain sequence must be followed.

[0031] The serial numbers assigned to the components herein, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings).

[0032] The professional terms involved in this application are described below:

[0033] PPU: Power Pack Unit all-in-one motor controller.

[0034] CBW: Chassis by wire.

[0035] APA: Automatic parking function.

[0036] AEB: Emergency Braking Function

[0037] ACC: automatic cruise control function

[0038] CAN: A communication bus protocol

[0039] Wire-controlled chassis system: The wire-controlled chassis system mentioned in this patent refers specifically to the vehicle chassis system for product applications without driver participation, such as the wire-controlled chassis for unmanned delivery vehicles.

[0040] Message: This refers to the message frame of bus communication, which may contain multiple signals used for control.

[0041] For a layered wire-controlled chassis system, each function control in the chassis function control module may exist in the chassis domain controller or the specific execution component of the function. In the embodiment of the present application, the execution component refers to the function control subsystem in the execution component control module. If the function is in the chassis domain controller, and the chassis domain controller has an internal fault, the function implementation can be transferred to the specific execution component responsible for the formulation through a pre-set function control interaction module. If the function is in the execution component, and the execution component has an internal fault, the function implementation can be transferred to the chassis domain controller through the function control interaction module, and the chassis domain controller reselects the execution component to execute the function. In the case of a single component failure, the function control interaction module has the function of fault isolation, and the input and output signals of the subsystem with the fault are also restricted through the function control interaction module to ensure that the control instructions of other subsystems are not affected by it.

[0042] Embodiment 1:

[0043] Please refer to Figure 1, is a schematic diagram of the structural connection of a chassis component control device in an embodiment of the present application. The chassis component control device is used for a layered wire-controlled chassis system. The chassis component control device includes a function control interaction module 10, an execution component control module 20, and a chassis domain controller 30. The chassis domain controller 30 is connected to a chassis function module 40 of the layered wire-controlled chassis system. The chassis function module 40 includes at least one function unit 41 for adjusting the driving state of the vehicle. The chassis domain controller 30 is used to control each function unit 41 in the chassis function module 40. The execution component control module 20 includes function control subsystems 21 having the same number as the function units of the chassis function module 40. Each function control subsystem 21 is connected to a function unit 41 in the chassis function module 40 to control the connected function unit 41. The function control interaction module 10 is connected to the chassis domain controller 30 and each function control subsystem 21 in the execution component control module 20. The function control interaction module 10 is used to monitor the function control of each function unit 41 in the chassis function module 40 by the chassis domain controller 30 and / or the executive component control module 20. When the function control interaction module 10 detects that the function control of the function unit 41 in the chassis function module 40 by the chassis domain controller 30 is abnormal, it is switched to the executive component control module 20 to control the function unit 41 in the chassis function module 40. When the function control interaction module 10 detects that the function control of the function unit 41 in the chassis function module 40 by the executive component control module 20 is abnormal, it is switched to the chassis domain controller 30 to control the function unit 41 in the chassis function module 40. In one embodiment, the function unit 41 of the chassis function module 40 includes a power unit, a suspension unit, a steering unit, a brake unit and / or a wheel drive unit. In one embodiment, the function control subsystem 21 of the executive component control module 20 includes a power control subsystem, a suspension control subsystem, a steering control subsystem, a brake control subsystem and / or a wheel drive control subsystem.

[0044] In one embodiment, the execution component control module 20 is communicatively connected with the chassis domain controller 30 and the execution component control module 20 respectively through a dedicated private communication bus.

[0045] Please refer to Figure 2 , is a flow chart of a chassis component control method in an embodiment of the present application. In an embodiment of the present application, a chassis component control method is also disclosed, which is applied to the chassis component control device as described above, and includes:

[0046] Step 1001, implementation of monitoring function control.

[0047] Monitor the chassis domain controller and the implementation of functional control of the functional units in the chassis functional module by each functional control subsystem in the execution component control module.

[0048] In one embodiment, a method for monitoring the function control of each function control subsystem in the chassis domain controller and the execution component control module on the function unit in the chassis function module includes:

[0049] Monitor the message interaction data sent and received by each functional control subsystem in the chassis domain controller and the execution component control module. When the message interaction data sent and received by each functional control subsystem in the chassis domain controller and the execution component control module is fault prompt data or is non-routine data, it is determined that a control implementation abnormality occurs in the functional control subsystem in the chassis domain controller and the execution component control module. In one embodiment, non-routine data includes failure to receive data that should be obtained in a preset time period, receiving data that should not be obtained in a preset time period, receiving data exceeding a preset amount in a preset time period, and / or unrecognizable data.

[0050] Step 1002, control function interactive conversion.

[0051] When the chassis domain controller performs functional control on the functional unit in the chassis functional module and an abnormality occurs, the execution component control module is switched to control the functional unit in the chassis functional module. When the function control subsystem in the execution component control module performs functional control on the functional unit in the chassis functional module and an abnormality occurs, the chassis domain controller is switched to control the functional unit in the chassis functional module and the data information received and / or sent by the function control subsystem that generates the abnormality is blocked to isolate the function control subsystem.

[0052] In one embodiment, the chassis component control method further includes:

[0053] Step 1003: Function unit abnormality warning.

[0054] When it is monitored that an abnormality occurs when the chassis domain controller and the execution component control module perform functional control on the functional units in the chassis functional module, an abnormality warning message is issued to indicate that the functional unit is abnormal.

[0055] The following takes the implementation of the steering function as an example to describe the monitoring method of the functional control implementation of the functional unit:

[0056] The chassis domain controller and the steering control subsystem communicate through the CAN bus. The communication message is encrypted by the check code. The chassis domain controller and the steering control subsystem have special fault codes between their respective ECUs to indicate their own status, and the function control interaction module has a separate message in the bus, which contains the status signal of each function interaction. The status of the function interaction is detected by the status signal. When the steering control subsystem fails, the function control interaction module will detect the fault of the steering control subsystem. At the same time, the function control interaction module will also detect through the status signal of the bus that the current basic steering function can no longer be executed and the function needs to be transferred. At this time, the function is controlled in the chassis domain controller. At this time, two steps are performed at the same time. One step is to isolate the fault of the steering control subsystem, by limiting the transmission of the input and output signal instructions of the steering control subsystem on the bus, so that it cannot affect other components. The other step is to find a spare component for function execution. At this time, differential steering is selected. The chassis domain controller calculates the speed control instruction for the wheel drive device according to the steering demand to execute the steering function. If there is no spare component for the function execution, the function cannot be executed, and the chassis domain controller sends a fault message to the driver or the upper-level automatic driving control unit. When the chassis domain controller module fails, the functional control interaction module detects this situation by monitoring the message. At this time, the steering control subsystem directly obtains the input signal of the function from the bus and controls and executes it.

[0057] When the steering control subsystem fails, the function control interaction module in the chassis domain controller detects the situation by monitoring the message. The chassis domain controller will look for a backup component for the function execution. At this time, differential steering is selected. The chassis domain controller calculates the speed control command for the wheel drive device according to the steering demand to perform the steering function. If there is no backup component for the function execution, the function cannot be executed, and the chassis domain controller sends a fault message to the driver or the upper-level autonomous driving control unit.

[0058] Under normal circumstances, the advanced functions of automobile driving involve more execution components, and the control and feedback signals will greatly increase the load rate of the communication bus. Therefore, in one embodiment of the present application, the execution component control module communicates with the chassis domain controller and the execution component control module through a dedicated private communication bus to manage and coordinate the execution component control module. When the chassis domain controller fails, the steering control subsystem, brake control subsystem and wheel drive control subsystem involved will detect the component failure, and the function control interaction module will also detect the current ACC function control instruction abnormality through the status signal on the bus, and the function transfer is required. At this time, the function is controlled in the chassis domain controller. At this time, two steps are performed simultaneously, one step is to isolate the fault of the chassis domain controller. Since the chassis domain controller belongs to the upper controller, the lower function control subsystem cannot limit it, so the fault isolation here means that all functional units no longer receive the control instructions of the chassis domain controller, but directly receive the instructions of the upper control unit on the bus. That is, all instructions of the chassis domain controller are not executed by the functional units of the chassis function module. The other step is to control the steering control subsystem, the braking control subsystem and the wheel drive control subsystem to output the execution instructions of each component according to the ACC function instruction on the bus.

[0059] In one embodiment of the present application, the function control interaction module interactively transfers the function of the wire-controlled chassis. The function of the function control interaction module is to transfer the control right of the function to other controllers when the function control subsystem of the control function unit fails. For the wire-controlled chassis system, the function control can exist in the chassis domain controller or the specific execution component of the function. If the function is implemented by the chassis domain controller, and the chassis domain controller has an internal fault, the function can be transferred to the specific execution component (i.e., the execution component control module) responsible for the formulation through the function interaction module. If the function is in the execution component, and the execution component has an internal fault, the function can be transferred to the chassis domain controller through the function control interaction module, and the chassis domain controller reselects the execution component to execute the function. In the case of such a single component failure, the function control interaction module also has a fault isolation function, through which the faulty component can be restricted by the input and output signals of the subsystem to ensure that other subsystem control instructions are not affected by it.

[0060] The chassis component control device disclosed in one embodiment of the present application includes a function control interaction module, an execution component control module and a chassis domain controller. The chassis domain controller controls each functional unit in the chassis functional module of the layered wire-controlled chassis system, and the execution component control module includes the same number of function control subsystems as the functional units of the chassis functional module, and each function control subsystem is used to control the connected functional units. The function control interaction module is used to change the control subject of the function implementation of the functional unit when the chassis domain controller or the execution component control module fails to control the function of the functional unit in the chassis functional module. Since the chassis domain controller and the execution component control module can freely switch the function control of the functional unit, the reliability and safety of the layered wire-controlled chassis system can be greatly improved.

[0061] Embodiment 2:

[0062] like Figure 1 As shown, in one embodiment, the function control interaction module 10 is also used to control each function unit 41 in the chassis function module 40 through the chassis domain controller 30 or the execution component control module 20 according to a preset control implementation protocol.

[0063] In one embodiment, the function control interaction module 10 is also used to control each function unit 41 in the chassis function module 40 through the chassis domain controller 30 or the execution component control module 20 according to a preset control implementation protocol, including: when the environmental control factor of the chassis domain controller 30 is less than the environmental control factor of the function control subsystem 21 in the execution component control module 20, the chassis domain controller 30 is set to control the function unit 41 in the chassis function module 40, and vice versa, the function control subsystem 21 in the execution component control module 20 controls the corresponding function unit 41. Among them, the environmental control factor is related to the execution cycle and / or execution effect parameter of the function unit 41. The execution cycle is the time required for the function unit 41 to execute the function setting instruction after receiving the function setting instruction, and the execution effect parameter is the completion degree and / or completion quality evaluation value of the function unit 41 executing the function setting instruction.

[0064] In one embodiment, the environmental control factor is the sum of the execution cycle of the functional unit and each execution effect parameter multiplied by each preset weight coefficient. In one embodiment, the chassis domain controller 30 matches or corresponds to one environmental control factor for each functional unit 41 in the chassis functional module 40 .

[0065] The following describes the method of obtaining the environmental control factor by taking the method of obtaining the environmental control factor of the steering unit in the chassis function module as an example:

[0066] Please refer to Figure 3, is a flow chart for realizing the function of the steering unit in one embodiment of the present application, including:

[0067] Step 101, function preset.

[0068] The chassis domain controller is set to directly control the steering unit to realize the steering function, and the steering control subsystem in the execution component control module is set to directly control the steering unit to realize the steering function.

[0069] Step 102, obtaining execution cycle and execution effect parameters.

[0070] When testing the steering function implemented by the chassis domain controller, the steering unit completes the execution cycle a1 and execution effect parameter b1 of the steering function.

[0071] When the steering function implemented by the steering control subsystem is tested again, the steering unit completes the execution cycle a2 and the execution effect parameter b2 of the steering function.

[0072] Step 103, obtaining environmental control factors.

[0073] The formula for obtaining the environmental control factor P1 when the chassis domain controller implements the steering function is:

[0074] P1=a 11 *K 11 +b 11 *K 12 ;

[0075] Among them, a 11 is the execution cycle, b 11 is the execution effect parameter, K 11 is the weight value of the preset execution cycle, K 12 is the weight value of the preset execution effect parameter, and P1 is the environmental control factor.

[0076] Similarly, the environmental control factor P2 when the steering control subsystem realizes the steering function is obtained by:

[0077] P2=a 21 *K 21 +b 21 *K 22 ;

[0078] Among them, a 21 is the execution cycle, b 21 is the execution effect parameter, K 21 is the weight value of the preset execution cycle, K 22 is the weight value of the preset execution effect parameter, and P2 is the environmental control factor.

[0079] Step 104, comparing environmental control factors.

[0080] When P1 < P2, the steering function is implemented by the chassis domain controller; otherwise, it is implemented by the steering control subsystem.

[0081] The following takes the basic steering function as an example to illustrate the function preset:

[0082] For the basic steering function, the influencing factors are the execution cycle and the execution effect. Therefore, two tests are carried out before the two presets:

[0083] First, add the basic steering function module (BSF, Basic Steer Function) to the chassis domain controller and SBW respectively. By setting the input signal SteerAngle sent by the upper controller to be ±10deg (for example only), and setting the input timestamp according to the running cycle of 100us, test the time when the SBW actually executes the output signal of ±10deg. The execution times at the two positions are comprehensively obtained as T1 and T2 respectively (here, T1 is the average of the time T11 measured at 10deg and the time T12 measured at -10deg, and T2 is similar).

[0084] Then, add the BSF module to the chassis domain controller and SBW respectively. By setting the input signal SteerAngle sent by the upper controller to be -10, -5, 0, 5, 10deg respectively, compare the actual steering angles after the action is completed, and record the actual steering angles as A1, A2, A3, A4, A5.

[0085] After the test is completed, calculations are carried out according to the test results. The weights of the basic steering function module for the two influencing factors are set to 0.6 and 0.4 respectively. Preset an execution cycle range T low and T high respectively obtain I 11 and I 12 through the following formulas:

[0086] I 1X = (T - T low ) / (T high - T low ); Substitute T1 and T2 into this formula to get I 11 and I 12 .

[0087] Preset an execution error range A low and A high , respectively obtain I 21 and I 22 through the following formulas:

[0088] I 2X = │(A Input-A) / (A high -A low )│; Substitute the test value into the formula to get I 21 and I 22 Among them, A Input is the input 10, -5, 0, 5, 10 degrees, A is the actual steering angle A1, A2, A3, A4, A5, I 21 and I 22 is the mean of the test data.

[0089] According to the weight calculation:

[0090] I1=0.6*I 11 +0.4*I 12 ;

[0091] I2=0.6*I 21 +0.4*I 22 ;

[0092] Compare the values ​​of I1 and I2, and select the part with the minimum value as the main execution of the function.

[0093] In one embodiment, when testing the steering function of the steering unit, the required input and output signals are marked and recorded, timestamps are added, the shortest period of function control is determined by the timestamp after the steering function is executed, the execution effect parameters of the function are determined by recording the output signals, and finally the best control position is selected according to the execution effect parameters and the period. Here, quantitative analysis is performed based on the influencing factors of the function, and the weight ratio can be set according to the test experience, or the influencing factors can be artificially added and changed according to the needs before testing.

[0094] As described above, for the basic steering function, the weight value calculated in the execution unit is finally large (the weight coefficient setting for each type of function is different), and it is concluded that the function should be optimally controlled in the steering execution unit (just an example).

[0095] Please refer to Figure 4 , is a flow chart of a chassis component control method in another embodiment of the present application. In one embodiment of the present application, a chassis component control method is also disclosed, which is applied to the chassis component control device as described above, and includes:

[0096] Step 201, obtaining environmental control factors.

[0097] First, the environmental control factor of each functional unit in the chassis functional module corresponding to the chassis domain controller is obtained, and then the environmental control factor of each functional control subsystem in the execution component control module is obtained.

[0098] Step 202: Select a function execution controller.

[0099] When a function setting instruction is received, the environmental control factors of the functional unit executing the function setting instruction in the chassis domain controller and the execution component control module are compared. When the environmental control factor in the chassis domain controller is less than the environmental control factor in the execution component control module, the function setting instruction is executed through the chassis domain controller control, otherwise, the function setting instruction is executed through the execution component control module.

[0100] In one embodiment, the chassis component control method further includes:

[0101] Step 203: Update the environmental control factor.

[0102] The function control interaction module periodically updates the environmental control factors of the chassis domain controller and / or the execution component control module. In one embodiment, when the functional units in the chassis function module are changed, the function control interaction module re-updates the environmental control factors of the chassis domain controller and / or the execution component control module.

[0103] The chassis component control method disclosed in the embodiment of the present application first obtains the environmental control factor of each functional unit in the chassis function module corresponding to the chassis domain controller, and then obtains the environmental control factor of each functional control subsystem in the execution component control module, and when receiving the function setting instruction, the chassis domain controller or the execution component control module is selected to control the functional unit to execute the function setting instruction according to the comparison result of the environmental control factors in the chassis domain controller and the execution component control module. Since the optimal control mode is selected according to the respective environmental control factors of the chassis domain controller or the execution component control module, the respective advantages of the hierarchical wire-controlled chassis system and the centralized chassis domain controller are brought into play.

[0104] Taking the ACC function of a car as an example, the following describes the implementation of the advanced function control interaction of the chassis component control method disclosed in the present application, which specifically includes:

[0105] First, the function is preset. The ACC function is placed in the chassis domain controller as a functional unit and the control instructions are decomposed into the steering control subsystem, the braking control subsystem and the wheel drive control subsystem. The input and output signals required by the functional unit are marked and recorded, and timestamps are added. The shortest cycle of the function control is determined by the timestamp after the function is executed, and the execution effect of the function is determined by recording the output signal. Finally, the best control position is selected according to the execution effect and cycle.

[0106] Then, select the best one (i.e., execution cycle and execution effect parameters) to obtain the environmental control factor based on the effect and cycle. Here, we choose to conduct a quantitative analysis based on the influencing factors of the function. We can set the weight ratio based on the test experience, or we can artificially add and change the influencing factors according to the needs and then conduct the test. When the advanced function involves multiple execution components, the comparison factors should select the worst effect and the longest cycle to compare with those in the chassis domain controller. Among them, the execution cycle includes entering the function cycle, launching the function cycle and / or the function full realization cycle, and the execution effect parameters include linearity (smoothness) and stability, etc. The execution effect parameters can be converted into parameter values ​​by converting them into scoring methods based on the preset evaluation criteria.

[0107] Then, for the ACC automatic cruise function, the environmental control factors for implementing the ACC function in the chassis domain controller are obtained.

[0108] Finally, the environmental control factors for implementing the ACC function in the chassis domain controller and the executive component control module are compared, and it is finally concluded that the ACC function should be best controlled in the chassis domain controller or the executive component control module.

[0109] The basic functions of chassis functions include basic steering function, basic braking function, basic driving function, basic suspension function, etc. For advanced functions of chassis functions, such as advanced braking functions, the general influencing factors include: braking efficiency, straight braking stability, cornering braking stability, braking controllability, parking brake, braking nod, braking from the car, braking vibration, braking noise, etc. For steering functions, the general influencing factors include steering symmetry, return performance, steering smoothness, torque dead zone, yaw dead zone, steering anti-interference, etc., and the requirements of advanced functions are different, and the influencing factors are also different. Therefore, it is generally used to test several (generally no more than 5) influencing factors that have a greater impact on input and output and then allocate them. For example, the ACC function adds safety tests for entry and exit functions to judge. Compared with the basic functions, more test items will be added, but the final judgment still depends on the evaluation value of the environmental control factor.

[0110] The chassis component control device disclosed in the embodiment of the present application includes a function control interaction module, an execution component control module and a chassis domain controller. The chassis domain controller controls each functional unit in the chassis functional module of the hierarchical wire-controlled chassis system, and the execution component control module includes the same number of function control subsystems as the functional units of the chassis functional module, and each function control subsystem is used to control the connected functional units. The function control interaction module controls each functional unit in the chassis functional module through the chassis domain controller or the execution component control module according to a preset control implementation protocol. Since the functional units can be independently controlled by the chassis domain controller or the execution component control module, the respective advantages of the hierarchical wire-controlled chassis system and the centralized chassis domain controller can be brought into play.

[0111] The above specific examples are used to illustrate the present invention, which is only used to help understand the present invention and is not intended to limit the present invention. For those skilled in the art, according to the concept of the present invention, some simple deductions, modifications or substitutions can be made.

Claims

1. A chassis component control device for a layered wire-controlled chassis system, characterized in that: It includes a function control interaction module, an execution component control module and a chassis domain controller; The chassis domain controller is connected to a chassis function module of a layered wire-controlled chassis system, wherein the chassis function module includes at least one function unit for adjusting a vehicle driving state; the chassis domain controller is used to control each function unit in the chassis function module; The execution component control module includes the same number of function control subsystems as the function units of the chassis function module; each of the function control subsystems is connected to a function unit in the chassis function module to control the connected function unit; The function control interaction module is connected to each function control subsystem in the chassis domain controller and the execution component control module; the function control interaction module is used to monitor the function control implementation of each function unit in the chassis function module by the chassis domain controller and / or the execution component control module; When the function control interaction module detects that the chassis domain controller has abnormal function control over the function unit in the chassis function module, the execution component control module is switched to control the function unit in the chassis function module; When the function control interaction module detects that the function control of the function unit in the chassis function module by the execution component control module is abnormal, the chassis domain controller is switched to control the function unit in the chassis function module; The chassis component control device is used to obtain the environmental control factor of each functional unit in the chassis function module corresponding to the chassis domain controller, and then obtain the environmental control factor of each functional control subsystem in the execution component control module; the environmental control factor is the sum of the execution cycle of the functional unit and each execution effect parameter multiplied by each preset weight coefficient; The chassis component control device is also used to compare the environmental control factors of the functional unit that executes the function setting instruction in the chassis domain controller and the execution component control module when receiving a function setting instruction, and when the environmental control factor in the chassis domain controller is smaller than the environmental control factor in the execution component control module, the function setting instruction is executed by the chassis domain controller, otherwise, the function setting instruction is executed by executing the component control module.

2. The chassis component control device according to claim 1, characterized in that: The functional units of the chassis functional module include a power unit, a suspension unit, a steering unit, a braking unit and / or a wheel drive unit.

3. The chassis component control device according to claim 2, characterized in that: The functional control subsystem of the actuator control module includes a power control subsystem, a suspension control subsystem, a steering control subsystem, a braking control subsystem and / or a wheel drive control subsystem.

4. The chassis component control device according to claim 1, characterized in that: The execution component control module is communicatively connected with the chassis domain controller and the execution component control module respectively through a dedicated private communication bus.

5. A chassis component control method for a layered wire-controlled chassis system, applied to the chassis component control device according to any one of claims 1 to 4, characterized in that: include: Monitoring the implementation of the functional control of the functional units in the chassis functional module by each of the functional control subsystems in the chassis domain controller and the execution component control module; When the chassis domain controller performs functional control on the functional unit in the chassis functional module and an abnormality occurs, the execution component control module is switched to control the functional unit in the chassis functional module; When the function control subsystem in the execution component control module performs function control on the function unit in the chassis function module and an abnormality occurs, the chassis domain controller is switched to control the function unit in the chassis function module, and the data information received and / or sent by the function control subsystem that generates the abnormality is blocked to isolate the function control subsystem; The chassis component control method further includes: After obtaining the environmental control factor of each functional unit in the chassis functional module corresponding to the chassis domain controller; the environmental control factor is the sum of the execution cycle of the functional unit and each execution effect parameter multiplied by each preset weight coefficient; Obtaining the environmental control factor of each functional control subsystem in the execution component control module; When a function setting instruction is received, the environmental control factors of the functional unit executing the function setting instruction in the chassis domain controller and the execution component control module are compared, and when the environmental control factor in the chassis domain controller is smaller than the environmental control factor in the execution component control module, the function setting instruction is executed by the chassis domain controller, otherwise, the function setting instruction is executed by executing the component control module.

6. The chassis component control method according to claim 5, characterized in that: The method for monitoring the function control of the function unit in the chassis function module by each of the function control subsystems in the chassis domain controller and the execution component control module comprises: Monitoring message interaction data sent and received by each of the functional control subsystems in the chassis domain controller and the execution component control module; When the message interaction data sent and received by each of the functional control subsystems in the chassis domain controller and the execution component control module is fault prompt data or irregular data, it is determined that a control implementation abnormality occurs in the functional control subsystems in the chassis domain controller and the execution component control module.

7. The chassis component control method according to claim 6, characterized in that: The irregular data includes data that should be obtained is not received within a preset time period, data that should not be obtained is received within a preset time period, data exceeding a preset amount is received within a preset time period, and / or unrecognizable data.

8. The chassis component control method according to claim 5, characterized in that: Also includes: When it is monitored that both the chassis domain controller and the execution component control module have abnormalities when performing functional control on the functional unit in the chassis functional module, an abnormality warning message indicating that the functional unit is abnormal is issued.

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