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 controls each functional unit in the chassis function 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.

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 all implemented using the actuator control module. The advantage is that the feedback information transmission cycle is reduced, making the control faster and more accurate. Limited by the functional matching support of the actuator control module of the automotive parts manufacturer, the existing hierarchical architecture is mostly based on the distributed system of the traditional chassis for transformation. This transformation method limits the advantages of the hierarchical control strategy. Summary of the invention

[0004] The present application proposes a chassis component control device for a layered drive-by-wire chassis system to optimize the chassis control system.

[0005] According to the first aspect, an embodiment discloses a chassis component control device for a layered drive-by-wire chassis system, including 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 functional control interaction module is connected to each functional control subsystem in the chassis domain controller and the execution component control module; the functional control interaction module is used to control 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.

[0009] 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.

[0010] 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.

[0011] In one embodiment, the function control interaction module is used to control each of the function units in the chassis function module through the chassis domain controller or the execution component control module according to a preset control implementation protocol, including:

[0012] When the environmental control factor of the chassis domain controller is smaller than the environmental control factor of the functional control subsystem in the execution component control module, the chassis domain controller is set to control the functional unit in the chassis functional module, otherwise, the functional control subsystem in the execution component control module controls the corresponding functional unit; wherein the environmental control factor is related to the execution cycle and / or execution effect parameters of the functional unit.

[0013] In one embodiment, the execution cycle is the time required for the functional unit to execute a function setting instruction after receiving the function setting instruction; the execution effect parameter is the completion degree and / or completion quality assessment value of the functional unit executing the function setting instruction.

[0014] In one embodiment, the environmental control factor is the sum of the execution period of the functional unit and each of the execution effect parameters multiplied by each preset weight coefficient.

[0015] In one embodiment, the chassis domain controller corresponds to one environmental control factor for each functional unit in the chassis functional module.

[0016] 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:

[0017] Acquire the environmental control factor of each functional unit in the chassis functional module corresponding to the chassis domain controller;

[0018] Obtaining the environmental control factor of each functional control subsystem in the execution component control module;

[0019] When receiving the function setting instruction, comparing the environmental control factors of the functional unit executing the function setting instruction in the chassis domain controller and the execution component control module;

[0020] 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, otherwise, the function setting instruction is executed through the execution component control module.

[0021] In one embodiment, the chassis component control method further includes:

[0022] The functional control interaction module periodically updates the environmental control factors of the chassis domain controller and / or the execution component control module.

[0023] In one embodiment, the chassis component control method further includes:

[0024] When the functional unit in the chassis functional module changes, the functional control interaction module re-updates the environmental control factors of the chassis domain controller and / or the execution component control module.

[0025] 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 functional units can be independently controlled by the chassis domain controller or the execution component control module, the advantages of the hierarchical wire-controlled chassis system and the centralized chassis domain controller can be brought into play. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the structural connection of a chassis component control device in one embodiment of the present application;

[0027] Figure 2 This 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 3 It is a flow chart of a chassis component control method in one 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] In the prior art, most of the schemes are based on centralized control or are based on the modification of existing control strategies, and no dedicated coordination control strategy is designed for the hierarchical chassis domain controller. For example, Chinese patent document CN113830166 proposes a method for driving in a smart connected wire-controlled chassis system based on a BP neural network method by coordinating steering and braking systems; Chinese patent document CN113997780 proposes a coordinated control based on a self-redundant wheel module for actuator saturation, working reliability and optimal energy consumption; Chinese patent document CN111775721 proposes a method for determining control instructions by dividing the working conditions to determine the chassis operating mode from the vehicle level, and proposes a hierarchical strategy of dividing the vehicle control system into a planning layer, a coordination layer and an execution layer.

[0042] In an embodiment of the present application, a chassis component control method for a hierarchical wire-controlled chassis system is disclosed. First, the environmental control factor of each functional unit in the chassis function 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. When a function setting instruction is received, 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.

[0043] Embodiment 1:

[0044] 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. The execution component control module 20 includes the same number of function control subsystems 21 as the number of function units of the chassis function module 40. Each function control subsystem 21 corresponds to a function unit 41 connected to the chassis function module 40, so as to control the connected function unit 41. The function control interaction module 10 is connected to each function control subsystem 21 in the chassis domain controller 30 and the executive component control module 20, and the function control interaction module 10 is used to control each function unit 41 in the chassis function module 40 through the chassis domain controller 30 or the executive component control module 20 according to a preset control implementation protocol. Among them, 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, and 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.

[0045] In one embodiment, the function control interaction module 10 controls 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.

[0046] 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 .

[0047] 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:

[0048] Please refer to Figure 2 , is a flow chart for realizing the function of the steering unit in one embodiment of the present application, including:

[0049] Step 101, function preset.

[0050] 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.

[0051] Step 102, obtaining execution cycle and execution effect parameters.

[0052] 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.

[0053] 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.

[0054] Step 103, obtaining environmental control factors.

[0055] The formula for obtaining the environmental control factor P1 when the chassis domain controller implements the steering function is:

[0056] P1=a 11 *K 11 +b 11 *K 12 ;

[0057] 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.

[0058] Similarly, the environmental control factor P2 when the steering control subsystem realizes the steering function is obtained by:

[0059] P2=a 21 *K 21 +b 21 *K 22 ;

[0060] 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, K22 P1 is the weight value of the preset execution effect parameter, and P2 is the environmental control factor.

[0061] Step 104, compare the environmental control factors.

[0062] When P1 < P2, the chassis domain controller implements the steering function; otherwise, the steering control subsystem implements the steering function.

[0063] In one embodiment, when testing the steering function of the steering unit, mark and record the required input and output signals, add time stamps, judge the shortest cycle of function control through the time stamps after the steering function is executed, judge the execution effect parameters of the function by recording the output signals, and finally select the best control position according to the execution effect parameters and the cycle. Here, quantitative analysis is performed according to the influencing factors of the function. The weight ratio can be set according to test experience, or the influencing factors can be artificially added or changed according to requirements and then tested.

[0064] As described above for the basic steering function, finally, a relatively large weight value calculated in the execution unit is obtained (the weight coefficients for each type of function are different), and it is obtained that this function should be optimally controlled in the steering execution unit (only as an example).

[0065] Please refer to Figure 3 , which is a schematic flowchart of the chassis component control method in an embodiment of the present application. An embodiment of the present application also discloses a chassis component control method, which is applied to the chassis component control device as described above and includes:

[0066] Step 201, obtain the environmental control factor.

[0067] First, 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 function control subsystem in the execution component control module.

[0068] Step 202, select the function execution controller.

[0069] When receiving a function setting instruction, compare the environmental control factors of the functional unit executing the function setting instruction in the chassis domain controller and the execution component control module. When the environmental control factor in the chassis domain controller is less than the environmental control factor in the execution component control module, control the execution of the function setting instruction through the chassis domain controller; otherwise, execute the function setting instruction through the execution component control module.

[0070] In one embodiment, the chassis component control method further includes:

[0071] Step 203, update the environmental control factor.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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 the driving state of the vehicle; 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 control each function unit in the chassis function module through the chassis domain controller or the execution component control module according to a preset control implementation protocol; The function control interaction module is used to control each of the function units in the chassis function module through the chassis domain controller or the execution component control module according to a preset control implementation protocol, including: When the environmental control factor of the chassis domain controller is less than the environmental control factor of the functional control subsystem in the execution component control module, the chassis domain controller is set to control the functional unit in the chassis functional module, otherwise, the functional control subsystem in the execution component control module controls the corresponding functional unit; wherein the environmental control factor is related to the execution cycle and / or execution effect parameter of the functional unit; The execution cycle is the time required for the functional unit to execute the function setting instruction after receiving the function setting instruction; the execution effect parameter is the completion degree and / or completion quality evaluation value of the functional unit executing the function setting instruction; 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 domain controller corresponds to one environmental control factor for each functional unit in the chassis functional 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. 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 3, characterized in that: include: Acquire the environmental control factor of each functional unit in the chassis functional module corresponding to the chassis domain controller; Obtaining the environmental control factor of each functional control subsystem in the execution component control module; When receiving the function setting instruction, comparing the environmental control factors of the functional unit executing the function setting instruction in the chassis domain controller and the execution component control module; 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, otherwise, the function setting instruction is executed through the execution component control module.

5. The chassis component control method according to claim 4, characterized in that: The functional control interaction module periodically updates the environmental control factors of the chassis domain controller and / or the execution component control module.

6. The chassis component control method according to claim 4, characterized in that: When the functional unit in the chassis functional module is changed, the functional control interaction module re-updates the environmental control factors of the chassis domain controller and / or the execution component control module.

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