A modification method based on the wire-controlled chassis of a new energy vehicle

Abstract

The invention discloses a modification method based on a wire-controlled chassis of a new energy vehicle. A wire-controlled system including a controller, a steering system, a braking system, a sensor device and other mechanisms is installed on the basis of the original vehicle to realize linear control of steering and braking. The communication protocol is open source and can realize external communication. The shift function transmits the signal of each gear of the original vehicle gear sensor to the original vehicle VCU to realize shifting. In the process of signal simulation control, the original vehicle gear signal will be shielded, so that the original vehicle operation shifting and wire control two modes can be realized. The driving acceleration and deceleration control transmits the signal of the original vehicle accelerator pedal to the original vehicle VCU to realize acceleration and deceleration control. In the control process of signal simulation, the original vehicle throttle signal is shielded, so that the original vehicle acceleration and deceleration and wire control two modes can be realized. In this way, it can help students better understand the system composition, solve the problem that the structure is not easy to observe and learn because the original vehicle is a highly integrated product, and thus meet the needs of experimental teaching.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to a modification method based on a wire-controlled chassis of a new energy vehicle. Background Art

[0002] The key to the vehicle's wire-controlled chassis lies in the three major systems of wire-controlled steering, wire-controlled braking system and wire-controlled drive. The wire-controlled chassis is a point of convergence between unmanned driving and new energy vehicles, and is an important medium for realizing autonomous driving. At present, the chassis of many new energy vehicles already have some wire-controlled capabilities, such as wire-controlled steering and wire-controlled braking system. The wire-controlled chassis uses wires (electronic signals) to replace traditional mechanical, hydraulic or pneumatic connections, thereby achieving the output of force or torque without the driver. The wire-controlled system is that when there is no sleeve connection and mechanical force transmission between the actuator and the control unit, the driver's command is recognized by the sensor, and then transmitted to the actuator and the electronic controller through the network using electronic signals and other methods. Among them, the actuator uses external power to perform the corresponding tasks, and all its implementation processes and operation results are controlled and detected by the electronic controller.

[0003] At present, many areas in many cities in China have opened roads for unmanned driving, which has led to the rapid development of unmanned driving. However, due to the high price of mass-produced vehicles equipped with wire-controlled chassis, and the fact that manufacturers of mass-produced vehicles will not disclose relevant data such as the communication protocol of the wire-controlled chassis, most of the current automotive education is based on training benches, modified cars (non-market products), or teaching products based on robot chassis. It is difficult to directly teach wire-controlled chassis technology based on mass-produced vehicles, resulting in a large gap between the application of wire-controlled chassis technology in the teaching field and the market-oriented industry. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a method for wire-control modification directly based on the chassis of a mass-produced vehicle model in view of the shortcomings of the prior art. This method can not only facilitate the modification of the existing electric (new energy) vehicle chassis wire-control system on the market, and meet the needs of the chassis wire-control system to expand the automatic driving function by adding sensors, computing platforms, etc., but also make it easier for schools to teach students relevant knowledge about cars, so as to help improve students' awareness and hands-on ability.

[0005] In order to solve the above technical problems, the present invention adopts the following technical scheme: a modification method based on the wire-controlled chassis of a new energy vehicle, characterized in that: a whole vehicle controller VCU, a whole vehicle wire-controlled CAN, a drive circuit, a remote control receiving circuit, a switch circuit, a steering system and a brake system (also called a brake system) are installed on the basis of the original vehicle controller VCU and the original vehicle wire-controlled CAN, wherein the whole vehicle controller VCU and the whole vehicle wire-controlled CAN, the original vehicle wire-controlled CAN, the drive circuit, the remote control receiving circuit and the switch signal are connected by a double-layer PCB board internal circuit, the whole vehicle controller VCU is connected to the steering system and the brake system through the whole vehicle wire-controlled CAN and controls the two; the whole vehicle controller VCU is connected to the original vehicle controller VCU through the original vehicle wire-controlled CAN and the drive circuit respectively; the whole vehicle controller VCU is also connected to the power switch, the enable switch and the emergency stop switch through the switch circuit respectively;

[0006] The original vehicle wire control CAN receives the message data of the original vehicle controller VCU to parse the wheel speed and vehicle speed messages, and transmits them to the vehicle controller VCU to achieve linear control of the vehicle speed;

[0007] The vehicle wire control CAN is used to send and receive external CAN messages, including receiving control command messages, actuator feedback messages, sending control command messages, and vehicle controller VCU feedback messages;

[0008] The drive circuit controls the vehicle speed, gear position, brake and other signals through analog voltage signals to the original vehicle controller VCU;

[0009] The remote control receiving circuit is connected to the remote control receiver and controls the output of other modules by receiving the signal from the remote control receiver in the remote control mode.

[0010] Furthermore, the vehicle controller VCU includes two processors, namely a first MCU and a second MCU, which are connected using a serial communication method and are used to exchange data such as the rotation speed and vehicle speed received from the original vehicle controller VCU.

[0011] Furthermore, the first MCU is connected to a first CAN transceiver, the second MCU is connected to a second CAN transceiver, and the two CAN transceivers are connected together to a vehicle connector, which is used to connect external lines; the first MCU is connected to the vehicle connector through the first CAN transceiver to realize the whole vehicle wire control CAN receiving wire control instructions, sending module control instructions and feedback messages; the second MCU is connected to the vehicle connector through the second CAN transceiver to realize the original vehicle wire control CAN to analyze the rotation speed, vehicle speed and other signals of the original vehicle controller VCU.

[0012] Furthermore, the switch circuit is connected to the first MCU and to the vehicle connector, so that the first MCU receives signals from the power switch, the enable switch and the emergency stop switch.

[0013] Furthermore, the first MCU and the second MCU are also connected to a step-down circuit, which is connected to the car connector and is used to convert the input 12V voltage into a 3.3V voltage to power the first MCU and the second MCU.

[0014] Furthermore, the remote control receiving circuit is connected to the first MCU, the second MCU and the car connector respectively, and is used for the first MCU to receive the remote control receiver signal.

[0015] Furthermore, the vehicle controller VCU also includes an ADC chip, which is connected to the first MCU; the ADC chip is connected to an analog switch chip, and the analog switch chip is connected to the first MCU and the vehicle connector, and is used for the first MCU to control the ADC chip to output an analog signal voltage of 0 to 5V as a throttle signal of the original vehicle controller VCU, and control the output to return to the original vehicle controller VCU through the analog switch chip; the ADC chip adopts the LTC1661 chip, which can control the output of two sets of adjustable voltage signals; the analog switch chip adopts the 74HC4066 chip.

[0016] Furthermore, the vehicle controller VCU also includes a gear circuit, which is connected to the first MCU. The gear circuit is also connected to a relay circuit, which is used for the first MCU to control the analog signal voltage of the gear circuit as the gear signal of the original vehicle controller VCU, and control the output through the relay circuit; the gear circuit is three groups of MOS circuits, which can control the output of three groups of 0 or 12V voltage signals.

[0017] The gear position signal of the original vehicle controller VCU input by the car connector and the analog gear position signal input by the ADC chip are finally output by the first MCU and returned to the original vehicle controller VCU through the control relay circuit.

[0018] A detection panel can also be provided, on which a number of detection access ports and detection output ports corresponding to each other are provided. The steering system, brake system and drive system of the automobile are respectively connected to the detection access ports of the detection panel through signal lines, and the detection equipment is connected to the detection output ports corresponding to each system on the detection panel to realize the detection of the automobile. The detection panel is used to realize the detection of the signal voltage of different pins of the control system, the system connection relationship, etc. It can also be understood as a traditional car repair mode in order to detect the signals of different signal lines. Of course, the function of this detection panel is similar to that of other detection adapters in the field of electrical detection, mainly to realize the centralized transfer of electrical signals, to facilitate the provision of detection ports during the teaching process, which is equivalent to guiding the end pins of the computer board to the detection panel to facilitate teaching, without having to detect the signal of the specific control line on the car by plugging and unplugging the plug.

[0019] The car can be connected to the host computer through the detection panel, and the program source code of the entire chassis wire control system can be modified through the host computer to realize the modification of the system algorithm and communication protocol. The algorithm can be continuously optimized to achieve performance optimization of wire control steering, braking, and driving. It can also be understood as using different algorithms to perform performance tests under different conditions.

[0020] A diagnostic socket can be set on the detection panel, and connected to the lower computer through the diagnostic socket, so that the lower computer can read the data of the chassis wire control system and self-diagnose the fault. The system code can also be translated into a specific fault code of the system through the functional software of the lower computer, so as to guide the teaching.

[0021] The modified vehicle works according to the following process:

[0022] 1) The first MCU receives the corresponding CAN control message through the vehicle wire control CAN or receives the signal of the remote control receiver using the remote control mode;

[0023] 2) The second MCU receives the speed and vehicle speed message from the original vehicle controller VCU through the original vehicle wire control CAN, parses it, and sends it to the first MCU through serial port communication;

[0024] 3) The first MCU analyzes CAN control messages or remote control signals, vehicle speed, wheel speed and other information;

[0025] 4) The first MCU controls the corresponding throttle signal voltage and gear signal voltage to the original vehicle controller VCU according to the CAN control message or remote control signal to perform drive control;

[0026] 5) The first MCU sends the corresponding steering control message to the steering system according to the CAN control message or the remote control signal to perform steering control;

[0027] 6) The first MCU sends a corresponding brake control message to the brake system according to the CAN control message or the remote control signal to perform brake control.

[0028] Usage process:

[0029] 1. Remote control mode

[0030] 1) Turn on the power switch, enable the switch to the on state, and confirm that the emergency stop button is in the off state;

[0031] 2) Turn on the remote control and turn on the enable button of the remote control;

[0032] 3) Use the joystick and buttons on the remote control to switch vehicle status, such as gear position, speed, brake, and front wheel steering.

[0033] 2. Line control command mode

[0034] 1) Turn on the power switch, enable the switch to the on state, and confirm that the emergency stop button is in the off state;

[0035] 2) Turn off the power of the remote control, or turn off the enable button of the remote control;

[0036] 3) By sending the correct control message through the vehicle's wire control CAN, the vehicle status, such as gear position, speed, brake, and front wheel steering, can be switched;

[0037] 3. Manual mode

[0038] Turn off the power switch or the enable switch is in the off state and the emergency stop button is in the off state.

[0039] The present invention is based on the original vehicle and is equipped with a wire control system including a controller, a steering system, a braking system, a sensor device and other mechanisms, which can realize linear control of steering and braking, and the communication protocol is open source, and external communication can be realized; at the same time, the shifting function simulates the signal of each gear of the original vehicle gear sensor and transmits it to the original vehicle VCU to realize the shifting. In the process of signal simulation control, the original vehicle gear signal will be shielded, so that the two modes of original vehicle operation shifting and wire control can be realized; the drive acceleration and deceleration control simulates the original vehicle throttle pedal signal and transmits it to the original vehicle VCU to realize acceleration and deceleration control. In the process of signal simulation control, the original vehicle throttle signal will be shielded, so that the original vehicle acceleration and deceleration and wire control can be realized.

[0040] By modifying the control-by-wire chassis, we can get a clearer understanding of the working process of the system. From the hardware level, the systems that can be directly observed include the executive motor, corresponding sensors, control modules, etc. These components are distributed, which can help students better understand the composition of the system and solve the problem that the structure is not easy to observe and learn because the original car is basically a highly integrated product; from the software control level, the system can achieve autonomous linear control after installation, and different control instructions will get different output results, so we can better understand the importance of control program compilation and protocol. At the same time, performance tests such as steering accuracy and braking sensitivity can be completed through control instructions to meet the needs of experimental teaching.

[0041] In this way, by modifying the chassis control-by-wire system of mass-produced vehicles, the control methods of the control-by-wire communication and control-by-wire simulation in the control-by-wire chassis technology are demonstrated. The control method and communication protocol of the system are open source, which can better meet the teaching scenarios such as function control, function testing, and open-loop experiments in the process of automobile teaching, and facilitate the modification of the existing electric vehicle chassis control-by-wire system in the market, so that schools can teach students relevant knowledge and improve students' awareness and hands-on ability. While meeting the teaching of the chassis control-by-wire system, the development and application of autonomous driving functions can also be expanded by adding sensors and computing platforms. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0043] Figure 2 This is a schematic diagram of the internal circuit of the vehicle VCU of the present invention;

[0044] Figure 3 This is a control flow chart of the present invention;

[0045] Figure 4 A diagram of the first MCU and its peripheral circuits;

[0046] Figure 5 is a diagram of the second MCU and its peripheral circuits;

[0047] Figure 6 It is the circuit diagram of the automobile connector and its peripherals;

[0048] Figure 7 It is the circuit diagram of two CAN transceivers and their peripherals;

[0049] Figure 8 This is the step-down circuit diagram;

[0050] Fig. 9 It is the ADC chip, analog switch chip and their peripheral circuit diagram;

[0051] Fig.10 This is the gear circuit diagram;

[0052] Fig.11 It is the relay circuit diagram;

[0053] Fig.12 This is a schematic diagram of the access to the detection panel;

[0054] Fig.13 Implement the flow chart for the functions of the host computer;

[0055] Fig.14 This is a schematic diagram of control parameters displayed by the host computer;

[0056] Fig.15 This is a schematic diagram of the access to the lower computer (also called the debugging host);

[0057] Fig.16 Provide a flow chart for the function implementation of the lower computer. DETAILED DESCRIPTION

[0058] In this embodiment, refer to Figure 1-Figure 3 , and cooperate with Figure 4-Figure 11The modification method based on the wire-controlled chassis of a new energy vehicle is to add a vehicle controller VCU1, a vehicle wire-controlled CAN2, a drive circuit 4, a remote control receiving circuit 5, a switch circuit 6, a steering system 8 and a brake system 9 on the basis of the original vehicle controller VCU7 and the original vehicle wire-controlled CAN3, wherein the vehicle controller VCU1 is connected to the vehicle wire-controlled CAN2, the original vehicle wire-controlled CAN3, the drive circuit 4, the remote control receiving circuit 5 and the switch signal 6 by adopting a double-layer PCB board internal circuit connection, the vehicle controller VCU1 is connected to the steering system 8 and the brake system 9 through the vehicle wire-controlled CAN2 and controls the two; the vehicle controller VCU1 is connected to the original vehicle controller VCU7 through the original vehicle wire-controlled CAN3 and the drive circuit 4; the vehicle controller VCU1 is also connected to the power switch 20, the enable switch 21, and the emergency stop switch 22 through the switch circuit 6;

[0059] The original vehicle wire control CAN3 receives the message data of the original vehicle controller VCU7 to parse the wheel speed and vehicle speed messages, and transmits them to the vehicle controller VCU to achieve linear control of the vehicle speed;

[0060] The vehicle wire control CAN2 is used to send and receive external CAN messages, including receiving control command messages, actuator feedback messages, sending control command messages, and vehicle controller VCU1 feedback messages;

[0061] The drive circuit 4 controls the vehicle speed, gear position, brake and other signals through analog voltage signals to the original vehicle controller VCU7;

[0062] The remote control receiving circuit 5 is connected to the remote control receiver 23 and controls the outputs of other modules by receiving the signal from the remote control receiver 23 in the remote control mode.

[0063] The vehicle controller VCU1 includes two processors, namely the first MCU11 and the second MCU12, both of which can use the STM32F303CCT6 chip. The two are connected via serial communication to exchange the rotation speed, vehicle speed and other data received from the original vehicle controller VCU7.

[0064] The first MCU11 is connected to the first CAN transceiver 13, the second MCU12 is connected to the second CAN transceiver 14, and the two CAN transceivers are connected together to a car connector 113, and the car connector 113 is used to connect external lines; the first MCU11 is connected to the car connector 11 through the first CAN transceiver 13 to realize the whole vehicle wire control CAN2 to receive wire control instructions, send module control instructions and feedback messages; the second MCU12 is connected to the car connector 11 through the second CAN transceiver 14 to realize the original vehicle wire control CAN3 to analyze the rotation speed, vehicle speed and other signals of the original vehicle controller VCU7.

[0065] The switch circuit 6 is connected to the first MCU 11 and to the vehicle connector 113 , and is used for the first MCU 11 to receive signals from the power switch 20 , the enable switch 21 , and the emergency stop switch 22 .

[0066] The first MCU 11 and the second MCU 12 are connected to a step-down circuit 16 , which is connected to the car connector 113 and is used to convert an input 12V voltage into a 3.3V voltage to supply power 12 to the first MCU 11 and the second MCU.

[0067] The remote control receiving circuit 5 is connected to the first MCU 11 , the second MCU 12 and the vehicle connector 113 respectively, and is used for the first MCU 11 to receive the signal of the remote control receiver 23 .

[0068] The vehicle controller VCU1 also includes an ADC chip 18, which is connected to the first MCU11; the ADC chip 18 is connected to an analog switch chip 111, and the analog switch chip 111 is connected to the first MCU11 and the vehicle connector 113, and is used for the first MCU11 to control the ADC chip 18 to output an analog signal voltage of 0 to 5V as the throttle signal of the original vehicle controller VCU7, and control the output to return to the original vehicle controller VCU7 through the analog switch chip 111; the ADC chip 18 adopts the LTC1661 chip, which can control the output of two sets of adjustable voltage signals; the analog switch chip 111 adopts the 74HC4066 chip.

[0069] The vehicle controller VCU1 also includes a gear circuit 19, which is connected to the first MCU11. The gear circuit 19 is also connected to a relay circuit 110, which is used for the first MCU11 to control the analog signal voltage of the gear circuit 19 as the gear signal of the original vehicle controller VCU7, and control the output through the relay circuit 110; the gear circuit 19 is three groups of MOS circuits, which can control the output of three groups of 0 or 12V voltage signals.

[0070] The gear position signal of the original vehicle controller VCU7 input by the vehicle connector 113 and the analog gear position signal input by the ADC chip 18 are finally output by the first MCU 11 through the control relay circuit 110 and returned to the original vehicle controller VCU7.

[0071] The modified vehicle works according to the following process:

[0072] 1) The first MCU 11 receives the corresponding CAN control message through the vehicle wire control CAN 2 or receives the signal of the remote control receiver 23 using the remote control mode;

[0073] 2) The second MCU12 receives the rotation speed and vehicle speed message from the original vehicle controller VCU7 through the original vehicle wire control CAN3, parses it, and sends it to the first MCU11 through serial communication;

[0074] 3) The first MCU 11 analyzes the CAN control message or remote control signal, vehicle speed, wheel speed and other information;

[0075] 4) The first MCU11 controls the corresponding throttle signal voltage and gear signal voltage to the original vehicle controller VCU7 according to the CAN control message or remote control signal to perform drive control;

[0076] 5) The first MCU 11 sends a corresponding steering control message to the steering system 8 according to the CAN control message or the remote control signal to perform steering control;

[0077] 6) The first MCU 11 sends a corresponding brake control message to the brake system 9 according to the CAN control message or the remote control signal to perform brake control.

[0078] Usage process:

[0079] 1. Remote control mode

[0080] 1) Turn on the power switch 20, enable the switch 21 to be in the on state, and confirm that the emergency stop button 22 is in the off state;

[0081] 2) Turn on the remote control and turn on the enable button of the remote control;

[0082] 3) Use the joystick and buttons on the remote control to switch vehicle status, such as gear position, speed, brake, and front wheel steering.

[0083] 2. Line control command mode

[0084] 1) Turn on the power switch 20, enable the switch 21 to be in the on state, and confirm that the emergency stop button 22 is in the off state;

[0085] 2) Turn off the power of the remote control, or turn off the enable button of the remote control;

[0086] 3) By sending the correct control message through the vehicle wire control CAN2, the vehicle status, such as gear position, speed, brake, and front wheel steering, can be switched;

[0087] 3. Manual mode

[0088] The power switch 20 is turned off or the enable switch 21 is in the off state and the emergency stop button 22 is in the off state.

[0089] Reference Figure 12-16, a detection panel can also be set up, and a number of detection access ports and detection output ports corresponding to each other are set up on the detection panel. The steering system, brake system and drive system of the car are respectively connected to the detection access ports of the detection panel through signal lines, and the detection equipment is connected to the detection output ports corresponding to each system on the detection panel to realize the detection of the car. The detection panel is used to detect the signal voltage of different pins of the control system, the system connection relationship, etc. It can also be understood as a traditional car repair mode to detect signals from different signal lines. Of course, the function of this detection panel is similar to that of other detection adapters in the field of electrical detection. It is mainly to realize the centralized transfer of electrical signals, which is convenient for providing detection ports during the teaching process, which is equivalent to guiding the end pins of the computer board to the detection panel to facilitate teaching, without having to detect the signal of the specific control line on the car by plugging and unplugging the plug.

[0090] The car can be connected to the host computer (such host computer can be a computer with corresponding control software) through the detection panel, and the program source code of the entire chassis wire control system can be modified through the host computer to realize the modification of the system algorithm and communication protocol, and the performance optimization of wire control steering, braking and driving can be achieved through continuous optimization of the algorithm. It can also be understood as using different algorithms to perform performance tests under different states. For example, in order to verify the correctness of the control system algorithm, that is to say, the source code of the system algorithm is provided to realize the optimization and modification of the algorithm logic during the teaching process. After modifying the algorithm code, it is necessary to test the operation performance under different codes. For example, if a 50% left turn function is sent, then the most appropriate steering angle for the left turn is how many degrees, which needs to be clarified and optimized through multiple tests.

[0091] A diagnostic socket can be set on the detection panel, and the lower computer (or debugging host, which can be a computer with corresponding functional software) can be connected through the diagnostic socket, so that the lower computer can read the data of the chassis wire control system and self-diagnose the fault. The system code can also be translated into a specific fault code of the system through the functional software of the lower computer, so as to guide the teaching.

[0092] The present invention has been described in detail above. The above description is only a preferred embodiment of the present invention and should not limit the scope of implementation of the present invention. That is, all equivalent changes and modifications made within the scope of this application should still fall within the scope of the present invention.

Claims

1. A modification method based on a wire-controlled chassis of a new energy vehicle, characterized in that: On the basis of the original vehicle controller VCU and the original vehicle wire control CAN, a vehicle controller VCU, a vehicle wire control CAN, a drive circuit, a remote control receiving circuit, a switch circuit, a steering system and a brake system are added. Among them, the vehicle controller VCU and the vehicle wire control CAN, the original vehicle wire control CAN, the drive circuit, the remote control receiving circuit and the switch signal are connected by a double-layer PCB board internal circuit. The vehicle controller VCU is connected to the steering system and the brake system through the vehicle wire control CAN and controls the two. The vehicle controller VCU is connected to the original vehicle controller VCU through the original vehicle wire control CAN and the drive circuit respectively. The vehicle controller VCU is also connected to the power switch, the enable switch and the emergency stop switch through the switch circuit. The original vehicle wire control CAN receives the message data of the original vehicle controller VCU to parse the wheel speed and vehicle speed messages, and transmits them to the vehicle controller VCU to achieve linear control of the vehicle speed; The vehicle wire control CAN is used to send and receive external CAN messages, including receiving control command messages, actuator feedback messages, sending control command messages, and vehicle controller VCU feedback messages; The drive circuit controls the vehicle speed, gear position and brake signal through analog voltage signals to the original vehicle controller VCU; The remote control receiving circuit is connected to the remote control receiver and controls the output of other modules by receiving the signal from the remote control receiver in the remote control mode.

2. The modification method based on the wire-controlled chassis of a new energy vehicle according to claim 1 is characterized in that: The vehicle controller VCU includes two processors, namely the first MCU and the second MCU, which are connected by serial communication to exchange the rotation speed and vehicle speed data received from the original vehicle controller VCU; The first MCU is connected to the first CAN transceiver, the second MCU is connected to the second CAN transceiver, and the two CAN transceivers are connected together to a car connector, which is used to connect external lines; the first MCU is connected to the car connector through the first CAN transceiver to realize the whole vehicle wire control CAN to receive wire control instructions, send module control instructions and feedback messages; the second MCU is connected to the car connector through the second CAN transceiver to realize the original vehicle wire control CAN to analyze the rotation speed and vehicle speed signals of the original vehicle controller VCU.

3. The modification method based on the wire-controlled chassis of a new energy vehicle according to claim 2 is characterized in that: The switching circuit is connected to the first MCU and to the vehicle connector, and is used for the first MCU to receive signals from the power switch, the enable switch and the emergency stop switch; the first MCU and the second MCU are also connected to a step-down circuit, which is connected to the vehicle connector and is used to convert the input 12V voltage into a 3.3V voltage to power the first MCU and the second MCU.

4. The modification method based on the wire-controlled chassis of a new energy vehicle according to claim 3 is characterized in that: The remote control receiving circuit is connected to the first MCU, the second MCU and the car connector respectively, and is used for the first MCU to receive the remote control receiver signal.

5. The modification method based on the wire-controlled chassis of a new energy vehicle according to claim 4 is characterized in that: The vehicle controller VCU also includes an ADC chip, which is connected to the first MCU; the ADC chip is connected to an analog switch chip, which is connected to the first MCU and the car connector, and is used for the first MCU to control the ADC chip to output an analog signal voltage of 0 to 5V as the throttle signal of the original vehicle controller VCU, and control the output to return to the original vehicle controller VCU through the analog switch chip; the ADC chip adopts the LTC1661 chip, which can control the output of two sets of adjustable voltage signals; the analog switch chip adopts the 74HC4066 chip.

6. The modification method based on the wire-controlled chassis of a new energy vehicle according to claim 5 is characterized in that: It also includes a gear circuit, which is connected to the first MCU. The gear circuit is also connected to a relay circuit, which is used for the first MCU to control the analog signal voltage of the gear circuit as the gear signal of the original vehicle controller VCU, and control the output through the relay circuit; the gear circuit is three groups of MOS circuits, which can control the output of three groups of 0 or 12V voltage signals; the gear signal of the original vehicle controller VCU input by the car connector and the analog gear signal input by the ADC chip are finally returned to the original vehicle controller VCU by the first MCU through controlling the relay circuit output.

7. The modification method based on the wire-controlled chassis of a new energy vehicle according to claim 6 is characterized in that: A detection panel is provided, on which a number of detection access ports and detection output ports corresponding to each other are provided. The steering system, brake system and drive system of the automobile are respectively connected to the detection access ports of the detection panel through signal lines, and the detection equipment is connected to the detection output ports corresponding to each system on the detection panel to realize detection of the automobile.

8. The modification method based on the wire-controlled chassis of a new energy vehicle according to claim 7 is characterized in that: The car is connected to the host computer through the detection panel, and the program source code of the entire chassis wire control system is modified through the host computer to modify the system algorithm and communication protocol, and the algorithm is continuously optimized to achieve performance optimization of wire control steering, braking, and driving.

9. The modification method based on the wire-controlled chassis of a new energy vehicle according to claim 8 is characterized in that: A diagnostic socket is provided on the detection panel, which is connected to a lower computer through the diagnostic socket, and the lower computer realizes data reading of the chassis wire control system and self-diagnosis of faults.

10. The modification method based on the wire-controlled chassis of a new energy vehicle according to claim 6 is characterized in that: Work according to the following process, 1) The first MCU receives the corresponding CAN control message through the vehicle wire control CAN or receives the signal of the remote control receiver using the remote control mode; 2) The second MCU receives the speed and vehicle speed message from the original vehicle controller VCU through the original vehicle wire control CAN, parses it, and sends it to the first MCU through serial port communication; 3) The first MCU analyzes the CAN control message or remote control signal, vehicle speed, and wheel speed information; 4) The first MCU controls the corresponding throttle signal voltage and gear signal voltage to the original vehicle controller VCU according to the CAN control message or remote control signal to perform drive control; 5) The first MCU sends the corresponding steering control message to the steering system according to the CAN control message or the remote control signal to perform steering control; 6) The first MCU sends a corresponding brake control message to the brake system according to the CAN control message or the remote control signal to perform brake control.

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