An automatic driving-by-wire system interaction strategy suitable for light passenger vehicles

Abstract

The application discloses an automatic driving line control system interaction strategy suitable for light passenger vehicles and belongs to the technical field of automatic driving, which comprises a vehicle body controller, a circuit board installed in the interior of the vehicle body controller for connecting the vehicle body circuit, an automatic driving core control module arranged on the surface of the circuit board for controlling the vehicle body, and a whole vehicle driving module arranged on the surface of the circuit board for driving the vehicle body. Through the arrangement of the automatic driving core control module and the whole vehicle driving module, the automatic driving core control module can send signals to the whole vehicle driving module for driving when the vehicle is driven. The whole vehicle driving module receives the signals and sends out the gear controlled standby and driving controlled standby signals. The automatic driving core control module sends the driving enable activation state signal and the automatic driving target torque instruction to the whole vehicle driving module for execution, so that the whole vehicle driving module executes the driving related gears through the instruction sent by the automatic driving core control module.

Description

Technical Field

[0001] This invention belongs to the field of autonomous driving technology, specifically relating to an interaction strategy for an autonomous driving drive-by-wire system suitable for light commercial vehicles. Background Technology

[0002] Intelligent connected vehicles integrate advanced technologies from fields such as automobiles, control, transportation, communication, and artificial intelligence. With the core values ​​of "safety, efficiency, and comfort," they are considered the main areas and development directions of current automotive technology innovation and have received high attention both domestically and internationally. Like the driving process of human drivers, autonomous driving also requires five steps: perception, high-precision positioning, prediction, planning, and control. Drive-by-wire technology transforms the traditional mechanical control system of automobiles into an electrical system connected to a high-performance CPU via a high-speed fault-tolerant communication bus. For autonomous driving to accurately and safely issue commands to various execution modules, it requires efficient and accurate information transmission between the core autonomous driving module and other modules of the vehicle, as well as accurate control and interaction strategies.

[0003] According to publication numbers CN113895379A (a drive-by-wire system for autonomous vehicles) and CN110667693A (a drive-by-wire steering system for autonomous vehicles), the vehicle's intelligent perception unit transmits commands to the steering or braking system via wiring harnesses to control the vehicle. This results in slow and complex signal transmission between wiring harness commands. Therefore, drive-by-wire steering and drive-by-wire braking are crucial technologies. Furthermore, safety performance is always paramount for drive-by-wire technology. Current autonomous driving systems have relatively poor safety performance. For safe autonomous driving, the interaction signals and strategies between drive-by-wire systems are often very important. Summary of the Invention

[0004] The purpose of this invention is to provide an interaction strategy for an autonomous driving drive-by-wire system suitable for light commercial vehicles, in order to solve the problem mentioned in the background art, where the vehicle's intelligent perception unit transmits commands to the steering or braking system through wiring harnesses to achieve vehicle control, resulting in slow and complex signal transmission between wiring harness commands. Therefore, drive-by-wire steering and drive-by-wire braking have become crucial technologies. Furthermore, for drive-by-wire technology, safety performance is always paramount. Existing autonomous driving systems have poor safety performance, and for safe autonomous driving, the interaction signals and strategies between drive-by-wire systems are often very important issues.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an interaction strategy for an autonomous driving drive-by-wire system suitable for light commercial vehicles, including a vehicle body controller;

[0006] Circuit board, installed inside the body controller, is used to connect the vehicle body wiring;

[0007] The core control module for autonomous driving is mounted on the surface of the circuit board for controlling the vehicle body;

[0008] The vehicle drive module is mounted on the surface of the circuit board and is used to drive the vehicle body.

[0009] The above scheme, by setting up an autonomous driving core control module and a vehicle drive module, enables the autonomous driving core control module to send signals to the vehicle drive module for driving during vehicle operation. The vehicle drive module receives these signals and issues gear control standby and drive control standby signals. The autonomous driving core control module sends a drive enable activation status signal and an autonomous driving target torque command to the vehicle drive module for execution. This allows the autonomous driving core control module to send commands to the vehicle drive module to select the appropriate drive gear, which is then executed by the motor control unit. This enables the transmission of drive signals between the autonomous driving core control module and the vehicle drive module, allowing the vehicle to drive autonomously. Furthermore, the autonomous driving core control module communicates with the steering module... The system transmits signals to the autonomous driving core control module, enabling the steering module to send a steering standby signal when the vehicle turns. The autonomous driving core control module then receives the signal and executes the command, controlling the steering module to steer the vehicle. Similarly, when braking, the chassis braking module sends a braking signal to the autonomous driving core control module, which receives and executes the signal to activate the chassis braking module and provide feedback braking information. The autonomous driving core control module receives status signals from the vehicle's chassis braking, parking, steering, and drive modules, and then sends braking, accelerator, gear, parking, and steering commands to other vehicle modules.

[0010] In a preferred embodiment, the autonomous driving core control module can control the vehicle drive module, and the vehicle drive module can send a gear position no-human-intervention signal and a drive no-human-intervention signal to the autonomous driving core control module.

[0011] In a preferred embodiment, the autonomous driving core control module can receive gear-controlled standby and drive-controlled standby signals from the vehicle drive module, and the autonomous driving core control module sends gear enable activation and target gear commands to the vehicle drive module for execution.

[0012] In a preferred embodiment, the vehicle drive module sends a torque controlled state activation signal and an actual gear position signal to the autonomous driving core control module. The autonomous driving core control module sends a drive enable activation signal and an autonomous driving target torque command to the vehicle drive module for execution. A motor control unit is provided on the surface of the circuit board and is connected to the vehicle drive module.

[0013] In a preferred embodiment, the circuit board further includes a steering module disposed on the surface of the circuit board. The steering module is capable of sending steering without human intervention and steering controlled standby signals to the autonomous driving core control module. The autonomous driving core control module sends steering enable activation and target steering control signals to the steering module. The steering module feeds back the steering controlled activation status, as well as the steering angle and speed signals to the autonomous driving core control module.

[0014] In a preferred embodiment, the circuit board further includes a chassis braking module disposed on the surface of the circuit board. The chassis braking module sends a braking no-human-intervention signal and a braking controlled standby signal to the autonomous driving core control module. The autonomous driving core control module sends a braking enable activation command and a braking master cylinder pressure control signal to the chassis braking module for execution. The chassis braking module feeds back a braking controlled state activation signal and a master cylinder pressure signal to the autonomous driving core control module.

[0015] In a preferred embodiment, the circuit board further includes a parking module mounted on the surface of the circuit board. The autonomous driving core control module can send a parking request signal to the parking module, and the parking module feeds back a parking status signal to the autonomous driving core control module.

[0016] In a preferred embodiment, the vehicle controller further includes operation buttons and a display screen mounted on the outer surface of the vehicle controller. A heat dissipation mesh is provided on the top of the vehicle controller. Wiring ports are mounted on the surface of the circuit board. An ABS module is provided on the surface of the circuit board. The ABS module is connected to the autonomous driving core control module.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] This interactive strategy for an autonomous driving drive-by-wire system applicable to light commercial vehicles involves setting up an autonomous driving core control module and a vehicle drive module. When the vehicle is in motion, the autonomous driving core control module sends signals to the vehicle drive module for driving. The vehicle drive module receives the signals and issues gear control standby and drive control standby signals. The autonomous driving core control module sends a drive enable activation status signal and an autonomous driving target torque command to the vehicle drive module for execution. This allows the autonomous driving core control module to send commands to the vehicle drive module to select the appropriate gear for driving, which is then executed by the motor control unit. This enables the transmission of drive signals between the autonomous driving core control module and the vehicle drive module, allowing the vehicle to drive autonomously.

[0019] This interactive strategy for an autonomous driving drive-by-wire system applicable to light commercial vehicles involves setting up a steering module and a chassis braking module. Signals are transmitted between the autonomous driving core control module and the steering module. When the vehicle is turning, the steering module sends a steering standby signal to the autonomous driving core control module. The autonomous driving core control module receives the signal and executes the command, thereby controlling the steering module to steer the vehicle. Conversely, when braking, the chassis braking module sends a braking signal to the autonomous driving core control module. The autonomous driving core control module receives the signal and executes it, causing the chassis braking module to engage and apply braking. The chassis braking module then feeds back braking information to the autonomous driving core control module.

[0020] This interactive strategy for an autonomous driving drive-by-wire system applicable to light commercial vehicles involves setting up a parking module. When the vehicle is parked, the autonomous driving core control module sends a parking signal to the parking module for execution. After the parking module works, it parks the vehicle and feeds back the parking information to the autonomous driving core control module to determine whether the handbrake is currently engaged. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 This is a schematic diagram of the internal structure of the vehicle body controller of the present invention;

[0023] Figure 3 This is a schematic diagram of the flow structure of the core control module for autonomous driving of the present invention;

[0024] Figure 4 This is a schematic diagram of the process structure of the vehicle drive module of the present invention;

[0025] Figure 5 This is a schematic diagram of the steering module structure of the present invention.

[0026] In the diagram: 1. Body controller; 2. Operation button; 3. Display screen; 4. Heat sink; 5. Circuit board; 6. Autonomous driving core control module; 7. Vehicle drive module; 8. Chassis braking module; 9. Steering module; 10. Parking module; 11. Motor control unit; 12. ABS module; 13. Wiring port. Detailed Implementation

[0027] The present invention will be further described below with reference to embodiments.

[0028] The following embodiments are used to illustrate the present invention, but should not be used to limit the scope of protection of the present invention. The conditions in the embodiments can be further adjusted according to specific conditions, and simple improvements to the method of the present invention under the premise of the concept of the present invention are all within the scope of protection claimed by the present invention.

[0029] Please see Figure 1-5 The present invention provides an interaction strategy for an autonomous driving drive-by-wire system suitable for light commercial vehicles, including a body controller 1.

[0030] Circuit board 5, installed inside the body controller 1, is used to connect the vehicle body wiring; the autonomous driving core control module 6, located on the surface of circuit board 5, is used to control the vehicle body; the vehicle drive module 7, located on the surface of circuit board 5, is used to drive the vehicle body. The autonomous driving core control module 6 can control the vehicle drive module 7. The vehicle drive module 7 can send gear position no-manual-intervention signals and drive no-manual-intervention signals to the autonomous driving core control module 6, putting the vehicle in a Read state signal to avoid being affected by manual intervention; the autonomous driving core control module 6 can receive gear position controlled standby and drive controlled standby signals from the vehicle drive module 7, and send gear position enable activation and target... The gear selection command is executed by the vehicle drive module 7 to request the execution of the relevant gear. The vehicle drive module 7 sends the torque control state activation and actual gear signal to the autonomous driving core control module 6. The autonomous driving core control module 6 sends the drive enable activation state signal and the autonomous driving target torque command to the vehicle drive module 7 for execution. Thus, the autonomous driving core control module 6 sends commands to cause the vehicle drive module 7 to execute the drive-related gear. The surface of the circuit board 5 is provided with a motor control unit 11, which is connected to the vehicle drive module 7 to execute the relevant gear. Thus, the drive signal can be transmitted between the autonomous driving core control module 6 and the vehicle drive module 7 so that the vehicle can drive autonomously.

[0031] The circuit board 5 also includes a steering module 9 disposed on the surface of the circuit board 5. The steering module 9 can send steering without human intervention and steering controlled standby signals to the autonomous driving core control module 6 to avoid human intervention during steering. The autonomous driving core control module 6 sends steering enable activation and target steering control signals to the steering module 9. The steering module 9 feeds back the steering controlled activation status, as well as the steering angle and speed signals to the autonomous driving core control module 6. Through signal transmission between the autonomous driving core control module 6 and the steering module 9, the steering module 9 sends a steering standby signal to the autonomous driving core control module 6 when the vehicle is turning. Subsequently, the autonomous driving core control module 6 receives the signal and executes the command, thereby enabling the autonomous driving core control module 6 to control the steering module 9 to operate the vehicle for steering.

[0032] The circuit board 5 also includes a chassis braking module 8 disposed on the surface of the circuit board 5. The chassis braking module 8 sends a braking no-human-intervention signal and a braking controlled standby signal to the autonomous driving core control module 6. The autonomous driving core control module 6 sends a braking enable activation command and a braking master cylinder pressure control signal to the chassis braking module 8 for execution. The chassis braking module 8 feeds back a braking controlled state activation signal and a master cylinder pressure signal to the autonomous driving core control module 6. When braking, the chassis braking module 8 sends a braking signal to the autonomous driving core control module 6. Subsequently, the autonomous driving core control module 6 receives the signal and executes it to make the chassis braking module 8 work to perform braking, and the chassis braking module 8 feeds back braking information to the autonomous driving core control module 6.

[0033] The circuit board 5 also includes a parking module 10 mounted on the surface of the circuit board 5. The autonomous driving core control module 6 can send a parking request signal to the parking module 10. The parking module 10 feeds back a parking status signal to the autonomous driving core control module 6. When the vehicle is parked, the autonomous driving core control module 6 sends a parking signal to the parking module 10 for execution, so that the parking module 10 works to park and feeds back the parking information to the autonomous driving core control module 6 to determine whether the handbrake is currently engaged.

[0034] The body controller 1 also includes operation buttons 2 and a display screen 3 installed on the outer surface of the body controller 1, so that personnel can operate the body controller 1 through the operation buttons 2. A heat dissipation mesh 4 is provided on the top of the body controller 1. A wiring port 13 is installed on the surface of the circuit board 5 for connection to the circuit board 5 through the wiring port 13. An ABS module 12 is provided on the surface of the circuit board 5. The ABS module 12 is connected to the autonomous driving core control module 6. The autonomous driving core control module 6 receives status signals from the vehicle chassis braking, parking, steering, and drive modules, and then sends braking, accelerator, gear, parking, and steering commands to other modules of the vehicle.

[0035] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An interaction strategy for an autonomous driving drive-by-wire system suitable for light commercial vehicles, characterized in that: Including the body control unit (1); Circuit board (5) is installed inside the body controller (1) for connecting the vehicle body wiring; The autonomous driving core control module (6) is set on the surface of the circuit board (5) for controlling the vehicle body; The vehicle drive module (7) is mounted on the surface of the circuit board (5) to drive the vehicle body. The circuit board (5) also includes a steering module (9) disposed on the surface of the circuit board (5). The steering module (9) is capable of sending steering without human intervention and steering controlled standby signals to the autonomous driving core control module (6). The autonomous driving core control module (6) sends steering enable activation and target steering control signals to the steering module (9). The steering module (9) feeds back the steering controlled activation status and steering angle and speed signals to the autonomous driving core control module (6).

2. The interaction strategy for an automated driving drive-by-wire system applicable to light commercial vehicles according to claim 1, characterized in that: The autonomous driving core control module (6) can control the vehicle drive module (7), and the vehicle drive module (7) can send gear position no human intervention signal and drive no human intervention signal to the autonomous driving core control module (6).

3. The interaction strategy for an autonomous driving drive-by-wire system applicable to light commercial vehicles according to claim 2, characterized in that: The autonomous driving core control module (6) can receive gear control standby and drive control standby signals from the vehicle drive module (7). The autonomous driving core control module (6) sends gear enable activation and target gear command to the vehicle drive module (7) for execution.

4. The interaction strategy for an autonomous driving drive-by-wire system applicable to light commercial vehicles according to claim 3, characterized in that: The vehicle drive module (7) sends torque control state activation and actual gear position signals to the autonomous driving core control module (6). The autonomous driving core control module (6) sends drive enable activation state signals and autonomous driving target torque commands to the vehicle drive module (7) for execution. The surface of the circuit board (5) is provided with a motor control unit (11), which is connected to the vehicle drive module (7).

5. The interaction strategy for an automated driving drive-by-wire system applicable to light commercial vehicles according to claim 1, characterized in that: The circuit board (5) also includes a chassis braking module (8) disposed on the surface of the circuit board (5). The chassis braking module (8) sends a braking no-human-intervention signal and a braking controlled standby signal to the autonomous driving core control module (6). The autonomous driving core control module (6) sends a braking enable activation command and a braking master cylinder pressure control signal to the chassis braking module (8) for execution. The chassis braking module (8) feeds back a braking controlled state activation signal and a master cylinder pressure signal to the autonomous driving core control module (6).

6. The interaction strategy for an automated driving drive-by-wire system applicable to light commercial vehicles according to claim 5, characterized in that: The circuit board (5) also includes a parking module (10) mounted on the surface of the circuit board (5). The autonomous driving core control module (6) can send a parking request signal to the parking module (10), and the parking module (10) feeds back a parking status signal to the autonomous driving core control module (6).

7. The interaction strategy for an automated driving drive-by-wire system applicable to light commercial vehicles according to claim 1, characterized in that: The body controller (1) also includes operation buttons (2) and a display screen (3) installed on the outer surface of the body controller (1). A heat dissipation mesh (4) is provided on the top of the body controller (1). A wiring port (13) is installed on the surface of the circuit board (5). An ABS module (12) is provided on the surface of the circuit board (5). The ABS module (12) is connected to the autonomous driving core control module (6).

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