A drive-by-wire chassis four-wheel alignment control system and method and storage medium

Abstract

The present application relates to a kind of drive-by-wire chassis four-wheel alignment control system, method and storage medium, system includes chassis domain controller, respectively with four-wheel alignment intent switch, vehicle height sensor, air compressor relay, front, rear steering rack position sensor and front, rear wheel steering controller and diagnosis-routine control module are connected, can receive operator intent through signal and four-wheel height information fed back by vehicle height sensor, four-wheel height can be adjusted by controlling air spring electromagnetic valve and air compressor relay, can read the steering angle position of front, rear wheel steering gear, and send control instruction to front, rear wheel steering controller.The present application solves the problem that front, rear wheel steering angle adjustment and vehicle height are not in the design height interval by setting specific application scenario;Through specific control strategy, four-wheel alignment front realizes the uniform calibration of front, rear wheel steering gear steering angle, solves the problem of front, rear wheel steering angle deviation, so as to improve the steering safety of car.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of automobile electric control, and particularly relates to a four-wheel positioning control system and method for a drive-by-wire chassis automobile and a storage medium. BACKGROUND

[0002] Electricity is one of the main development directions of automobiles at present. With the increasing maturity of drive-by-wire chassis technology, drive-by-wire steering, rear wheel steering, active suspension and active stabilizer bar gradually become mainstream configurations of automobiles. After an automobile is delivered or chassis parts are disassembled and repaired, the vehicle needs to be four-wheel positioned. In the traditional four-wheel positioning method, the four-wheel parameters can be adjusted after the front wheel steering wheel of the automobile is corrected by a calibration device. However, with the application of the new drive-by-wire chassis technology, more factors need to be considered when the automobile is four-wheel positioned, such as the vehicle body height, the air spring stiffness and whether the rear wheel angle is in the design state. After calibration by the traditional four-wheel calibration mechanism, the four-wheel parameters of the vehicle may not be adjusted to the design interval, and the vehicle may deviate after four-wheel positioning. At present, there is no control strategy for four-wheel positioning of the drive-by-wire chassis technology to effectively solve the above problems. SUMMARY

[0003] The application aims to provide a drive-by-wire chassis four-wheel positioning control system and method and a storage medium to solve the problem of ensuring the accessibility and authenticity of four-wheel positioning parameters when a delivered vehicle and a repaired vehicle are four-wheel positioned. The application realizes the adjustment of the automobile posture and the angle by controlling the front and rear drive-by-wire steering and the air compression spring, and meets the four-wheel positioning requirements.

[0004] The application is achieved by the following technical scheme:

[0005] A drive-by-wire chassis four-wheel positioning control system comprises a four-wheel positioning intention switch, a chassis domain controller, four vehicle body height sensors, an air compressor relay, an air compressor, four air compression springs, a rear steering rack position sensor, a front steering rack position sensor, a rear wheel steering controller, a front wheel steering controller, a rear wheel steering motor, a front wheel steering motor and a diagnosis-routine control module.

[0006] The four-wheel positioning intention switch is connected with the chassis domain controller, and sends the intention of an operator to the chassis domain controller through a switch signal.

[0007] The chassis domain controller is connected with the four vehicle body height sensors respectively, and can receive four-wheel height information fed back by the vehicle body height sensors.

[0008] The chassis domain controller is connected with an air compressor relay, the air compressor relay is connected with an air compressor, the air compressor is connected with an air compression spring electromagnetic valve, the air compression spring electromagnetic valve is connected with four air compression springs respectively, and the chassis domain controller can control the air compression spring electromagnetic valve and the air compressor relay to adjust the height of the four wheels.

[0009] The chassis domain controller is connected with front and rear steering rack position sensors and front and rear wheel steering controllers respectively, can read the steering angle positions of the front and rear wheel steering gears, and sends control instructions to the front and rear wheel steering controllers; the front and rear wheel steering controllers are connected with front and rear wheel steering motors, and can control the front and rear wheel steering motors to operate.

[0010] The chassis domain controller is also connected with a diagnosis-routine control module, accesses functions by applying routines through the diagnosis interfaces of the controllers, adjusts the body height and the steering rack position, and completes the position requirements of the actuators of the four-wheel alignment.

[0011] Further, the four air compression springs are air compression springs on the left and right sides of the front and rear wheels, and are represented by FL air spring, FR air spring, RL air spring and RR air spring.

[0012] Further, the four-wheel alignment intention switch is connected with the chassis domain controller through a network bus or a hard wire, and sends the intention of an operator to the chassis domain controller through a signal.

[0013] Further, the chassis domain controller can control the air compressor to open the air compression spring electromagnetic valve on the side with lower height through the air compressor relay, and inflate the air compression spring.

[0014] A kind of drive-by-wire chassis four-wheel alignment control method, comprising the following steps:

[0015] A, the operator sends the operation intention to the chassis domain controller through a network bus or a hard wire signal by operating a four-wheel alignment intention switch, the chassis domain controller receives the instruction, and then detects the state by executing a sensor unit, to determine whether the sample vehicle state meets the four-wheel alignment requirements of the vehicle;

[0016] B, body height adjustment: the chassis domain controller adjusts the height of the four wheels by controlling the air compression spring electromagnetic valve and the air compressor relay according to the four-wheel height information fed back by the body height sensor;

[0017] C, rear wheel steering gear adjustment: after the height of the whole vehicle reaches the theoretical position, the angle of the rear wheel steering gear needs to be adjusted to ensure that the steering rack position of the rear wheel steering gear is centered.

[0018] D. The front wheel steering gear adjustment: after the rear wheel steering gear rack position adjustment is completed, the front wheel steering gear rack position adjustment is performed, and the front wheel steering gear and the rear wheel steering gear angle are correlated and calibrated. The front wheel steering gear is aligned according to the known method. After the steering wheel is aligned, the front wheel steering gear and the rear wheel steering gear 0-point calibration is performed.

[0019] Further, the detection content includes: vehicle body height detection, rear wheel steering angle detection, front wheel steering angle detection, and EPB state detection.

[0020] Further, step B is specifically:

[0021] B1. The chassis domain controller compares the left and right side height information of the front and rear wheels, respectively. If the height difference of the left and right wheels of the same axle is not within the allowed value range, the chassis domain controller controls the air compressor to work at this time, and controls the air compression spring electromagnetic valve on the lower side to open at the same time, so as to inflate the air compression spring on the lower side. When the left and right sides of the vehicle height remain consistent, stop inflating the air compression spring;

[0022] B2. The chassis domain controller compares the design height and actual height of the front and rear axles of the vehicle body. If the actual height is higher than the design height, the chassis domain controller controls the air compression spring electromagnetic valve and the exhaust valve to deflate. When the actual height is equal to the design height, stop deflating the air compression spring. If the actual height is lower than the design height, the chassis domain controller controls the air compressor relay and the front axle or rear axle electromagnetic valve to inflate the front axle or rear axle until the vehicle body height rises to the design height.

[0023] Further, step C is specifically: the chassis domain controller reads the rear wheel steering gear steering angle position. If the rear wheel steering angle is not at zero or the rear wheel steering gear angle is invalid, the chassis domain controller sends a control instruction to the rear wheel steering controller. The rear wheel steering controller resets to zero - the rear wheel steering motor drives the rear wheel steering gear rack to move to the limit position to the left, and then to the limit position to the right. Repeat the above actions more than twice to perform the rear wheel steering gear zero position self-learning. After the self-learning is completed, the rear wheel steering gear rack automatically calculates and moves to the middle position.

[0024] Further, it also includes step E, which is specifically: when the system adjustment time exceeds the system set time, the chassis domain controller fails to receive the feedback information of each system, and the system automatically enters the diagnostic control logic. The chassis domain controller accesses the function through the diagnostic interface of each controller, and applies the routine to adjust the vehicle body height and the steering gear rack position. The position requirement of each actuator of the four-wheel alignment is completed.

[0025] A computer readable storage medium having a computer program stored thereon, the program being executed by a processor to implement the four-wheel alignment control method of the drive-by-wire chassis.

[0026] Compared with the prior art, the present application has the following advantages:

[0027] The four-wheel alignment control system and method of the drive-by-wire chassis and the storage medium solve the four-wheel alignment related problems caused by the drive-by-wire chassis technology, i.e., the front and rear wheel angle adjustment and the vehicle height not being in the designed height range, through setting specific application scenarios; and the four-wheel alignment control system and method of the drive-by-wire chassis and the storage medium solve the front and rear wheel angle deviation problem through a specific control strategy, i.e., the front and rear wheel steering angle unified calibration, thereby improving the vehicle steering safety. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments, and it should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0029] Figure 1 A four-wheel alignment control system diagram;

[0030] Figure 2 A four-wheel alignment control system flowchart. DETAILED DESCRIPTION

[0031] The present application will be further described below in conjunction with the embodiments:

[0032] The present application will be further described below in conjunction with the embodiments: The present application will be further described below in conjunction with the embodiments:

[0033] It should be noted that: similar reference numbers and letters represent similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. Meanwhile, in the description of the present application, the terms "first", "second", etc. are only used for distinguishing description, and cannot be understood as indicating or implying relative importance.

[0034] Embodiment 1

[0035] The embodiment provides a four-wheel alignment control system for a drive-by-wire chassis vehicle, and the vehicle is provided with front and rear wheel steering devices and a main active air suspension.

[0036] The four-wheel alignment control system for the drive-by-wire chassis comprises a four-wheel alignment intention switch, a chassis domain controller, a vehicle height sensor, an air compressor relay, an air compressor, four air compression springs, a rear steering rack position sensor, a front steering rack position sensor, a rear wheel steering controller, a front wheel steering controller, a rear wheel steering motor, a front wheel steering motor and a diagnosis-routine control module.

[0037] The vehicle height sensor comprises an FL height sensor, an FR height sensor, an RL height sensor and an RR height sensor.

[0038] The four air compression springs are left and right air compression springs of front and rear wheels, and are represented by FL air springs, FR air springs, RL air springs and RR air springs.

[0039] The four-wheel alignment intention switch is connected with the chassis domain controller through a network bus or a hard wire, and sends the operator's intention to the chassis domain controller through a signal.

[0040] The chassis domain controller is connected with the FL height sensor, the FR height sensor, the RL height sensor and the RR height sensor, and can receive four-wheel height information fed back by the vehicle height sensor.

[0041] The chassis domain controller is connected with the air compressor relay, the air compressor relay is connected with the air compressor, the air compressor is connected with the FL air spring, the FR air spring, the RL air spring and the RR air spring, and the chassis domain controller can control the air compressor to open the air compression spring electromagnetic valve on the side with lower height through the air compressor relay, and inflate the air compression spring.

[0042] The chassis domain controller is connected with the rear steering rack position sensor and the rear wheel steering controller, can read the steering angle position of the rear wheel steering rack, and send a control instruction to the rear wheel steering controller. The rear wheel steering controller is connected with the rear wheel steering motor, and can control the operation of the rear wheel steering motor.

[0043] The chassis domain controller is also connected with a front steering rack position sensor and a front wheel steering controller, and can read the front wheel steering angle position and send control instructions to the front wheel steering controller. The front wheel steering controller is connected with a front wheel steering motor, and can control the operation of the front wheel steering motor.

[0044] The chassis domain controller is also connected with a diagnostic-routine control module, and can access functions by using routines through the diagnostic interface of each controller, adjust the body height and the steering rack position, and complete the position requirements of each actuator of the four-wheel alignment.

[0045] In the embodiment, after the vehicle is off the assembly line or the chassis structural parts are replaced, the front and rear steering angle positions are fed back by the angle sensors, the body height information is fed back by the body height sensor, the application layer software activates the system function through the operation intention control switch, the chassis domain controller controls the signal interaction through the bus network and each controller, controls the front and rear steering racks to be in the middle position, and the air compression spring is automatically inflated and deflated according to the design height, so that the vehicle off the assembly line and the vehicle after maintenance are adjusted to the design height, thereby ensuring the reliability and authenticity of the four-wheel alignment parameters during the four-wheel alignment.

[0046] The control system function of the application further includes a result feedback module, and after the body height and the steering position are adjusted, a green icon is displayed on the instrument, and the operator can confirm whether the adjustment process is completed according to the icon information.

[0047] The four-wheel alignment control method of the wire-controlled chassis includes the following steps:

[0048] In the first step, the operator sends the operation intention to the chassis domain controller through the network bus or the hard-wired signal by operating the steering rack four-wheel alignment intention switch. After receiving the instruction, the chassis domain controller detects the state through the execution unit sensor.

[0049] The detection content includes body height detection, rear wheel steering angle detection, front wheel steering angle detection and EPB state detection, and the state of the sample vehicle is determined whether to meet the four-wheel alignment requirements of the vehicle.

[0050] In the second step, the body height is adjusted. The chassis domain controller adjusts the four-wheel height by controlling the air compression spring electromagnetic valve and the air compressor relay through the four-wheel height information fed back by the body height sensor.

[0051] The specific details are as follows:

[0052] Firstly, the chassis domain controller compares the height information of the left and right sides of the front and rear wheels respectively, if the height difference of the left and right wheels of the same axle is not within the allowed value range, at this time the chassis domain controller controls the air compressor to work, and controls the air compression spring electromagnetic valve on the lower side to open at the same time, so as to inflate the air compression spring on the lower side, and when the left and right sides of the vehicle height remain consistent, stop inflating the air compression spring;

[0053] Then, the chassis domain controller compares the design height and the actual height of the front and rear axles of the vehicle body, if the actual height is higher than the design height, the chassis domain controller controls the air compression spring electromagnetic valve and the exhaust valve to deflate, and when the actual height is equal to the design height, stop deflating the air compression spring; if the actual height is lower than the design height, the chassis domain controller controls the air compressor relay and the front axle or rear axle electromagnetic valve to inflate the front axle or rear axle until the height of the vehicle body rises to the design height.

[0054] Thirdly, the rear wheel steering gear adjustment: after the height of the whole vehicle reaches the theoretical position, the angle of the rear wheel steering gear needs to be adjusted, so as to ensure that the rack position of the rear wheel steering gear is in the middle.

[0055] Specifically, the chassis domain controller reads the steering angle position of the rear wheel steering gear, if the rear wheel steering angle is not at zero or the rear wheel steering angle is invalid, the chassis domain controller sends a control instruction to the rear wheel steering controller, and the rear wheel steering controller resets the zero point - the steering motor drives the steering gear rack to move to the limit position to the left, and then moves to the limit position to the right, and repeats the above two actions more than twice, so as to perform self-learning of the zero position of the steering gear, and after the self-learning is completed, the steering gear rack automatically calculates and moves to the middle position.

[0056] Fourthly, the front wheel steering gear adjustment: after the rack position adjustment of the rear wheel steering gear is completed, the rack position adjustment of the front wheel steering gear needs to be performed, and the angles of the front wheel steering gear and the rear wheel steering gear need to be associated and calibrated, the front wheel steering gear is aligned according to the known method, and after the alignment of the steering wheel is completed, the 0-point calibration of the front wheel steering gear and the rear wheel steering gear can be performed.

[0057] The four-wheel positioning key parameter adjustment strategy of the present application also includes a redundant control mechanism, in order to avoid the problem that the chassis domain controller cannot control the height adjustment of the vehicle body and the angle adjustment of the steering gear due to network problems, when the system adjustment time exceeds the system set time, the chassis domain controller fails to receive the feedback information of each system, the system automatically enters the diagnostic control logic, that is, the chassis domain controller accesses the function through the diagnostic interface of each controller, and performs the height adjustment of the vehicle body and the rack position adjustment of the steering gear, so as to complete the position requirement of each actuator of the four-wheel positioning.

[0058] Example 2

[0059] The embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to realize a four-wheel alignment control method of a drive-by-wire chassis provided by all the embodiments of the present application.

[0060] Any combination of one or more computer readable medium can be employed. The computer readable medium can be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium include an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, the computer readable storage medium can be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0061] A computer readable signal medium can include a propagated data signal with computer readable program code embodied therein, for use by or in connection with an instruction execution system, apparatus, or device. The computer readable program code can be transmitted using any appropriate medium, including but not limited to wireless, wire line, optical fiber cable, RF, etc. or any suitable combination of the foregoing.

[0062] A computer readable medium can include an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable medium include an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, the computer readable medium can be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0063] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0064] It is to be understood that the above description is directed to the preferred embodiments and that those skilled in the art will be able to devise various modifications which, although not specifically described herein, embody the principles of the application and are included within the spirit and scope of the application. Accordingly, while the preferred embodiments have been described above, those skilled in the art will understand that they are not to be limited to the preferred embodiments, but are to include all such embodiments falling within the scope of the application as defined by the appended claims.

Claims

1. A by-wire chassis four-wheel alignment control system, characterized by: It includes a four-wheel alignment intention switch, chassis domain controller, four vehicle height sensors (left front, right front, left rear, and right rear), air compressor relay, air compressor, four air compression springs, rear steering rack position sensor, front steering rack position sensor, rear wheel steering controller, front wheel steering controller, rear wheel steering motor, front wheel steering motor, and diagnostic-routine control module; The four-wheel positioning intention switch is connected to the chassis domain controller, which sends the operator's intention to the chassis domain controller via a switch signal. The chassis domain controller is connected to four vehicle height sensors and can receive four-wheel height information fed back by the vehicle height sensors. The chassis domain controller is connected to the air compressor relay, the air compressor relay is connected to the air compressor, the air compressor is connected to the air compression spring solenoid valve, and the air compression spring solenoid valve is connected to four air compression springs respectively. The chassis domain controller can adjust the height of the four wheels by controlling the air compression spring solenoid valve and the air compressor relay. The chassis domain controller is connected to the front and rear steering rack position sensors and the front and rear wheel steering controllers, respectively. It can read the steering angle position of the front and rear wheel steering gears and send control commands to the front and rear wheel steering controllers. The front and rear wheel steering controllers are connected to the front and rear wheel steering motors and can control the operation of the front and rear wheel steering motors. The chassis domain controller is also connected to the diagnostic-routine control module. Through the diagnostic interface of each controller, the routine access function is used to adjust the vehicle height and the position of the steering rack, thus fulfilling the position requirements of each actuator in the four-wheel alignment.

2. A drive-by-wire chassis four-wheel alignment control system according to claim 1, characterized in that: The four air compression springs are the left and right air compression springs of the front and rear wheels, respectively, and are represented by FL air spring, FR air spring, RL air spring and RR air spring.

3. A drive-by-wire chassis four-wheel alignment control system according to claim 1, characterized in that: The four-wheel alignment intention switch is connected to the chassis domain controller via a network bus or hardwire, and sends the operator's intention to the chassis domain controller via a signal.

4. A by-wire chassis four-wheel alignment control system according to claim 1, characterized in that: The chassis domain controller can control the air compressor to open the solenoid valve of the lower-height air compression spring via the air compressor relay, thereby inflating the air compression spring.

5. A drive-by-wire chassis four-wheel alignment control method, characterized by, Includes the following steps: A. The operator sends the operation intention to the chassis domain controller via network bus or hard wire signal by operating the four-wheel alignment intention switch. After receiving the instruction, the chassis domain controller performs status detection through the actuator sensors to determine whether the prototype vehicle status meets the requirements of the four-wheel alignment. B. Vehicle height adjustment: The chassis domain controller uses the four-wheel height information fed back by the vehicle height sensor to control the air compressor spring solenoid valve and the air compressor relay to adjust the four-wheel height. B1. The chassis domain controller compares the height information of the left and right sides of the front and rear wheels respectively. If the height difference between the left and right wheels on the same axle is not within the allowable range, the chassis domain controller controls the air compressor to work and controls the solenoid valve of the lower side air compression spring to open, inflating the lower side air compression spring. When the left and right sides of the vehicle height are consistent, the inflation of the air compression spring is stopped. B2. The chassis domain controller compares the design height and actual height of the front and rear axles of the vehicle body. If the actual height is higher than the design height, the chassis domain controller controls the air compression spring solenoid valve and exhaust valve to release air. When the actual height equals the design height, the air compression spring exhaust stops. If the actual height is lower than the design height, the chassis domain controller controls the front and rear axle air compression springs to inflate until the vehicle body height reaches the design height. C. Rear wheel steering adjustment: After the vehicle height reaches the theoretical position, the rear wheel steering angle needs to be adjusted to ensure that the rear wheel steering rack is centered. D. Front wheel steering gear adjustment: After the rear wheel steering gear rack position is adjusted, the front wheel steering gear rack position needs to be adjusted, and the steering angles of the front and rear wheel steering gears need to be calibrated together. The steering wheel of the front wheel steering gear needs to be aligned. After the steering wheel is aligned, the 0-position calibration of the front and rear wheel steering gears can be performed.

6. A drive-by-wire chassis four-wheel alignment control method according to claim 5, characterized in that, The inspection includes: vehicle height inspection, rear wheel steering angle inspection, front wheel steering angle inspection, and EPB status inspection.

7. The four-wheel alignment control method for a drive-by-wire chassis according to claim 5, characterized in that, Step C is as follows: The chassis domain controller reads the steering angle position of the rear wheel steering gear. If the rear wheel steering angle is not at zero or the rear wheel steering gear angle is invalid, the chassis domain controller sends a control command to the rear wheel steering controller. The rear wheel steering controller performs a zero-point reset. The rear wheel steering motor drives the rear wheel steering rack to move to the left to the limit position, and then to the right to the limit position. This action is repeated more than twice to perform self-learning of the zero-point position of the rear wheel steering gear. After the self-learning is completed, the rear wheel steering rack automatically calculates and moves to the middle position.

8. The four-wheel alignment control method for a drive-by-wire chassis according to claim 5, characterized in that, It also includes step E, which is as follows: when the system adjustment time exceeds the system set time and the chassis domain controller fails to receive feedback information from each system, the system automatically enters the diagnostic control logic. That is, the chassis domain controller uses the diagnostic interface of each controller and the routine access function to perform vehicle height adjustment and steering rack position adjustment to complete the position requirements of each actuator in the four-wheel alignment.

9. A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the four-wheel alignment control method for a drive-by-wire chassis as described in claim 5.

Images