A wire-controlled chassis for an autonomous vehicle

Abstract

The present invention provides a wire-controlled chassis for autonomous driving vehicles, which relates to the field of wire-controlled chassis, and includes: a sensing module, a control module, an execution module, a line module, a line monitoring module, and a wireless transmission module; the sensing module, the control module, and the execution module are sequentially connected through the line module; when the line monitoring module detects that the line module is faulty, the corresponding wireless transmission module works. The wire-controlled chassis for autonomous driving vehicles provided by the present invention is provided with a wireless transmission module. When the line monitoring module detects that the line module is faulty, the control module starts the wireless transmission module, the sensing module transmits the collected information to the control module through the wireless transmission module, and the control module transmits instructions to the execution module through the wireless transmission module, so that even if the line module fails, the normal operation of the vehicle can be guaranteed, and the vehicle will not be out of control, thereby avoiding traffic accidents.

Description

Technical Field

[0001] The present invention relates to the field of wire-controlled chassis, and in particular to a wire-controlled chassis for an autonomous driving vehicle. Background Art

[0002] Chassis by wire refers to the control of the chassis system of the car through the control by wire technology. It replaces the mechanical and hydraulic connections in the traditional chassis system with electronic signal control, including braking, steering, driving and suspension systems. The control by wire technology can improve the response speed, control accuracy and operability of the chassis system, and can realize more complex and intelligent vehicle control strategies, providing better technical support for autonomous driving and vehicle performance improvement.

[0003] Since the wire-controlled chassis changes the original mechanical connections of the braking, steering, driving and suspension systems into electronic signal control, the control components are connected by lines. For example, in the steering system, the drive shaft between the steering wheel and the actuator is eliminated and the drive shaft is replaced by a line connection. However, when a line in any control component fails, the chassis systems may be partially paralyzed and unable to be effectively executed, causing the vehicle to lose control.

[0004] Therefore, it is necessary to provide a wire-controlled chassis for autonomous driving vehicles to solve the above technical problems. Summary of the invention

[0005] The present invention provides a wire-controlled chassis for an autonomous driving vehicle, which solves the problem that when a line in each control component of the wire-controlled chassis for an autonomous driving vehicle fails, each system of the chassis may be partially paralyzed and the vehicle may be out of control.

[0006] In order to solve the above technical problems, the invention provides a wire-controlled chassis for an autonomous driving vehicle, comprising: a sensing module, a control module, an execution module, a line module, a line monitoring module and a wireless transmission module;

[0007] The sensing module, the control module and the execution module are connected in sequence through the circuit module;

[0008] The line monitoring module is used to monitor the working status of the line module;

[0009] Among them, when the line monitoring module detects that the line module has a fault, the corresponding wireless transmission module works, and the sensor module and the control module, or the control module and the execution module, or the sensor module, the control module and the execution module are connected through the wireless transmission module signal.

[0010] Preferably, the wire-controlled chassis for the autonomous driving vehicle also includes a frame, the control module includes a main control box, the outer cover of the main control box is provided with a protective shell, a reinforcement sheet is connected between the protective shell and the main control box, and the protective shell is installed on the frame through a mounting frame.

[0011] Preferably, a ventilation hole is provided on a side of the protective shell facing the front of the vehicle, and one end of the reinforcement sheet extends to the interior of the main control box.

[0012] Preferably, a connecting piece is connected to the protective shell, and the connecting piece is installed on the mounting frame through a fixing piece, the connecting piece includes a fixing part, a connecting arm and a driving arm, the fixing part includes an adjusting block and a fixing block, the fixing block is fixedly installed on the protective shell, one end of the adjusting block passes through the protective shell and extends to the interior of the protective shell, an assembly hole is formed between the other end of the adjusting block and the fixing block, the middle part of the connecting arm is connected to the middle part of the protective shell facing the front of the vehicle through the fixing block, and the two ends of the driving arm are rotatably connected to the adjusting block and one end of the connecting arm respectively.

[0013] Preferably, there are multiple fixing parts and driving arms, wherein the adjustment blocks located on the same side of the protective shell are connected through a connecting rod, and the other end of the connecting arm is correspondingly connected to another adjustment block located on a different side of the protective shell through the driving arm.

[0014] Preferably, the connecting member also includes a limit block, the top of which is installed on the bottom of the adjustment block and is located outside the protective shell, the mounting frame includes a plurality of beam assemblies and connecting beams, the plurality of beam assemblies are connected by the connecting beams, the beam assembly includes a mounting beam and a limit beam, the mounting beam and the limit beam are connected by a connecting block, and the bottom end of the limit block extends between the mounting beam and the limit beam.

[0015] Preferably, an anti-slip pad is provided on the side of the limiting block facing the limiting beam.

[0016] Preferably, the wire-controlled chassis for the autonomous driving vehicle also includes two transmission parts, which include a connecting rope and a guide wheel, the two guide wheels are respectively installed on both sides of the inner wall of the protective shell, the two connecting ropes connect the two symmetrically arranged adjustment blocks, and the separated ends of the two connecting ropes pass around the corresponding guide wheels.

[0017] Preferably, the line module comprises a protective sleeve and a line, the protective sleeve is sleeved on the line, the protective sleeve comprises a sleeve body, an extension hole is formed on the sleeve body, and the redundant part of the line extends out through the extension hole.

[0018] Preferably, the sleeve body further comprises a plurality of support rings, and the plurality of support rings are arranged inside the sleeve body at intervals.

[0019] Compared with the related art, the wire-controlled chassis for the autonomous driving vehicle provided by the present invention has the following beneficial effects:

[0020] The present invention provides a wire-controlled chassis for an autonomous driving vehicle. By setting a wireless transmission module, when all line modules monitored by a line monitoring module fail, a control module starts the wireless transmission module, a sensor module transmits collected information to a control module through the wireless transmission module, and the control module transmits instructions to an execution module through the wireless transmission module. Therefore, even if a line module fails, the normal operation of the vehicle can be guaranteed, the vehicle will not be out of control, and traffic accidents can be avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A principle block diagram of a wire-controlled chassis for an autonomous driving vehicle provided by the present invention;

[0022] Figure 2 A schematic diagram of the structure in which the control module provided by the present invention is installed on a partial vehicle frame;

[0023] Figure 3 A schematic diagram of the protective housing provided by the present invention being installed on a mounting frame;

[0024] Figure 4 A schematic diagram of the structure of the protective shell provided by the present invention;

[0025] Figure 5 A schematic diagram of the structure inside the protective shell provided by the present invention;

[0026] Figure 6 for Figure 5 The schematic diagram of the structure after the reinforcement sheet is removed is shown;

[0027] Figure 7 for Figure 6 A schematic diagram of the structure of a protective shell after deformation on one side thereof;

[0028] Figure 8 for Figure 3 A cross-sectional view of AA is shown;

[0029] Fig. 9 for Figure 8 The local structural schematic diagram shown;

[0030] Fig.10 A schematic diagram of the structure of the protective cover provided by the present invention;

[0031] Fig.11 A schematic diagram of the assembly of the protective cover and the circuit provided by the present invention.

[0032] Numbers in the figure:

[0033] 1. Frame;

[0034] 2. Protective shell; 21. Ventilation hole; 22. Reinforcement sheet;

[0035] 3. Mounting frame; 31. Beam assembly; 32. Connecting beam;

[0036] 311, mounting beam; 312, limiting beam; 313, connecting block;

[0037] 4. Main control box;

[0038] 5. Connecting piece; 51. Adjusting block; 52. Fixing block; 53. Limiting block; 54. Driving arm; 55. Connecting arm; 56. Connecting rod;

[0039] 521, assembly hole; 551, mounting block;

[0040] 6. Transmission member; 61. Connecting rope; 62. Guide wheel;

[0041] 7. Protective sleeve; 71. Sleeve body; 72. Support ring; 73. Extension hole;

[0042] 8. Lines; 9. Fixing parts. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] The present invention provides a wire-controlled chassis for an autonomous driving vehicle.

[0045] Please refer to Figure 1 , In one embodiment of the present invention, the control-by-wire chassis for an autonomous driving vehicle comprises: a sensing module, a control module, an execution module, a circuit module, a circuit monitoring module and a wireless transmission module;

[0046] The sensing module, the control module and the execution module are connected in sequence through the circuit module;

[0047] The line monitoring module is used to monitor the working status of the line module;

[0048] Among them, when the line monitoring module detects that the line module has a fault, the corresponding wireless transmission module works, and the sensor module and the control module, or the control module and the execution module, or the sensor module, the control module and the execution module are connected through the wireless transmission module signal.

[0049] By setting up a wireless transmission module, when all the line modules monitored by the line monitoring module fail, the control module starts the wireless transmission module, the sensor module transmits the collected information to the control module through the wireless transmission module, and the control module transmits instructions to the execution module through the wireless transmission module. Therefore, even if the line module fails, the normal operation of the vehicle can be guaranteed, the vehicle will not be out of control, and traffic accidents can be avoided.

[0050] Among them, when only some line modules fail, such as when the connection line module between the sensor module and the control module fails, the sensor module transmits the collected information to the control module through the wireless transmission module, and the control module transmits instructions to the execution module through the wireless transmission module.

[0051] Since wireless transmission is more susceptible to environmental influences than wired transmission, its stability is less than that of wired transmission. Therefore, after detecting a fault in the line module, the wireless transmission module will work, and the vehicle can choose to drive to a safe location and send out a rescue signal to wait for rescue. When there is a driver in the vehicle, voice and image alarms will be issued at the same time, and the driver can drive to a safe section according to the road conditions, or drive to the nearest repair shop for repairs.

[0052] In this embodiment, the wireless transmission module can use dedicated short-range communication technology, Bluetooth technology, WiFi technology, Zigbee technology, etc.

[0053] The line monitoring module adopts an intelligent monitoring module, which continuously monitors and analyzes the current, voltage, resistance and other parameters of the line module through corresponding sensors, and transmits abnormal information to the control module through the communication interface.

[0054] Among them, the sensor module, control module and execution module in this embodiment include a braking system, a steering system, a drive system and a suspension system respectively; for example, in the braking system, the sensor module is used to collect information such as the travel, speed and strength of the brake pedal, and transmit the detection signal to the control module, and the control module controls the execution part, i.e., the brake part, according to the analysis of the signal, to generate corresponding braking force by driving devices such as a motor or a hydraulic pump, and drives the brake caliper and the like to act with the brake disc to generate a braking effect;

[0055] In the steering system, the sensor module collects information such as the steering wheel angle and torque, and transmits the information to the control module. After analysis, the control module transmits the signal to the steering motor of the execution part. The steering motor drives the shaft connected to the wheels to turn, thereby driving the two wheels to turn at the same time.

[0056] In the drive system, the sensor module collects information such as the travel and force of the vehicle's throttle, and transmits the information to the control module. After analysis, the control module controls the execution module, that is, controls the operation of the drive components such as the motor;

[0057] In the suspension system, the sensor module collects road signals and vehicle posture signals, and transmits the signals to the control module. After analysis, the control module controls the execution module to adjust the suspension parameters such as height, stiffness and damping.

[0058] Among them, the control of the braking system, drive system and steering system is specifically performed according to the detection information of the sensor part of the autonomous driving vehicle (such as radar, camera, etc.), or when there is a driver driving, it operates according to the driver's control.

[0059] The control modules of multiple systems may be integrated into one main control box 4 or may be arranged separately.

[0060] See also Figure 2 The wire-controlled chassis for an autonomous driving vehicle also includes a frame 1, the control module includes a main control box 4, the main control box 4 is provided with a protective shell 2 on the outside, a reinforcing sheet 22 is connected between the protective shell 2 and the main control box 4, and the protective shell 2 is installed on the frame 1 through a mounting frame 3.

[0061] By providing a protective shell 2 on the outside of the main control box 4 and providing a reinforcing sheet 22 between the protective shell 2 and the main control box 4, the protection of the main control box 4 can be improved. When the vehicle encounters an accident such as a collision, the protective shell 2 and the reinforcing sheet 22 can further protect the main control box 4. In particular, when a long collision object is inserted into the vehicle body and corresponds to the installation position of the main control box 4 during a collision, the collision object will not directly act on the main control box 4. The protective shell 2 and the reinforcing sheet 22 can absorb and buffer the impact force to improve the protection effect.

[0062] See also Figure 5 and Figure 8 In this embodiment, a plurality of reinforcing sheets 22 are provided, which are distributed on the four sides and the front (the side facing the front of the vehicle) of the main control box 4, and a folding cross is provided in the middle of the reinforcing sheet 22 located at the front. When subjected to a large impact, the reinforcing sheet 22 can be folded along the folding cross to absorb the impact force, and will not extend into the interior of the main control box 4 to interact with electrical components such as circuit boards and damage the internal electrical components.

[0063] The portion of the protective shell 2 corresponding to the rear end of the main control box 4 is opened to facilitate the connection of the circuit 8 with the various connection ports of the main control box 4 .

[0064] The reinforcement sheet 22 is preferably made of metal, such as steel, aluminum, etc.

[0065] See also Figure 3 As a preferred embodiment of the present invention, a ventilation hole 21 is provided on a side of the protective shell 2 facing the front of the vehicle, and one end of the reinforcing sheet 22 extends to the interior of the main control box 4 .

[0066] By opening a ventilation hole 21 on the side facing the front of the vehicle, when the vehicle is driving, the airflow will enter between the protective shell 2 and the main control box 4 along the ventilation hole 21, and be discharged through the rear end opening of the protective shell 2. Since one end of the reinforcement sheet 22 extends to the interior of the main control box 4, the heat generated by the operation of the electrical components inside the main control box 4 can be quickly discharged. The airflow takes away the heat discharged from the reinforcement sheet 22, thereby improving the heat dissipation effect of the main control box 4 and further ensuring the normal operation of the control module.

[0067] One end of the reinforcing sheet 22 extends to the inside of the main control box 4, that is, one end of the reinforcing sheet 22 passes through the main control box 4 and then extends to the inside of the main control box 4, and is fixedly connected to the main control box 4. The fixing method may be welding or other connection methods.

[0068] Strip holes are provided on the reinforcing sheet 22 to ensure the circulation of airflow, while reducing the weight and increasing the contact area with the airflow.

[0069] See also Figures 3 to 5 The protective shell 2 is connected with a connecting member 5, which is installed on the mounting frame 3 through a fixing member 9. The connecting member 5 includes a fixing portion, a connecting arm 55 and a driving arm 54. The fixing portion includes an adjusting block 51 and a fixing block 52. The fixing block 52 is fixedly installed on the protective shell 2. One end of the adjusting block 51 passes through the protective shell 2 and extends to the inside of the protective shell 2. An assembly hole 521 is formed between the other end of the adjusting block 51 and the fixing block 52. The middle part of the connecting arm 55 is connected to the middle part of the protective shell 2 facing the front of the vehicle through a mounting block 551. The two ends of the driving arm 54 are rotatably connected to the adjusting block 51 and one end of the connecting arm 55, respectively.

[0070] In this embodiment, the fixing member 9 is a bolt and a nut, and a mounting hole is provided on the corresponding mounting frame 3. During installation, the bolt passes through the assembly hole 521 and the mounting hole and is tightened by the nut; the adjustment block 51 is on the side close to the front of the vehicle.

[0071] Please refer to Figure 6 and Figure 7When the main control box 4 is hit by an external object, the protective shell 2 is deformed by the external object. Since the middle part of the connecting arm 55 is connected to the protective shell 2, the protective shell 2 drives the connecting arm 55 to move with it. The connecting arm 55 pushes the adjustment block 51 into the inside of the protective shell 2 through the driving arm 54, so that the adjustment block 51 is staggered with the fixing member 9. In this state, the shell wall of the deformed protective shell 2 is still not in contact with the main control box 4, and the reinforcement sheet 22 is in a deformed state (not shown). When the protective shell 2 is in this deformation degree, when the outer shell continues to exert force on the protective shell 2, since the adjustment block 51 and the fixing member 9 are in a staggered state, that is, the installation of the protective shell 2 and the mounting frame 3 is in an unlocked state, the force on the protective shell 2 will drive the main control box 4 to slide in the direction of the force received, and will not interact hard with the impact object, thereby better protecting the main control box 4.

[0072] A certain sliding distance is left on the mounting frame 3 so that the protective shell 2 can drive the main control box 4 to have a certain sliding space, and the distance is not less than 5 cm.

[0073] In order to allow the adjustment block 51 to move toward the inside of the protective shell 2 without being blocked by the fixing member 9, the end of the groove cavity of the assembly hole 521 on the adjustment block 51 is set as a straight groove wall, such as Figure 4 .

[0074] In other embodiments, the fixing member 9 may also only include a bolt, and a threaded hole is correspondingly provided on the mounting frame 3, and the bolt passes through the assembly hole 521 and is threadedly connected with the threaded hole.

[0075] In one embodiment, the height of the adjustment block 51 is lower than that of the fixing block 52. When the fixing member 9 is tightened, the end cap and the adjustment block 51 will not be squeezed tightly, so that when the protective shell 2 is deformed, the adjustment block 51 is driven to move toward the inside of the protective shell 2 through the connecting arm 55 and the driving arm 54.

[0076] See also Figure 5 As a preferred method in this embodiment, the number of the fixing portion and the driving arm 54 is multiple, wherein the adjustment blocks 51 located on the same side of the protective shell 2 are connected through a connecting rod 56, and the other end of the connecting arm 55 is correspondingly connected to another adjustment block 51 located on a different side of the protective shell 2 through the driving arm 54.

[0077] By providing a plurality of fixing parts, a plurality of fixing members 9 are correspondingly matched to be installed with the mounting frame 3, so that the stability of the installation is improved.

[0078] Among them, multiple fixed parts are distributed on the two sides of the protective shell 2, with no less than two on each side. In this embodiment, two fixed parts are set on each side, and the adjustment blocks 51 in the two fixed parts of each side are fixedly connected by a connecting rod 56. The connecting rod 56 is located inside the protective shell 2. The two adjustment blocks 51 symmetrically arranged with the connecting arm 55 are both rotatably connected to the connecting arm 55 through the driving arm 54.

[0079] Therefore, when the protective shell 2 is deformed by impact, the connecting arm 55 pushes the adjustment blocks 51 on both sides of the protective shell 2 to move toward the inside of the protective shell 2 through the driving arms 54 at both ends, and at the same time drives the adjustment block 51 on the same side to enter the protective shell 2 and stagger with the fixing member 9 through the connecting rod 56, so that all the fixing parts can be unlocked from the corresponding fixing members 9. The protective shell 2 can drive the main control box 4 to slide along the mounting frame 3.

[0080] The connecting arms 55 are located below the reinforcement plate 22 on the front side of the main control box 4, and the connecting rods 56 are located below the reinforcement plate 22 on the side of the main control box 4; the mounting block 551 connects the middle part of the connecting arm 55 and the protective shell 2, and the part where the mounting block 551 is connected to the protective shell 2 is to the middle part and above the shell wall of the protective shell 2, so that when this surface of the protective shell 2 is deformed, the mounting block 551 can easily drive the connecting arm 55 to move.

[0081] See also Figure 4 and Figure 8 As a preferred embodiment of this embodiment, the connecting member 5 also includes a limit block 53, the top of which is installed at the bottom of the adjustment block 51 and is located outside the protective shell 2, the mounting frame 3 includes a plurality of beam assemblies 31 and a connecting beam 32, and the plurality of beam assemblies 31 are connected by the connecting beam 32, the beam assembly 31 includes a mounting beam 311 and a limit beam 312, the mounting beam 311 and the limit beam 312 are connected by a connecting block 313, and the bottom end of the limit block 53 extends between the mounting beam 311 and the limit beam 312.

[0082] By setting the limit block 53, when the protective shell 2 is deformed by impact, the adjusting block 51 is driven by the driving arm 54 and the connecting arm 55 to move toward the inside of the protective shell 2. When it is offset from the fixing part 9, the adjusting block 51 drives the limit block 53 to be close to the limit beam 312. When the protective shell 2 moves along the mounting frame 3, friction is generated between the limit block 53 and the limit beam 312, thereby generating a certain damping effect, further reducing the impact force of the impacting object.

[0083] At the same time, the limiting block 53 extends between the mounting beam 311 and the limiting beam 312, so as to limit the moving direction of the protective shell 2, thereby preventing the protective shell 2 from deviating to other directions after being hit, hitting other positions of the chassis, and causing secondary damage.

[0084] The corresponding mounting beam 311 is provided with a mounting hole to cooperate with the fixing member 9 to fix the connecting member 5 , that is, to fix the protective shell 2 .

[0085] Preferably, an anti-slip pad is provided on the side of the limiting block 53 facing the limiting beam 312 .

[0086] By providing the anti-skid pad, the friction generated between the limiting block 53 and the limiting beam 312 is increased, thereby improving the damping effect.

[0087] The anti-slip pad can be made of rubber or leather.

[0088] See also Figure 8 and Fig. 9 The wire-controlled chassis for the autonomous driving vehicle also includes two transmission members 6, which include a connecting rope 61 and a guide wheel 62. The two guide wheels 62 are respectively installed on both sides of the inner wall of the protective shell 2. The two connecting ropes 61 connect the two symmetrically arranged adjustment blocks 51, and the separated ends of the two connecting ropes 61 pass around the corresponding guide wheels 62.

[0089] By setting two transmission members 6, when the protective shell 2 is hit, and the impact position is not the middle position of the protective shell 2, but biased to the front side of the protective shell 2, that is, the deformed side drives the adjustment block 51 to move toward the inside of the protective shell 2 through the connecting arm 55 and the driving arm 54, and the other side cannot drive the corresponding adjustment block 51 through the connecting arm 55 and the driving arm 54. At this time, the adjustment block 51 moving toward the inside of the protective shell 2 pulls the adjustment block 51 on the other side to move toward the inside of the protective shell 2 at the same time through the corresponding connecting rope 61 and the guide wheel 62, thereby realizing the function that the adjustment block 51 on the other side can still move toward the inside of the protective shell 2.

[0090] The connecting rope 61 is preferably a steel wire rope, and the connecting arm 55 is a metal with deformation properties, such as steel, aluminum, aluminum alloy, etc.

[0091] See also Fig.10 and Fig.11 The line module includes a protective sleeve 7 and a line 8. The protective sleeve 7 is sleeved on the line 8. The protective sleeve 7 includes a sleeve body 71. An extension hole 73 is opened on the sleeve body 71. The redundant part of the line 8 extends out through the extension hole 73.

[0092] By providing the protective cover 7, the line 8 can be protected to improve the protective effect of the line 8, and by providing the extension hole 73, the excess length of the line 8 is extended through the extension hole 73 to limit the excess length of the line 8. When the line 8 or the part of the frame 1 on which the line 8 is installed is deformed by impact, the line 8 is pulled and the excess length of the line 8 in the extension hole 73 is stretched, thereby avoiding being broken or separated from the connection points of the control module, the execution module and the sensor module to a certain extent.

[0093] Furthermore, when the main control box 4 is hit and slides along the mounting frame 3 , the line 8 can be extended adaptively in the same manner and will not fall off the main control box 4 directly.

[0094] There are multiple extension holes 73, and the redundant lines 8 are inserted through the extension holes 73 in sequence, so as to limit the redundant lines 8 and prevent them from being scattered. At the same time, when the lines 8 are pulled, they can automatically stretch.

[0095] Among them, preferably, when each line 8 is connected to the device, it is reinforced by means of threaded connection to improve the stability of the connection, such as setting threaded sleeves on both sides of each interface of the main control box 4, and correspondingly setting screws on the line 8 by rotating the mounting parts, and after the connector of the line 8 is plugged into the corresponding interface, it is reinforced by threaded connection between the screw and the threaded sleeve.

[0096] Please refer again Fig.10 As a preferred embodiment of this embodiment, the sleeve body 71 further includes a plurality of support rings 72 , and the plurality of support rings 72 are arranged inside the sleeve body 71 at intervals.

[0097] By arranging the support ring 72 inside the sleeve 71, the circuit 8 can be supported and the circuit 8 can be separated from the sleeve 71 to ensure a certain air flow and thus a certain heat dissipation. When the sleeve 71 is deformed by force, the support ring 72 can provide a certain buffering protection effect.

[0098] The support ring 72 is provided with a plurality of openings to further improve ventilation. The support ring 72 is made of rubber or silicone.

[0099] The working principle of the wire-controlled chassis for an autonomous driving vehicle provided by the present invention is as follows:

[0100] By setting up a wireless transmission module, when all the line modules monitored by the line monitoring module fail, the control module starts the wireless transmission module, the sensor module transmits the collected information to the control module through the wireless transmission module, and the control module transmits instructions to the execution module through the wireless transmission module. Therefore, even if the line module fails, the normal operation of the vehicle can be guaranteed, the vehicle will not be out of control, and traffic accidents can be avoided.

[0101] Among them, when only some line modules fail, such as when the connection line between the sensor module and the control module fails, the sensor module transmits the collected information to the control module through the wireless transmission module, and the control module transmits instructions to the execution module through the wireless transmission module.

[0102] After the line module is detected to be faulty, the wireless transmission module will work, and the vehicle can choose to drive to a safe location, send out a rescue signal, and wait for rescue. When there is a driver in the vehicle, voice and image alarms will be issued at the same time, and the driver can drive to a safe section according to the road conditions, or drive to the nearest repair shop for repairs.

[0103] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A wire-controlled chassis for an autonomous driving vehicle, characterized in that: include: Sensing module, control module, execution module, line module, line monitoring module and wireless transmission module; The sensing module, the control module and the execution module are connected in sequence through the circuit module; The line monitoring module is used to monitor the working status of the line module; Wherein, when the line monitoring module detects that the line module fails, the corresponding wireless transmission module works, and the sensing module and the control module, or the control module and the execution module, or the sensing module, the control module and the execution module are connected through the wireless transmission module signal; The control-by-wire chassis for the autonomous driving vehicle further comprises a vehicle frame, the control module comprises a main control box, a protective shell is provided on the outside of the main control box, a reinforcement sheet is connected between the protective shell and the main control box, and the protective shell is mounted on the vehicle frame via a mounting frame; A connecting piece is connected to the protective shell, and the connecting piece is installed on the mounting frame through a fixing piece. The connecting piece includes a fixing part, a connecting arm and a driving arm. The fixing part includes an adjusting block and a fixing block. The fixing block is fixedly installed on the protective shell, one end of the adjusting block passes through the protective shell and extends to the interior of the protective shell, and an assembly hole is formed between the other end of the adjusting block and the fixing block. The middle part of the connecting arm is connected to the middle part of the protective shell facing the front of the vehicle through a fixing block, and the two ends of the driving arm are rotatably connected to the adjusting block and one end of the connecting arm respectively.

2. The control-by-wire chassis for an autonomous driving vehicle according to claim 1, characterized in that: A ventilation hole is provided on a side of the protective shell facing the front of the vehicle, and one end of the reinforcement sheet extends to the interior of the main control box.

3. The control-by-wire chassis for an autonomous driving vehicle according to claim 1, characterized in that: There are multiple fixing parts and driving arms, wherein the adjustment blocks located on the same side of the protective shell are connected through a connecting rod, and the other end of the connecting arm is correspondingly connected to another adjustment block located on a different side of the protective shell through the driving arm.

4. The control-by-wire chassis for an autonomous driving vehicle according to claim 1, characterized in that: The connecting member also includes a limit block, the top of which is installed on the bottom of the adjustment block and is located outside the protective shell. The mounting frame includes a plurality of beam assemblies and connecting beams. The plurality of beam assemblies are connected by the connecting beams. The beam assembly includes a mounting beam and a limit beam. The mounting beam and the limit beam are connected by a connecting block, and the bottom end of the limit block extends between the mounting beam and the limit beam.

5. The wire-controlled chassis for an autonomous driving vehicle according to claim 4, characterized in that: An anti-slip pad is arranged on one side of the limiting block facing the limiting beam.

6. The wire-controlled chassis for an autonomous driving vehicle according to claim 4, characterized in that: The wire-controlled chassis for the autonomous driving vehicle also includes two transmission parts, which include a connecting rope and a guide wheel. The two guide wheels are respectively installed on both sides of the inner wall of the protective shell. The two connecting ropes connect the two symmetrically arranged adjustment blocks, and the separated ends of the two connecting ropes pass around the corresponding guide wheels.

7. The wire-controlled chassis for an autonomous driving vehicle according to claim 1, characterized in that: The line module comprises a protective sleeve and a line. The protective sleeve is sleeved on the line. The protective sleeve comprises a sleeve body. An extension hole is formed on the sleeve body. The redundant part of the line extends out through the extension hole.

8. The control-by-wire chassis for an autonomous driving vehicle according to claim 7, characterized in that: The sleeve body further comprises a plurality of support rings, and the plurality of support rings are arranged inside the sleeve body at intervals.

Images