Drive-by-wire chassis safety redundancy control method, device and equipment and storage medium

Abstract

The invention discloses a drive-by-wire chassis safety redundancy control method, device and equipment and a storage medium, and relates to the technical field of unmanned driving, and the method comprises the steps that the driving state of a vehicle is monitored; when the driving state is the master control fault state, the vehicle is controlled to start a redundancy control mode; and based on the redundancy control mode, control instructions are sent to a motor controller so as to carry out drive-by-wire chassis safety redundancy control, and the control instructions comprise a driving instruction, a braking instruction and a torque limiting instruction. According to the invention, the efficiency and reliability of redundancy control of the drive-by-wire chassis can be improved under the condition that other system parts of the whole vehicle are not increased.

Description

Technical Field

[0001] The present application relates to the field of unmanned driving technology, and in particular to a safety redundant control method, device, equipment and storage medium for a controlled-by-wire chassis. Background Art

[0002] The automobile port IGV, or Intelligent Guided Vehicle, is a new concept proposed in recent years. It adopts an unmanned drive-by-wire chassis and has the advantages of no need for a human driver, long operating time and high transportation efficiency.

[0003] At present, the conventional redundancy schemes for the IGV unmanned driving by-wire chassis include: redundancy of the by-wire chassis controller system, redundancy of the main and auxiliary controllers for autonomous driving, redundancy of the main controller area network (CAN) and the auxiliary controller area network communication redundancy, and redundancy of the braking system. For the new energy unmanned driving by-wire chassis, the whole vehicle drive control is controlled by a single vehicle controller, which is mainly controlled by the automated driving control unit (ADU) for steering and braking identification, and requests the vehicle control unit (VCU) to control the drive motor. After the control system fails, the drive control scheme of a single vehicle controller can only stop or power off, which reduces transportation efficiency.

[0004] When developing a dual vehicle controller system for an unmanned drive-by-wire chassis, the safety redundant control generally used is redundant control of the actuator, which cannot effectively ensure the safety and normal operation of the vehicle when the vehicle control system fails. For the redundant control of the vehicle control system, a dedicated redundant safety controller is required, or when dual vehicle controllers VCU are used for redundant control, the corresponding braking, driving, and steering are also redundant, which increases costs. Summary of the invention

[0005] The main purpose of this application is to provide a wire-controlled chassis safety redundant control method, device, equipment and storage medium, aiming to solve the technical problem of how to improve the efficiency and reliability of wire-controlled chassis redundant control without adding other system components of the whole vehicle.

[0006] To achieve the above objectives, the present application proposes a safety redundancy control method for a wire-controlled chassis, the method comprising:

[0007] Monitor the driving status of the vehicle;

[0008] When the driving state is in a main control failure state, controlling the vehicle to start a redundant control mode;

[0009] Based on the redundant control mode, control instructions are sent to the motor controller to perform safe redundant control of the wire-controlled chassis, and the control instructions include drive instructions, brake instructions and torque limit instructions.

[0010] In one embodiment, the step of sending a control instruction to a motor controller based on the redundant control mode to perform safety redundant control of a controlled-by-wire chassis includes:

[0011] Based on the redundant control mode, obtaining vehicle component limitations;

[0012] According to the vehicle component limitation, a control instruction is obtained, wherein the control instruction includes a driving instruction, a braking instruction and a torque limiting instruction;

[0013] The control command is sent to the motor controller to perform safety redundant control of the wire-controlled chassis.

[0014] In one embodiment, the step of obtaining vehicle component limitations based on the redundant control mode includes:

[0015] Based on the redundant control mode, obtaining the vehicle fault limit torque;

[0016] Acquire a vehicle speed signal, and calculate the vehicle speed according to the vehicle speed signal;

[0017] Based on the vehicle speed, the permissible driving torque and the permissible braking torque are obtained.

[0018] In one embodiment, the step of obtaining the driving allowable torque and the braking allowable torque based on the vehicle speed includes:

[0019] Obtain vehicle information, battery management system status information, and motor controller status information;

[0020] Calculating a first driving torque and a first braking torque required for normal driving of the vehicle according to the vehicle information and the vehicle speed;

[0021] Calculating a second driving torque and a second braking torque according to the state information of the motor controller and the vehicle speed;

[0022] Calculating a third driving torque according to the state information of the battery management system and the vehicle speed;

[0023] The first drive torque, the second drive torque, and the third drive torque are used as permissible drive torques, and the first braking torque and the second braking torque are used as permissible braking torques.

[0024] In one embodiment, the step of obtaining a control instruction according to the vehicle component limitation includes:

[0025] According to the preset standard, the driving allowable torque and the braking allowable torque are arranged respectively to obtain the arrangement result;

[0026] According to the arrangement result, a preset driving torque and a preset braking torque that meet the preset requirements are obtained;

[0027] The preset driving torque is used as a driving instruction, the preset braking torque is used as a braking instruction, and the vehicle fault limit torque is used as a torque limit instruction to obtain a control instruction.

[0028] In one embodiment, the step of monitoring the driving state of the vehicle comprises:

[0029] Monitor whether the main vehicle controller has any fault, communication loss, or system reports communication loss, and obtain monitoring results;

[0030] When the monitoring result is at least one of a main vehicle controller failure, communication loss, and system-reported communication loss, the driving state of the vehicle is determined to be a main control failure state.

[0031] In one embodiment, after the step of monitoring the driving state of the vehicle, the method further includes:

[0032] When the driving state is a normal intelligent driving state, receiving request information from the automatic driving controller;

[0033] Obtaining a control instruction according to the request information;

[0034] The control command is sent to the motor controller to perform safety redundant control of the wire-controlled chassis.

[0035] In addition, to achieve the above-mentioned purpose, the present application also proposes a safety redundant control device for a wire-controlled chassis, the device comprising:

[0036] A state monitoring module, used to monitor the driving state of the vehicle;

[0037] A mode switching module, used for controlling the vehicle to start a redundant control mode when the driving state is a main control failure state;

[0038] The power control module is used to send control instructions to the motor controller based on the redundant control mode to perform safe redundant control of the wire-controlled chassis, wherein the control instructions include drive instructions, brake instructions and torque limit instructions.

[0039] In addition, to achieve the above-mentioned purpose, the present application also proposes a wire-controlled chassis safety redundant control device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the wire-controlled chassis safety redundant control method as described above.

[0040] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the wire-controlled chassis safety redundant control method as described above are implemented.

[0041] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the wire-controlled chassis safety redundant control method as described above are implemented.

[0042] One or more technical solutions proposed in this application have at least the following technical effects:

[0043] Due to the use of dual vehicle controllers, control instructions are sent according to the allowable torque of the vehicle to perform redundant control of the wire-controlled chassis, which solves the technical problem that general safety redundant control requires the addition of special controllers or the addition of corresponding braking and driving redundancy, resulting in increased costs. Compared with the existing technology, the efficiency and reliability of redundant control of the wire-controlled chassis are improved without adding other system components to the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0045] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0046] Figure 1 A flowchart diagram of the first embodiment of the safety redundant control method for a controlled-by-wire chassis of the present application;

[0047] Figure 2 A control principle diagram of a safety redundant control method for a controlled-by-wire chassis provided in Embodiment 1 of the present application;

[0048] Figure 3 A flow chart of the second embodiment of the safety redundant control method for a controlled-by-wire chassis of the present application;

[0049] Figure 4 A flowchart diagram of the third embodiment of the safe redundant control method for a controlled-by-wire chassis of the present application;

[0050] Figure 5 A flowchart diagram of the fourth embodiment of the safe redundant control method for a controlled-by-wire chassis of the present application;

[0051] Figure 6 A schematic diagram of a simplified flow chart of a safe redundant control method for a controlled-by-wire chassis provided in Embodiment 4 of the present application;

[0052] Figure 7 This is a schematic diagram of the module structure of the safety redundant control device for a wire-controlled chassis according to an embodiment of the present application;

[0053] Figure 8 Schematic diagram of the device structure of the hardware operating environment involved in the wire-controlled chassis safety redundancy control method in the embodiment of the present application.

[0054] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0055] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0056] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0057] The main solutions of the embodiments of the present application are: monitoring the driving state of the vehicle; when the driving state is a main control failure state, controlling the vehicle to start a redundant control mode; based on the redundant control mode, sending control instructions to the motor controller to perform safe redundant control of the wire-controlled chassis, the control instructions including drive instructions, braking instructions and torque limiting instructions.

[0058] In this embodiment, for ease of description, the following description is made taking the internal actuators of the dual vehicle controllers as the execution entities.

[0059] Since the safety redundant control of the prior art requires adding a dedicated controller or adding corresponding braking and driving redundancy, it will lead to increased costs.

[0060] The present application provides a solution that uses dual vehicle controllers to send control instructions according to the allowable torque of the vehicle to perform redundant control of the wire-controlled chassis, thereby improving the efficiency and reliability of the redundant control of the wire-controlled chassis without adding other system components to the vehicle.

[0061] It can be seen from the above embodiments that the present application adopts dual vehicle controllers and sends control instructions according to the allowable torque of the vehicle to perform redundant control of the wire-controlled chassis, thereby solving the technical problem that general safety redundant control requires the addition of special controllers or the increase of corresponding braking and driving redundancy, which leads to increased costs. It improves the efficiency and reliability of redundant control of the wire-controlled chassis without adding other system components to the vehicle.

[0062] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, etc. The following takes the internal actuator of the dual vehicle controller as an example to illustrate this embodiment and the following embodiments.

[0063] Based on this, the embodiment of the present application provides a safe redundant control method for a wire-controlled chassis, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the safety redundancy control method for a controlled-by-wire chassis of the present application.

[0064] In this embodiment, the safety redundancy control method of the wire-controlled chassis includes steps S10 to S30:

[0065] Step S10, monitoring the driving state of the vehicle.

[0066] It should be noted that the dual vehicle controllers (Vehicle Control Unit, VCU) include a main vehicle controller and a redundant vehicle controller, the main vehicle controller is the main VCU1, and the redundant vehicle controller is the redundant VCU2.

[0067] In addition, it should be noted that the driving status includes the main control fault status and the normal intelligent driving status. The main control fault status is the vehicle status when the main vehicle controller fails, and the normal intelligent driving status is the vehicle status when the main vehicle controller does not fail and the vehicle operation is maintained normally through the intelligent driving mode.

[0068] The dual vehicle controllers monitor the operating status of the main vehicle controller in real time through the redundant VCU2 to determine whether a fault occurs.

[0069] Step S20, when the driving state is a master control failure state, controlling the vehicle to start a redundant control mode.

[0070] It should be noted that the master control failure state is the state when the master vehicle controller in the dual vehicle controllers has at least one of its own failures, communication loss, and system reported communication loss. The redundant control mode is a mode in which the redundant vehicle controller takes over the control of the vehicle.

[0071] The main vehicle controller and the redundant vehicle controller are directly connected through the Controller Area Network Bus (CAN bus). The main vehicle controller receives the takeover control status signal from the redundant vehicle controller. When the main vehicle controller fails, the redundant vehicle controller takes over control and the main vehicle controller stops controlling. When the redundant vehicle controller takes over control from the main vehicle controller, it sends corresponding control messages and hard-line enable signals to other actuators of the wire-controlled chassis.

[0072] Step S30: Based on the redundant control mode, control instructions are sent to the motor controller to perform safety redundant control of the drive-by-wire chassis, wherein the control instructions include a drive instruction, a brake instruction, and a torque limit instruction.

[0073] It should be noted that the control instructions are used by the motor controller to control the vehicle according to the information therein; the motor controller (MCU) is the core component of the modern motor drive system, and its performance directly affects the operating efficiency and stability of the entire system. It precisely controls the operating state of the motor by receiving external instructions or sensor signals.

[0074] In the redundant control mode, the redundant vehicle controller takes over the control of the vehicle to execute actions such as power-off, parking, and torque limiting according to the severity of the fault. The redundant vehicle controller in the dual vehicle controllers sends control instructions to the motor controller, and the motor controller adjusts the torque and speed of the motor according to the instructions, thereby achieving control of the vehicle's wire-controlled chassis.

[0075] The present embodiment provides a safety redundant control method for a drive-by-wire chassis, which adopts dual vehicle controllers and sends control instructions according to the allowable torque of the vehicle to perform redundant control of the drive-by-wire chassis. This solves the technical problem that general safety redundant control requires the addition of special controllers or the addition of corresponding braking and driving redundancy, which leads to increased costs. This improves the efficiency and reliability of redundant control of the drive-by-wire chassis without adding other system components of the vehicle.

[0076] For example, to help understand the implementation process of the wire-controlled chassis safety redundancy control method of this embodiment, please refer to Figure 2 , Figure 2A control schematic diagram of a safe redundant control method for a drive-by-wire chassis is provided. Specifically, an automatic driving controller ADU receives signals from manual remote control, control room / platform remote control, and radar monitoring, and performs signal interaction with an EHPS (Electro-Hydraulic Power Steering) steering control unit, an EBS (Electronically Controlled Brake System) electronic braking system, and other interactive units, and sends intelligent driving mode requests, braking requests, gear requests, drive-by-wire torque requests, drive-by-wire speed requests, and ADU fault status to a dual vehicle controller VCU (Vehicle Control Unit) according to the intelligent driving trigger switch status, emergency stop switch status, SCU (Shift Control Unit) shift handle, and EPB (Electrical Parking Brake) electronic handbrake status; the dual vehicle controller VCU receives a driving high-voltage power-on request from a key switch, receives a rear axle speed ratio, a rear axle allowable driving torque, and a rear axle allowable reverse drag torque, receives a charging high-voltage power-on request from a charging gun, receives a vehicle speed signal from a vehicle speed sensor, and receives a BMS (Battery System) signal. The MCU receives the battery capacity, battery charging peak power and battery fault status of the BMS battery management system, receives the EBS brake pedal depth, EBS override control mode, EBS requested drive torque limit and EBS requested brake torque limit of the EBS electronic brake system, receives the maximum allowable motor driving torque, the maximum allowable motor braking torque, the current motor speed and the motor fault status of the MCU motor controller, receives the converter operation status, relay working status and all-in-one fault status of the all-in-one controller, receives CAN signals from other interactive units, and sends main and negative relay closing instructions to the BMS battery management system, sends motor driving torque, motor torque, motor IGBT (Insulated Gate Bipolar Transistor) enable and motor control mode to the MCU motor controller, sends converter enable, auxiliary drive relay closing instructions and positive high voltage power-on instructions to the all-in-one controller, sends relevant information such as intelligent driving mode status, vehicle gear status, vehicle fault status to the IC (Integrated Circuit) instrument, and sends CAN signals to other interactive units; the main vehicle controller and redundant vehicle controller in the dual vehicle controllers are connected through the CAN bus.

[0077] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 3 , step S30 includes steps S31 to S33:

[0078] Step S31, obtaining vehicle component limitations based on the redundant control mode.

[0079] It should be noted that the vehicle component limitations refer to the vehicle's overall fault torque limit and the allowable driving / braking torque of other components such as the motor MCU, battery BMS, rear axle, etc.

[0080] In a feasible implementation manner, step S31 includes steps S311 to S313:

[0081] Step S311, based on the redundant control mode, obtaining the vehicle fault torque limit.

[0082] It should be noted that when certain faults occur in the vehicle, the vehicle controller will limit the torque output of the motor to protect the key components of the vehicle from damage, thereby reducing the power of the vehicle. Torque limiting is a safety measure to ensure that the vehicle can drive safely in a fault state and avoid the fault from worsening or causing other safety problems.

[0083] Step S312, obtaining a vehicle speed signal, and calculating the vehicle speed according to the vehicle speed signal.

[0084] The vehicle speed is calculated based on the speed signal collected by the speed sensor and used for the subsequent calculation of the allowable torque.

[0085] Step S313, based on the vehicle speed, obtaining the driving allowable torque and the braking allowable torque.

[0086] It should be noted that the allowable driving torque is the maximum torque allowed to be output when the motor controller is performing drive control. This torque is calculated by the vehicle controller based on factors such as the current vehicle status, battery status, motor status, and driving conditions. It is used to ensure the vehicle's power and economy while preventing damage to the motor or battery; the allowable braking torque is the maximum torque allowed to be output when the motor controller is performing braking control, which is directly related to the vehicle's ability to decelerate and stop. This torque is calculated by the vehicle controller based on factors such as the current vehicle status, battery status, motor status, and driving conditions.

[0087] In a feasible implementation manner, step S313 includes steps A10 to A50:

[0088] Step A10, obtaining vehicle information, battery management system status information, and motor controller status information.

[0089] It should be noted that the vehicle information includes the current gear status, the rear axle speed ratio of the vehicle and other information; the Battery Management System (BMS) is a key system for monitoring and managing battery energy storage units. For the large-capacity lithium-ion batteries used in electric vehicles, BMS plays a vital role in ensuring battery performance, extending battery life and ensuring safe use.

[0090] Step A20, calculating a first driving torque and a first braking torque required for normal driving of the vehicle according to the vehicle information and the vehicle speed.

[0091] The driving resistance of the vehicle at the current speed and conditions and other data are calculated according to the vehicle speed, and the driving and braking torques required for normal driving of the vehicle, namely the first driving torque and the first braking torque, are calculated in combination with the vehicle information.

[0092] Step A30, calculating a second driving torque and a second braking torque according to the state information of the motor controller and the vehicle speed.

[0093] The driving resistance of the vehicle at the current speed and conditions and other data are calculated according to the vehicle speed, and the driving and braking torques allowed to be output by the motor controller, namely the first driving torque and the first braking torque, are calculated in combination with the state information of the motor controller.

[0094] Step A40, calculating the third driving torque according to the status information of the battery management system and the vehicle speed.

[0095] The battery management system needs to ensure that the battery's SOC (state of charge) is not lower than a certain safety threshold to avoid over-discharge, and also prevent the battery from overcharging. These restrictions will affect the maximum power that the battery can provide. The vehicle's driving resistance and other data at the current speed and conditions are calculated based on the vehicle speed, and then combined with the status information of the battery management system to calculate the driving torque that the motor controller can output under the condition that the output power of the battery management system allows, that is, the third driving torque.

[0096] In step A50 , the first driving torque, the second driving torque, and the third driving torque are used as permissible driving torques, and the first braking torque and the second braking torque are used as permissible braking torques.

[0097] The calculated first driving torque, second driving torque and third driving torque are used as the driving allowable torque, and the first braking torque and the second braking torque are used as the braking allowable torque for torque output limitation of the motor controller.

[0098] By calculating the allowable output torque of the vehicle, a data limitation basis is provided for the torque output of the motor controller.

[0099] By obtaining the limitations of vehicle components to limit the vehicle's power torque, the rear axle, motor, battery and other components are protected and the service life of vehicle components is extended.

[0100] Step S32, obtaining control instructions according to the limitations of the vehicle components, wherein the control instructions include a driving instruction, a braking instruction and a torque limiting instruction.

[0101] It should be noted that the driving instruction is an instruction containing information such as torque followed by the motor when driving, the braking instruction is an instruction containing information such as torque followed by the motor when braking, and the torque limiting instruction is an instruction containing information such as limiting the torque output of the vehicle followed by the motor when driving and braking.

[0102] In a feasible implementation manner, step S32 includes steps S321 to S323:

[0103] Step S321, according to a preset standard, the driving allowable torque and the braking allowable torque are arranged respectively to obtain an arrangement result.

[0104] It should be noted that the preset standard is an arrangement standard of torque values ​​from small to large.

[0105] The permissible torques in the permissible driving torque and the permissible braking torque are arranged in order from small to large values ​​to obtain an arrangement result.

[0106] Step S322: obtaining a preset driving torque and a preset braking torque that meet preset requirements according to the arrangement result.

[0107] It should be noted that the preset requirement is the smallest arrangement result, that is, the smallest torque value; the preset driving torque is the maximum torque allowed for the vehicle to be driven under the current vehicle state, battery state, motor state and driving conditions, that is, the arrangement result meets the preset requirements of the torque; the preset braking torque is the maximum torque allowed for the vehicle to be braked under the current vehicle state, battery state, motor state and driving conditions, that is, the arrangement result meets the preset requirements of the torque.

[0108] Step S323, using the preset driving torque as a driving instruction, using the preset braking torque as a braking instruction, and using the vehicle fault torque limit as a torque limit instruction to obtain a control instruction.

[0109] The preset driving torque is used as the driving instruction, so that the motor controller controls the vehicle according to the torque in the driving instruction. The preset braking torque is used as the braking instruction, so that the motor controller controls the vehicle according to the torque in the braking instruction. The vehicle fault torque limit is used as the torque limit instruction, so that the motor controller controls the power torque within the torque limit range. The driving instruction, braking instruction and torque limit instruction are collectively used as control instructions.

[0110] By obtaining the control instruction, the motor controller is enabled to perform vehicle power control according to the torque information in the instruction.

[0111] Step S33, sending the control instruction to the motor controller to perform safety redundant control of the wire-controlled chassis.

[0112] The control instructions are sent to the motor controller, and the motor responds to the instructions to control the vehicle power system to perform acceleration, braking and other operations, thereby achieving the control function requirements of the unmanned driving wire-controlled chassis.

[0113] The present embodiment provides a safety redundant control method for a drive-by-wire chassis. Based on the redundant control mode, vehicle component limitations are obtained. According to the vehicle component limitations, control instructions are obtained, and the control instructions include drive instructions, braking instructions, and torque limit instructions. The control instructions are sent to a motor controller to perform safety redundant control of the drive-by-wire chassis, thereby achieving a comprehensive reduction in the torque limit of the entire vehicle fault and the limiting torque of other components, thereby ensuring driving safety and extending the service life of components.

[0114] Based on the first embodiment of the present application, in the third embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 4 , step S10 includes steps S11 to S12:

[0115] Step S11, monitoring whether the main vehicle controller has its own failure, communication loss or system reports communication loss, and obtaining the monitoring result.

[0116] The redundant vehicle controller of the dual vehicle controllers monitors in real time whether the main vehicle controller has its own failure, communication loss, or the system reports communication loss, and obtains the monitoring results.

[0117] Step S12, when the monitoring result is at least one of a main vehicle controller failure, communication loss, and system-reported communication loss, determining the driving state of the vehicle to be a main control failure state.

[0118] When the monitoring result shows that at least one of the main vehicle controller fails, communication is lost, and the system reports communication loss, that is, the main vehicle controller fails, it is determined that the current driving state of the vehicle is a main control failure state.

[0119] The present embodiment provides a control method for safety redundancy of a controlled-by-wire chassis, which monitors whether a main vehicle controller has a self-failure, communication loss, or system-reported communication loss, and obtains a monitoring result; when the monitoring result is at least one of a main vehicle controller self-failure, communication loss, and system-reported communication loss, the driving state of the vehicle is determined to be a main control failure state, thereby realizing a judgment on whether the current vehicle is in a main control failure state.

[0120] Based on the first embodiment of the present application, in the fourth embodiment of the present application, the same or similar contents as those in the first embodiment can be referred to the above description, and will not be described in detail later. Figure 5 , after step S10, steps S01 to S03 are included:

[0121] Step S01, when the driving state is a normal intelligent driving state, receiving request information from the automatic driving controller.

[0122] It should be noted that the request information of the automatic driving controller includes intelligent driving mode request, braking request, gear request, wire-controlled torque request, wire-controlled speed request and ADU fault status.

[0123] Step S02: obtaining a control instruction according to the request information.

[0124] A control instruction is generated according to the received request information, wherein the control instruction includes instructions for driving, braking, speed limiting, torque limiting, etc. of the vehicle.

[0125] Step S03, sending the control instruction to the motor controller to perform safety redundant control of the wire-controlled chassis.

[0126] The control command is sent to the motor controller, and the motor responds with driving torque, thereby realizing the normal power drive control function requirements of unmanned driving when there is no failure in the main vehicle controller.

[0127] This embodiment provides a method for controlling safety redundancy of a drive-by-wire chassis. When the driving state is a normal intelligent driving state, request information from an automatic driving controller is received; control instructions are obtained based on the request information; and the control instructions are sent to a motor controller to perform safety redundancy control of the drive-by-wire chassis, thereby realizing drive control of the drive-by-wire chassis in a normal intelligent driving state.

[0128] For example, in order to help understand the implementation process of the wire-controlled chassis safety redundancy control method obtained by combining this embodiment with the above-mentioned embodiment 1, please refer to Figure 6 , Figure 6 A brief flow chart of a safe redundant control method for a controlled-by-wire chassis is provided, specifically: when the vehicle operating key is powered on at high voltage, the main vehicle controller VCU1 and the redundant vehicle controller VCU2 of the dual vehicle controllers are awakened; after the main vehicle controller is awakened, it is determined whether the intelligent driving trigger switch is pressed; after the intelligent driving trigger switch is pressed, the intelligent driving mode is entered, and the automatic driving controller ADU sends a driving request to the vehicle controller VCU; the main vehicle controller VCU1 controls the operation of the driving motor according to the requested control mode, requested speed, requested torque and vehicle fault status of the ADU; the vehicle is driven according to the normal driving control mode, that is, the control mode of the main vehicle controller VCU1; after the redundant vehicle controller is awakened, the control status of the main vehicle controller VCU1 and the status of other vehicle systems are monitored in real time, and when at least one of the main vehicle controller's own failure, communication loss and system-reported communication loss occurs, the redundant vehicle controller executes vehicle takeover, and controls the vehicle to power off, stop and drive with limited torque according to different fault modes; the vehicle is driven according to the main control fault control mode, that is, the redundant vehicle controller VCU2 control mode.

[0129] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the wire-controlled chassis safety redundancy control method of the present application. More simple transformations based on this technical concept are all within the protection scope of the present application.

[0130] This application also provides a wire-controlled chassis safety redundant control device, please refer to Figure 7 , the device comprises:

[0131] The state monitoring module 10 is used to monitor the driving state of the vehicle.

[0132] The mode switching module 20 is used to control the vehicle to start a redundant control mode when the driving state is a main control failure state.

[0133] The power control module 30 is used to send control instructions to the motor controller based on the redundant control mode to perform safety redundant control of the wire-controlled chassis, and the control instructions include drive instructions, brake instructions and torque limit instructions.

[0134] In one embodiment, the power control module 30 is also used to obtain vehicle component limitations based on the redundant control mode; obtain control instructions based on the vehicle component limitations, and the control instructions include drive instructions, braking instructions, and torque limit instructions; send the control instructions to the motor controller to perform safety redundant control of the wire-controlled chassis.

[0135] In one embodiment, the power control module 30 is also used to obtain the vehicle fault limit torque based on the redundant control mode; obtain the vehicle speed signal and calculate the vehicle speed according to the vehicle speed signal; and obtain the driving allowable torque and the braking allowable torque based on the vehicle speed.

[0136] In one embodiment, the power control module 30 is also used to obtain vehicle information, status information of the battery management system, and status information of the motor controller; calculate the first driving torque and the first braking torque required for normal driving of the vehicle based on the vehicle information and the vehicle speed; calculate the second driving torque and the second braking torque based on the status information of the motor controller and the vehicle speed; calculate the third driving torque based on the status information of the battery management system and the vehicle speed; use the first driving torque, the second driving torque, and the third driving torque as allowable driving torques, and use the first braking torque and the second braking torque as allowable braking torques.

[0137] In one embodiment, the power control module 30 is also used to arrange the allowable driving torque and the allowable braking torque according to preset standards to obtain an arrangement result; according to the arrangement result, a preset driving torque and a preset braking torque that meet preset requirements are obtained; the preset driving torque is used as a driving instruction, the preset braking torque is used as a braking instruction, and the vehicle fault limit torque is used as a torque limit instruction to obtain a control instruction.

[0138] In one embodiment, the status monitoring module 10 is also used to monitor whether the main vehicle controller has its own failure, communication loss, or system reported communication loss, and obtain a monitoring result; when the monitoring result is at least one of the main vehicle controller having its own failure, communication loss, and system reported communication loss, the driving state of the vehicle is determined to be a main control failure state.

[0139] In one embodiment, the power control module 30 is also used to receive request information from the automatic driving controller when the driving state is a normal intelligent driving state; obtain control instructions based on the request information; and send the control instructions to the motor controller to perform safety redundant control of the wire-controlled chassis.

[0140] The wire-controlled chassis safety redundancy control device provided by the present application adopts the wire-controlled chassis safety redundancy control method in the above embodiment, which can solve the technical problem of how to improve the efficiency and reliability of wire-controlled chassis redundancy control without increasing other system components of the whole vehicle. Compared with the prior art, the beneficial effects of the wire-controlled chassis safety redundancy control device provided by the present application are the same as the beneficial effects of the wire-controlled chassis safety redundancy control method provided by the above embodiment, and other technical features in the wire-controlled chassis safety redundancy control device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0141] The present application provides a wire-controlled chassis safety redundancy control device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the wire-controlled chassis safety redundancy control method in the above-mentioned embodiment one.

[0142] Reference below Figure 8 , which shows a schematic diagram of the structure of a safety redundant control device for a control-by-wire chassis suitable for implementing an embodiment of the present application. The safety redundant control device for a control-by-wire chassis in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 8 The illustrated wire-controlled chassis safety redundant control device is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0143] like Figure 8As shown, the wire-controlled chassis safety redundant control device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the wire-controlled chassis safety redundant control device are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 may allow the control device for the safety redundancy of the control system by wire to communicate with other devices wirelessly or by wire to exchange data. Although the control device for the safety redundancy of the control system by wire with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have alternatively.

[0144] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0145] The wire-controlled chassis safety redundant control device provided by the present application adopts the wire-controlled chassis safety redundant control method in the above embodiment, which can solve the technical problem of how to improve the efficiency and reliability of wire-controlled chassis redundant control without increasing other system components of the whole vehicle. Compared with the prior art, the beneficial effects of the wire-controlled chassis safety redundant control device provided by the present application are the same as the beneficial effects of the wire-controlled chassis safety redundant control method provided by the above embodiment, and the other technical features in the wire-controlled chassis safety redundant control device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0146] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0147] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0148] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the safety redundancy control method for a controlled-by-wire chassis in the above-mentioned embodiment.

[0149] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, 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 disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0150] The computer-readable storage medium may be included in the wire-controlled chassis safety redundant control device; or may exist independently without being assembled into the wire-controlled chassis safety redundant control device.

[0151] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the wire-controlled chassis safety redundant control device, the wire-controlled chassis safety redundant control device: monitors the driving state of the vehicle; when the driving state is a main control failure state, controls the vehicle to start a redundant control mode; based on the redundant control mode, sends control instructions to the motor controller to perform wire-controlled chassis safety redundant control, and the control instructions include drive instructions, braking instructions and torque limit instructions.

[0152] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may 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 may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0153] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0154] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0155] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned redundant control method for the control-by-wire chassis, and can solve the technical problem of how to improve the efficiency and reliability of redundant control of the control-by-wire chassis without adding other system components of the vehicle. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the redundant control method for the control-by-wire chassis provided by the above-mentioned embodiment, and will not be elaborated here.

[0156] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned wire-controlled chassis safety redundant control method when executed by a processor.

[0157] The computer program product provided by the present application can solve the technical problem of how to improve the efficiency and reliability of redundant control of the drive-by-wire chassis without adding other system components of the vehicle. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the redundant control method of the drive-by-wire chassis provided by the above embodiment, and will not be elaborated here.

[0158] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A safety redundant control method for a controlled-by-wire chassis, characterized in that: The method comprises: Monitor the driving status of the vehicle; When the driving state is in a main control failure state, controlling the vehicle to start a redundant control mode; Based on the redundant control mode, control instructions are sent to the motor controller to perform safe redundant control of the wire-controlled chassis, and the control instructions include drive instructions, brake instructions and torque limit instructions.

2. The method according to claim 1, characterized in that The step of sending a control instruction to a motor controller based on the redundant control mode to perform safety redundant control of a controlled-by-wire chassis includes: Based on the redundant control mode, obtaining vehicle component limitations; According to the vehicle component limitation, a control instruction is obtained, wherein the control instruction includes a driving instruction, a braking instruction and a torque limiting instruction; The control command is sent to the motor controller to perform safety redundant control of the wire-controlled chassis.

3. The method according to claim 2, characterized in that The step of obtaining vehicle component limitations based on the redundant control mode includes: Based on the redundant control mode, obtaining the vehicle fault limit torque; Acquire a vehicle speed signal, and calculate the vehicle speed according to the vehicle speed signal; Based on the vehicle speed, the permissible driving torque and the permissible braking torque are obtained.

4. The method according to claim 3, characterized in that The step of obtaining the driving allowable torque and the braking allowable torque based on the vehicle speed comprises: Obtain vehicle information, battery management system status information, and motor controller status information; Calculating a first driving torque and a first braking torque required for normal driving of the vehicle according to the vehicle information and the vehicle speed; Calculating a second driving torque and a second braking torque according to the state information of the motor controller and the vehicle speed; Calculating a third driving torque according to the state information of the battery management system and the vehicle speed; The first drive torque, the second drive torque, and the third drive torque are used as permissible drive torques, and the first braking torque and the second braking torque are used as permissible braking torques.

5. The method according to claim 2, characterized in that The step of obtaining a control instruction according to the vehicle component limitation comprises: According to the preset standard, the driving allowable torque and the braking allowable torque are arranged respectively to obtain the arrangement result; According to the arrangement result, a preset driving torque and a preset braking torque that meet the preset requirements are obtained; The preset driving torque is used as a driving instruction, the preset braking torque is used as a braking instruction, and the vehicle fault limit torque is used as a torque limit instruction to obtain a control instruction.

6. The method according to claim 1, characterized in that The step of monitoring the driving state of the vehicle comprises: Monitor whether the main vehicle controller has any fault, communication loss, or system reports communication loss, and obtain monitoring results; When the monitoring result is at least one of a main vehicle controller failure, communication loss, and system-reported communication loss, the driving state of the vehicle is determined to be a main control failure state.

7. The method according to any one of claims 1 to 6, characterized in that After the step of monitoring the driving state of the vehicle, the method further includes: When the driving state is a normal intelligent driving state, receiving request information from the automatic driving controller; Obtaining a control instruction according to the request information; The control command is sent to the motor controller to perform safety redundant control of the wire-controlled chassis.

8. A safety redundant control device for a wire-controlled chassis, characterized in that: The device comprises: A state monitoring module, used to monitor the driving state of the vehicle; A mode switching module, used for controlling the vehicle to start a redundant control mode when the driving state is a main control failure state; The power control module is used to send control instructions to the motor controller based on the redundant control mode to perform safe redundant control of the wire-controlled chassis, wherein the control instructions include drive instructions, brake instructions and torque limit instructions.

9. A safety redundant control device for a controlled-by-wire chassis, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the safe redundant control method for a controlled-by-wire chassis according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the wire-controlled chassis safety redundant control method according to any one of claims 1 to 7 are implemented.

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