A wire control system for automatic driving function of off-road vehicle

Abstract

The present invention discloses a wire control system for automatic driving function of off-road vehicle, which relates to the field of automatic driving technology. The wire control system includes a wire control controller and a host computer. The wire control controller includes a CAN module, an analog input module, a switch output module, an analog output module, a motor steering control module, a motor brake control module and a control module; the vehicle status data is sent to the control module through the analog input module, and the vehicle status CAN message is sent to the host computer through the CAN module through the control module. The host computer generates a control instruction CAN message according to the vehicle status CAN message, the vehicle positioning signal and the road condition information and sends it to the control module. Each module controls the opening and closing of the vehicle lights, the opening of the vehicle throttle, the vehicle steering or the vehicle emergency braking according to the received parsed control instruction CAN message. The present invention can integrate multiple functions of wire control throttle, steering and braking into one.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a wire control system for an autonomous driving function of an off-road vehicle. Background Art

[0002] The basic principle of autonomous driving is to use sensors to perceive the vehicle and surrounding environment in real time, then use intelligent systems to make plans and decisions, and finally use control systems to execute driving operations. Among them, the control system is the cornerstone of autonomous driving.

[0003] There are many unicorns in various fields of autonomous driving, but the capital market rarely mentions the control-by-wire aspect, but it is also an important link in the autonomous driving ecosystem. The mainstream control system product on the market is the control-by-wire controller. The working principle of the control-by-wire controller is to replace mechanical, hydraulic or pneumatic connections with wires (electrical signals) to achieve electronic control, thereby eliminating or reducing the use of driver force or torque input. For autonomous driving, the three core control-by-wire subsystems are throttle-by-wire, steering-by-wire, and brake-by-wire. As far as the development of autonomous driving technology for automobiles on the market is concerned, the throttle-by-wire aspect is relatively mature, the market penetration rate of steering-by-wire is still low, and brake-by-wire is still in the research stage.

[0004] Therefore, there is an urgent need for a wire control system for autonomous driving functions, which provides a wire control controller that integrates multiple functions such as wire control throttle, steering and braking for vehicle autonomous driving. Summary of the invention

[0005] The purpose of the present invention is to provide a wire control system for the automatic driving function of an off-road vehicle, which can integrate multiple functions such as wire control throttle, steering and braking into one, and provide a reliable solution for the integration and scale of wire control technology.

[0006] To achieve the above-mentioned purpose, the present invention provides a wire control system for the automatic driving function of an off-road vehicle, the wire control system comprising a wire control controller and a host computer, the wire control controller comprising a CAN module, an analog input module, a switch output module, an analog output module, a motor steering control module, a motor braking control module and a control module.

[0007] The analog input module is connected to the vehicle sensor and the control module respectively, and is used to receive the vehicle status data collected by the vehicle sensor and send the vehicle status data to the control module; the vehicle status data includes light status signal, gear signal, throttle opening signal, steering motor angle and torque signal, vehicle speed signal and brake pressure signal.

[0008] The control module is connected to the CAN module, and is used to convert the vehicle status data from a voltage signal into a CAN message, obtain a vehicle status CAN message, and send the vehicle status CAN message to the CAN module; the vehicle status CAN message includes a light status signal CAN message, a gear position signal CAN message, a throttle opening signal CAN message, a steering motor angle and torque signal CAN message, a vehicle speed signal CAN message, and a brake pressure signal CAN message.

[0009] The CAN module is connected to the host computer and is used to send the vehicle status CAN message to the host computer;

[0010] The host computer is used to obtain the vehicle positioning signal and road condition information obtained by the vehicle's external sensor, generate a control instruction CAN message according to the received vehicle status CAN message, vehicle positioning signal and road condition information, and send the control instruction CAN message to the control module through the CAN module; the control instruction CAN message includes a vehicle lighting control instruction CAN message, a throttle opening instruction CAN message, a gear control instruction CAN message, a steering control instruction CAN message or a braking control instruction CAN message.

[0011] The control module is also connected to the switch output module, the analog output module, the motor steering control module and the motor braking control module respectively, and is used to parse the control instruction CAN message issued by the host computer, and send the parsed control instruction to the switch output module, the analog output module, the motor steering control module or the motor braking control module.

[0012] The switch output module is connected to the vehicle light control interface and is used to output a vehicle light control signal according to the parsed vehicle light control instruction to control the vehicle light to turn on or off.

[0013] The analog output module is connected to the vehicle throttle control interface and is used to output a throttle control signal according to the analyzed throttle opening instruction and the gear control instruction to control the vehicle throttle opening.

[0014] The motor steering control module is connected to the vehicle steering motor control interface and is used to control the steering motor to rotate forward or reverse according to the parsed steering control instruction to control the vehicle to turn left or right.

[0015] The motor brake control module is connected to the brake motor control interface and is used to control the brake motor to rotate forward according to the analyzed brake control instruction to control the emergency braking of the vehicle.

[0016] Optionally, the host computer includes: a vehicle light control instruction CAN message generation unit, which is used to generate a vehicle light control instruction CAN message when it is confirmed that the light is in the off state according to the light status signal CAN message, and it is determined that a turn is required on the road section ahead according to the vehicle positioning signal and road condition information; the vehicle light control instruction CAN message includes a vehicle right turn light on instruction CAN message or a left turn light on instruction CAN message.

[0017] Optionally, the host computer further includes: a gear control instruction CAN message generating unit, which is used to generate a gear control instruction CAN message when it is confirmed that the gear is in neutral according to the gear signal CAN message and it is determined that there are no obstacles in the road ahead of the vehicle according to the vehicle positioning signal and road condition information.

[0018] The throttle opening instruction CAN message generating unit is used to generate a throttle opening instruction CAN message based on the throttle opening CAN message.

[0019] Optionally, the host computer also includes: a steering control instruction CAN message generation unit, which is used to calculate the target steering angle and torque value according to the steering motor angle and torque signal CAN message and the vehicle speed signal CAN message when it is determined that the road ahead requires turning based on the vehicle positioning signal and road condition information, and generate a steering control instruction CAN message.

[0020] Optionally, the host computer also includes: a braking control instruction CAN message generation unit, which is used to calculate the target braking pressure value based on the vehicle speed signal CAN message, the obstacle distance and the braking pressure signal CAN message when it is confirmed based on the vehicle positioning signal and road condition information that there is an obstacle on the road ahead and emergency braking is required, and generate a braking control instruction CAN message based on the target braking pressure value.

[0021] Optionally, the wire control controller also includes: a power supply module, which is respectively connected to the CAN module, the analog input module, the switch output module, the analog output module, the motor steering control module, the motor braking control module and the control module, and is used to power the CAN module, the analog input module, the switch output module, the analog output module, the motor steering control module, the motor braking control module and the control module.

[0022] Optionally, the wire-controlled controller further includes an upper shell and a lower shell, and the upper shell and the lower shell are fixed by screws.

[0023] A clamping structure is provided on the inner side of the lower shell body, and the clamping structure is used to fix the PCBA board. The CAN module, analog input module, switch output module, analog output module, motor steering control module, motor brake control module and control module are integrated on the PCBA board.

[0024] Optionally, a plurality of heat dissipation fins are provided on the outer surfaces of the upper shell and the lower shell at equal intervals.

[0025] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects: based on the existing autonomous driving wire control technology, the present invention combines the needs of users in special industries and proposes a wire control system for the autonomous driving function of off-road vehicles, which can realize wire control throttle, wire control steering and wire control braking in one, meet the autonomous driving control needs of most vehicles, and provide a new solution for the integration of wire control technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 A schematic diagram of the module structure of a wire control system for an off-road vehicle automatic driving function provided in Example 1 of the present invention.

[0028] Figure 2 This is the circuit schematic diagram of the analog input module.

[0029] Figure 3 A circuit schematic diagram of a control module.

[0030] Figure 4 This is the circuit schematic diagram of the CAN module.

[0031] Figure 5 This is a circuit schematic diagram of a switch output module.

[0032] Figure 6 This is another circuit schematic diagram of the switch output module.

[0033] Figure 7 This is a circuit schematic diagram of an analog output module.

[0034] Figure 8 This is another circuit schematic diagram of the analog output module.

[0035] Fig. 9 This is another circuit schematic diagram of the analog output module.

[0036] Fig.10 This is another circuit schematic diagram of the analog output module.

[0037] Fig.11 The figure is a circuit schematic diagram of a motor steering control module.

[0038] Fig.12 This is another circuit schematic diagram of the motor steering control module.

[0039] Fig.13 This is another circuit schematic diagram of the motor steering control module.

[0040] Fig.14 This is another circuit schematic diagram of the motor steering control module.

[0041] Fig.15 This is another circuit schematic diagram of the motor steering control module.

[0042] Fig.16 This is the circuit schematic diagram of the power module.

[0043] Fig.17 This is the schematic diagram of the B 12V to 5V circuit in the power module.

[0044] Fig.18 This is the schematic diagram of the C 5V to 3.3V circuit in the power module.

[0045] Fig.19 A side view of the remote control.

[0046] Fig. 20 This is another side view of the remote control.

[0047] Figure numerals.

[0048] Host computer-1, analog input module-2, control module-3, CAN module-4, first CAN module-41, second CAN module-42, switch output module-5, analog output module-6, motor steering control module-7, motor brake control module-8, power module-9, upper shell-10, lower shell-11, screw hole-12, screw-13, clamping structure-14, heat dissipation fin-15. DETAILED DESCRIPTION

[0049] 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.

[0050] The purpose of the present invention is to provide a wire control system for the automatic driving function of an off-road vehicle, which solves the problem of integrating the automatic driving function of the vehicle.

[0051] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0052] Embodiment 1, as Figure 1 As shown, the wire control system for the automatic driving function of an off-road vehicle in this embodiment includes a wire control controller and a host computer 1, and the wire control controller includes an analog input module 2, a control module 3, a CAN module 4, a switch output module 5, an analog output module 6, a motor steering control module 7 and a motor braking control module 8.

[0053] The analog input module 2 is connected to the vehicle sensor and the control module 3 respectively, and is used to receive the vehicle status data collected by the vehicle sensor and send the vehicle status data to the control module 3; the vehicle status data includes light status signal, gear position signal, throttle opening signal, steering motor angle and torque signal, vehicle speed signal and brake pressure signal.

[0054] Specifically, the analog input module 2 is connected to the analog interface of the vehicle sensor and is used to receive the vehicle status voltage signal collected by the vehicle sensor. The input voltage range is 0~5V, with a total of 10 channels. Figure 2 As shown, the working principle of the circuit is as follows: ResAD3 is an external analog input interface, and its voltage is 0~12V. Through the voltage division of resistors R1002 and R1004, the signal AD_ResAD3 is connected to the sampling interface of control module 3, and the voltage of AD_ResAD3 is clamped by Schottky diode D1002 to be greater than 0V and not greater than 5V to protect the MCU interface. ModeSW is also an external analog input interface. When there is no external signal input, it is powered by VCC5V. Resistors R1007, R1008 and R1009 are connected in series to divide the voltage. AD_ModeSW can directly input a voltage signal of about 1V to the MCU; when a 0V signal is connected externally, AD_ModeSW can input a voltage signal of about 0V to the MCU. Among them, the function of Schottky diode D1004 is to clamp the voltage of AD_ModeSW to be greater than 0V and not greater than 5V to protect the MCU interface. BAT54S is the model of Schottky diode.

[0055] The control module 3 is connected to the CAN module 4, and is used to convert the vehicle status data from a voltage signal into a CAN message, obtain a vehicle status CAN message, and send the vehicle status CAN message to the CAN module 4; the vehicle status CAN message includes a light status signal CAN message, a gear position signal CAN message, a throttle opening signal CAN message, a steering motor angle and torque signal CAN message, a vehicle speed signal CAN message, and a brake pressure signal CAN message.

[0056] The control module 3 is also connected to the switch output module 5, the analog output module 6, the motor steering control module 7 and the motor braking control module 8 respectively, and is used to parse the control instruction CAN message issued by the host computer 1, and send the parsed control instruction to the switch output module 5, the analog output module 6, the motor steering control module 7 or the motor braking control module 8; wherein, the control module 3 includes 80 interfaces.

[0057] Specifically, the chip model of the control module 3 is SAK-TC234L-32F200F AC. The main functions are: 1) Collect the sensor voltage signal of the analog input module 2, convert the voltage signal into a CAN signal, and upload it to the host computer 1 through the CAN module 4; 2) Analyze the lighting control command issued by the host computer 1 and output the switch control signal; 3) Analyze the throttle opening command issued by the host computer 1 and output the analog control signal; 4) Analyze the steering control command issued by the host computer 1 and output the motor steering control command; 5) Analyze the braking control command issued by the host computer 1 and output the motor braking control command; 6) Analyze the CAN signal and convert it into the control signal of the autonomous driving vehicle.

[0058] The working principle of the control module 3 is as follows Figure 3 As shown, U601 is an EEPROM chip, which is used to save user data to avoid power loss; P600 is an interface for downloading and debugging programs; U602 is a watchdog chip, which is used to prevent the single-chip microcomputer U600 from running away due to external interference, resulting in an infinite loop. Its essence is a timer circuit. The control module 3 provides a signal D_WatchDog with high and low level changes within a fixed time, which is input to the WDI pin of the watchdog chip U602, called kicking the dog / service the dog. U602 outputs a low-level reset signal to the RST terminal of the MCU. When the MCU is working normally, it outputs a signal to the dog feeding terminal at regular intervals to clear the WDT. If the dog is not fed for more than the specified time (usually when the program is running away), the WDT timing is exceeded, and a reset signal will be given to the control module 3 to reset the control module 3.

[0059] The CAN module 4 is connected to the host computer 1 and is used to send the vehicle status CAN message to the host computer 1 .

[0060] Specifically, refer to Figure 4 The chip of CAN module 4 is TJA1051T / 3 / 1J, including two CAN signals, corresponding to the first CAN module 41 and the second CAN module 42, two high and two low. Its working principle is: the control module 3 outputs CANTXD0 and CANRXD0 to the chip U1101 of CAN module 4, and the chip U1101 of CAN module 4 outputs the control signal to the common-mode suppression inductor L1101. The function of resistor R1101 is to match the impedance with the back-end CAN transceiver. The function of capacitors C1101 and C1103 is to eliminate common-mode interference. Finally, it is output to the ToCar_CAN0_H and ToCar_CAN0_L interfaces, and can also be reversely input to the chip of CAN module 4 by the interface, and then transmitted to the control module 3.

[0061] The host computer 1 is used to obtain the vehicle positioning signal and road condition information obtained by the vehicle external sensor, generate a control instruction CAN message according to the received vehicle status CAN message, vehicle positioning signal and road condition information, and send the control instruction CAN message to the control module 3 through the CAN module 4; the control instruction CAN message includes a vehicle lighting control instruction CAN message, a throttle opening instruction CAN message, a gear control instruction CAN message, a steering control instruction CAN message or a braking control instruction CAN message.

[0062] Specifically, the host computer 1 includes: a vehicle lighting control instruction CAN message generating unit, a gear control instruction CAN message generating unit, a throttle opening instruction CAN message generating unit, a steering control instruction CAN message generating unit and a brake control instruction CAN message generating unit.

[0063] Among them, the vehicle light control instruction CAN message generation unit is used to generate a vehicle light control instruction CAN message when it is confirmed that the light is in the off state according to the light status signal CAN message, and it is determined that the road ahead needs to turn according to the vehicle positioning signal and road condition information; the vehicle light control instruction CAN message includes a vehicle right turn light on instruction CAN message or a left turn light on instruction CAN message.

[0064] The gear control instruction CAN message generating unit is used to generate a gear control instruction CAN message when it is confirmed that the gear is in neutral according to the gear signal CAN message and it is determined that there is no obstacle in the road ahead of the vehicle according to the vehicle positioning signal and road condition information.

[0065] The throttle opening instruction CAN message generating unit is used to generate a throttle opening instruction CAN message based on the throttle opening CAN message.

[0066] The steering control instruction CAN message generation unit is used to calculate the target steering angle and torque value according to the steering motor angle and torque signal CAN message and the vehicle speed signal CAN message, and generate a steering control instruction CAN message when it is determined that the road ahead needs to turn according to the vehicle positioning signal and road condition information.

[0067] The braking control instruction CAN message generation unit is used to calculate the target braking pressure value according to the vehicle speed signal CAN message, the obstacle distance and the braking pressure signal CAN message when it is confirmed that there is an obstacle in the road ahead and emergency braking is required according to the vehicle positioning signal and road condition information, and generate a braking control instruction CAN message according to the target braking pressure value.

[0068] The switch output module 5 is connected to the vehicle light control interface and is used to output a vehicle light control signal according to the analyzed vehicle light control instruction to control the vehicle light to turn on or off.

[0069] Specifically, the control principle is as follows: the host computer 1 receives the light status signal CAN message collected by the analog input module 2, the vehicle positioning signal and road condition information collected by the external sensor, and then the host computer 1 integrates the sensor information and the high-precision map, confirms that the light is in the off state, detects that the road ahead needs to turn right or left, and sends a vehicle light control instruction CAN message to turn on the right or left light to the CAN module 4. After receiving the vehicle light control instruction CAN message, the CAN module 4 sends it to the control module 3. After parsing the message, the control module 3 outputs a high level (for example, BrakeMotor_PWM3) to the switch output module 5. The switch output module 5 outputs a 0-12V voltage signal to control the corresponding light to turn on.

[0070] After the vehicle turns right, the host computer 1 continuously receives the light status signal CAN message, vehicle positioning signal and road condition information collected by the analog input module 2, determines that the vehicle has turned right or left and turned on the corresponding turn signal, and then sends a light off CAN message, and the switch output module 5 stops outputting the 0-12V voltage signal. The switch output module 5 has a total of 17 output circuits, including three control principles, such as Figure 5 and Figure 6 As shown, its working principle is as follows.

[0071] A: When the control module 3 outputs the high-level signal BrakeMotor_PWM3, the NPN transistor Q704 is turned on, that is, the BrakeMotor_Ctrl signal is 0V, the P MOS tube Q703 is turned on, and the BrakeMotor+ interface outputs a 12V control signal.

[0072] B: When the control module 3 outputs a high-level signal D_Horn, the N MOS tube Q705 is turned on, and a low-level control circuit can be connected externally.

[0073] C: When the control module 3 outputs a low-level signal D_ModeLight, the PNP transistor Q712 is turned on, and the ModeLight interface outputs a 5V control signal.

[0074] The analog output module 6 is connected to the vehicle throttle control interface and is used to output a throttle control signal according to the analyzed throttle opening instruction and the gear control instruction to control the vehicle throttle opening.

[0075] Specifically, refer to Figure 7-10 , output a high and a low throttle control voltage signal. The control principle is: the host computer 1 receives the throttle opening signal CAN message and gear signal CAN message collected by the analog input module 2, the vehicle positioning signal and road condition information collected by the external sensor; then the host computer 1 integrates the sensor information and the high-precision map, confirms that the gear is in neutral and detects that there is no obstacle on the road ahead, and the host computer 1 sends a forward gear control command and a throttle opening command CAN signal to the CAN module 4. After receiving the message, the CAN module 4 sends it to the control module 3. After the control module 3 parses the message, it first outputs the throttle opening signal to the analog output module 6 (such as DA_SCL and DA_SDA) through the IIC bus. The analog output module 6 converts the digital signal into a 0-5V analog voltage signal and outputs it to the vehicle throttle signal line; its output voltage range is 0-5V, and the digital-to-analog conversion chip U900 selects AD5315BRMZ.

[0076] Reference Figure 7-10The working principle of the analog output module 6 is as follows: the control module 3 outputs the clock signal DA_SCL and the digital signal DA_SDA. The chip U900 model is AD5315BRMZ. The signal is converted into digital and analog, and 4 analog quantities DAC_OUTA, DAC_OUTB, DAC_OUTC and DAC_OUTD are output. DAC_OUTA and DAC_OUTB are connected to the voltage follower LM358D U901. The function of U901 is to ensure the output of two different voltages DAC1 and DAC2 through resistor voltage division. Then DAC1 and DAC2 are connected to the double-pole double-throw signal relay HFD4 / 5-S The normally open port of K901, AccCtrl_H and AccCtrl_L are connected to the common port, AccPedal_H and AccPedal_H are connected to the normally closed port. When the control module 3 does not control the relay K901 to close, AccCtrl_H and AccPedal_H are turned on, and AccCtrl_L and AccPedal_L are turned on. When the control module 3 sends out the high and low frequency control signal En_AccPedal, the NPN transistor Q901 is turned on, the relay K901 coil is closed, AccCtrl_H and DAC1 are turned on, and the controller outputs a high voltage throttle control signal; AccCtrl_L and DAC2 are turned on, and the controller outputs a low voltage throttle control signal.

[0077] The motor steering control module 7 is connected to the vehicle steering motor control interface and is used to control the steering motor to rotate forward or reverse according to the parsed steering control instruction to control the vehicle to turn left or right.

[0078] Specifically, refer to Figure 11-Figure 15 The control principle of the motor steering control module 7 is as follows: the host computer 1 receives the steering motor angle, torque signal and vehicle speed signal CAN messages collected by the analog input module 2, and the vehicle positioning signal and road condition information collected by the external sensor; then the host computer 1 integrates the sensor information and the high-precision map, detects that the road ahead needs to turn, compares the current steering angle state of the vehicle, calculates the required steering angle and torque value, and sends a steering control instruction CAN message to the CAN module 4. After receiving the message, the CAN module 4 sends it to the control module 3. After parsing the message, the control module 3 outputs a PWM wave SteerMotor_PWM1 and a left turn signal SteerMotor_Direction_L or a right turn signal SteerMotor_Direction_R to the motor steering control module 7. The motor steering control module 7 outputs a 0-12V voltage signal SteerMotor_Ctrl+ for controlling the steering motor to turn left or right. Its output voltage range is 0-12V, and the motor drive chip is TLE6282G.

[0079] The working principle of the motor steering control module 7 is as follows Figure 11-Figure 15 , the control module outputs the left turn control signals SteerMotor_Direction_L and SteerMotor_PWM1 to U801; U801 is the AND gate logic chip AiP74LVC1G08GB235.TR, outputs the left turn signal SteerMotor_Ctrl1 to the motor driver chip U800, the motor driver chip U800 outputs the control signals SteerMotor_HO1 and SteerMotor_LO2 to the H-bridge circuit, the signal SteerMotor_HO1 controls the N MOS tube AUIRFS8405 Q802 to turn on, the power supply BAT_12VIN current is output to SteerMotor_IP- through the MOS tube Q802, and then converted to SteerMotor_Ctrl+ through the current chip ACS780LLRTR-100B-T U803, and connected to the positive pole of the steering motor; the negative pole of the motor is connected to SteerMotor_Ctrl-; the signal SteerMotor_LO2 controls the N MOS tube AUIRFS8405 Q803 is turned on, and the MOS tube Q803 is turned on to ground, thereby controlling the motor to turn left.

[0080] Similarly, when the motor turns right, the control module outputs the right-turn control signals SteerMotor_Direction_R and SteerMotor_PWM1 to U802. U802 is the AND gate logic chip AiP74LVC1G08GB235.TR, which outputs the right-turn signal SteerMotor_Ctrl2 to the motor driver chip U800. The motor driver chip U800 outputs the control signals SteerMotor_HO2 and SteerMotor_LO1. The signal SteerMotor_HO2 controls the N MOS tube Q801 to turn on, and the power supply BAT_12VIN is output to SteerMotor_Ctrl- through Q801 and connected to the negative pole of the motor; the signal SteerMotor_LO1 controls the N MOS tube Q804 to turn on, and SteerMotor_IP- is grounded, and then converted to SteerMotor_Ctrl+ through the current chip U803 and connected to the positive pole of the steering motor to control the motor to turn right.

[0081] Note that MOS tubes Q802 and Q804 cannot be turned on at the same time, and Q801 and Q803 cannot be turned on at the same time, otherwise 12V and GND will be directly connected, causing a short circuit on the PCB.

[0082] The motor brake control module 8 is connected to the brake motor control interface and is used to control the brake motor to rotate forward according to the analyzed brake control instruction to control the emergency braking of the vehicle.

[0083] Specifically, the control principle of the motor brake control module 8 is as follows: the host computer 1 receives the brake pressure signal CAN message and the vehicle speed signal CAN message collected by the analog input module 2, and the vehicle positioning signal and road condition information collected by the external sensor; then the host computer 1 integrates the sensor information and the high-precision map, detects that there is an obstacle in the road ahead that requires braking, calculates the brake pressure value required by the control module 3 according to the vehicle speed signal and the obstacle distance, and sends a brake control instruction CAN message to the CAN module 4. After receiving the message, the CAN module 4 sends it to the control module 3 to parse the message and then outputs a PWM wave to the motor brake control module 8. The motor brake control module 8 outputs a 0-12V voltage signal to control the brake motor to turn left or right. Its output voltage range is 0-12V. Its control principle is the same as that of the steering motor, both of which are H-bridge drive circuits.

[0084] Furthermore, the wire control controller also includes: a power supply module 9, which is respectively connected to the CAN module 4, the analog input module 2, the switch output module 5, the analog output module 6, the motor steering control module 7, the motor braking control module 8 and the control module 3, and is used to supply power to the CAN module 4, the analog input module 2, the switch output module 5, the analog output module 6, the motor steering control module 7, the motor braking control module 8 and the control module 3.

[0085] Specifically, the input principle of the power module 9 is as follows: Fig.16 As shown, the voltage range of interface A is DC 12V-24V, the positive power supply is BAT12V+, and the negative power supply is BAT12V-; first, the N MOS tube Q401, TVS diodes Z401, and Z402 form an anti-reverse connection circuit. The principle is that when the power supply wiring is correct, that is, the positive pole of the power supply is connected to BAT12V+, and the negative pole of the power supply is connected to BAT12V-, the voltage regulator tube of the MOS tube Q402 will be turned on, and the voltage of the source S of the MOS tube is close to 0V; then the two resistors R402 and R403 divide the voltage, and the divided voltage will provide a voltage for the gate G to turn on the MOS tube Q402; because after the field effect tube is turned on, the internal resistance is very small and the power is very large, so it will replace the internal diode to run a large current. When the power plug is connected in reverse, that is, the positive pole of the power supply is connected to BAT12V- and the negative pole of the power supply is connected to BAT12V+, because the reverse withstand voltage of the MOS tube is very high, its voltage regulator tube will not be turned on, and no current will flow through the voltage divider resistors R402 and R403, and no voltage will be divided, so the gate voltage cannot be provided, and the NMOS tube will not be turned on, thereby playing a role in protecting the circuit.

[0086] When the input power supply voltage is 24V, the power supply can be passed through the voltage conversion chips U401 and U402 by welding the fuses F402 and F404. The chip used is LM2679SX-12 / NOPB, which converts the +24VIN power supply voltage into +12VIN and BAT_12VIN. +12VIN is used to power the switch output module 5 and 12V to 5V DCDC; BAT_12VIN is used to power the steering motor and brake motor.

[0087] When the input power supply voltage is 12V, it is directly connected to BAT_12VIN and +12VIN through fuses F401 and F403 to power the motor module, switch output module 5 and 12V to 5V DCDC. The principle of B 12V to 5V is as follows Fig.17 shown.

[0088] The power supply +12VIN is converted to VCC5V through the step-down chip U403. The selected chip is MPQ4420H. After the conversion is successful, the 5V status indicator D403 will light up; IGN is the external voltage signal input, the voltage is 12V, and its function is to make the chip U403 work; R410, R411 and R415 form a feedback circuit, and the output voltage can be adjusted by changing the resistance value. VCC5V can power the analog output module 6, the analog input clamp 5V, the CAN chip, and the 5V to 3.3V DCDC; C 5V to 3.3V schematic diagram is as follows Fig.18 The selected chip is BL1117-33CX, which converts 5V to 3.3V, mainly to power the control module 3.

[0089] Furthermore, if Fig.19 and Fig. 20 As shown, the main body of the wire control controller is an aluminum alloy profile, and also includes an upper shell 10 and a lower shell 11. The upper shell 10 and the lower shell 11 are provided with screw holes 12. The upper shell 10 and the lower shell 11 and the PCBA can be fixed together with screws 13. The shell structure is reasonable and can protect the internal circuit from environmental influences.

[0090] A clamping structure 14 is provided on the inner side of the lower shell body, and the clamping structure is used to fix the PCBA board. The CAN module 4, the analog input module 2, the switch output module 5, the analog output module 6, the motor steering control module 7, the motor braking control module 8 and the control module 3 are integrated on the PCBA board.

[0091] Furthermore, a plurality of heat dissipation fins 15 are evenly spaced on the outer surfaces of the upper housing 10 and the lower housing 11 .

[0092] Technical effect of the present invention: The wire control system for the automatic driving function of off-road vehicles described in the present invention can receive control instructions from the host computer through the CAN module, complete the longitudinal control and lateral control of the automatic driving vehicle, and integrate multiple functions of wire control throttle, steering and braking. The vehicle status data can also be transmitted to the host computer in real time through the CAN module. On the one hand, the CAN module of the wire control controller is connected to the vehicle CAN module, and the wire control controller outputs CAN signals to control the vehicle throttle, braking and steering; on the other hand, the throttle, steering and steering control of the vehicle can be realized by adding a steering motor, a wire-pull brake servo, etc. to the original structure of the vehicle. When a module of the host computer or the wire control control system fails due to stability problems, other modified lines can be used to ensure that the automatic driving vehicle can perform emergency stops and other actions at this time to avoid damage to the vehicle itself and surrounding personnel and facilities.

[0093] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0094] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A wire control system for automatic driving function of an off-road vehicle, the wire control system comprising a wire control controller and a host computer, characterized in that: The wire control controller includes a CAN module, an analog input module, a switch output module, an analog output module, a motor steering control module, a motor brake control module and a control module; The analog input module is connected to the vehicle sensor and the control module respectively, and is used to receive the vehicle status data collected by the vehicle sensor and send the vehicle status data to the control module; the vehicle status data includes a light status signal, a gear position signal, a throttle opening signal, a steering motor angle and torque signal, a vehicle speed signal and a brake pressure signal; The control module is connected to the CAN module, and is used to convert the vehicle status data from a voltage signal into a CAN message, obtain a vehicle status CAN message, and send the vehicle status CAN message to the CAN module; the vehicle status CAN message includes a light status signal CAN message, a gear position signal CAN message, a throttle opening signal CAN message, a steering motor angle and torque signal CAN message, a vehicle speed signal CAN message, and a brake pressure signal CAN message; The CAN module is connected to the host computer and is used to send the vehicle status CAN message to the host computer; The host computer is used to obtain the vehicle positioning signal and road condition information obtained by the vehicle external sensor, generate a control instruction CAN message according to the received vehicle status CAN message, vehicle positioning signal and road condition information, and send the control instruction CAN message to the control module through the CAN module; the control instruction CAN message includes a vehicle lighting control instruction CAN message, a throttle opening instruction CAN message, a gear control instruction CAN message, a steering control instruction CAN message or a brake control instruction CAN message; The control module is also connected to the switch output module, the analog output module, the motor steering control module and the motor brake control module respectively, and is used to parse the control instruction CAN message issued by the host computer, and send the parsed control instruction to the switch output module, the analog output module, the motor steering control module or the motor brake control module; The switch output module is connected to the vehicle light control interface and is used to output a vehicle light control signal according to the analyzed vehicle light control instruction to control the vehicle light to turn on or off; The analog output module is connected to the vehicle throttle control interface and is used to output a throttle control signal according to the analyzed throttle opening instruction and the gear control instruction to control the opening of the vehicle throttle; The motor steering control module is connected to the vehicle steering motor control interface and is used to control the steering motor to rotate forward or reverse according to the parsed steering control instruction to control the vehicle to turn left or right; The motor brake control module is connected to the brake motor control interface and is used to control the brake motor to rotate forward according to the analyzed brake control instruction to control the emergency braking of the vehicle.

2. The wire control system for automatic driving function of off-road vehicle according to claim 1, characterized in that: The host computer comprises: The vehicle light control instruction CAN message generating unit is used to generate a vehicle light control instruction CAN message when it is confirmed that the light is in the off state according to the light status signal CAN message, and it is determined that the road ahead needs to turn according to the vehicle positioning signal and road condition information; the vehicle light control instruction CAN message includes a vehicle right turn light on instruction CAN message or a left turn light on instruction CAN message.

3. The wire control system for automatic driving function of off-road vehicle according to claim 2, characterized in that: The host computer also includes: A gear control command CAN message generating unit, used to generate a gear control command CAN message when the gear is confirmed to be in neutral according to the gear signal CAN message and it is determined that there is no obstacle in the road ahead of the vehicle according to the vehicle positioning signal and road condition information; The throttle opening instruction CAN message generating unit is used to generate a throttle opening instruction CAN message based on the throttle opening CAN message.

4. The wire control system for automatic driving function of off-road vehicle according to claim 3, characterized in that: The host computer also includes: The steering control instruction CAN message generation unit is used to calculate the target steering angle and torque value according to the steering motor angle and torque signal CAN message and the vehicle speed signal CAN message, and generate a steering control instruction CAN message when it is determined that the road ahead needs to turn according to the vehicle positioning signal and road condition information.

5. The wire control system for automatic driving function of off-road vehicle according to claim 4, characterized in that: The host computer also includes: The braking control instruction CAN message generation unit is used to calculate the target braking pressure value according to the vehicle speed signal CAN message, the obstacle distance and the braking pressure signal CAN message when it is confirmed that there is an obstacle in the road ahead and emergency braking is required according to the vehicle positioning signal and road condition information, and generate a braking control instruction CAN message according to the target braking pressure value.

6. The wire control system for automatic driving function of off-road vehicle according to claim 1, characterized in that: The wire control controller also includes: A power supply module is respectively connected to the CAN module, the analog input module, the switch output module, the analog output module, the motor steering control module, the motor braking control module and the control module, and is used to power the CAN module, the analog input module, the switch output module, the analog output module, the motor steering control module, the motor braking control module and the control module.

7. The wire control system for automatic driving function of off-road vehicle according to claim 1, characterized in that: The wire control controller further comprises: an upper housing and a lower housing, wherein the upper housing and the lower housing are fixed by screws; A clamping structure is provided on the inner side of the lower shell body, and the clamping structure is used to fix the PCBA board. The CAN module, analog input module, switch output module, analog output module, motor steering control module, motor brake control module and control module are integrated on the PCBA board.

8. The wire control system for automatic driving function of off-road vehicle according to claim 7, characterized in that: A plurality of heat dissipation fins are evenly spaced on the outer surfaces of the upper shell and the lower shell.

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