Control system, method, device and equipment of automobile drive-by-wire chassis and medium

Abstract

The embodiment of the invention discloses a control system, method, device and equipment of an automobile drive-by-wire chassis and a medium, the system comprises a signal generation module, a signal processing module and a signal receiving module, the signal processing module comprises a value domain mapping unit, a signal matching unit and a safety detection unit, the value domain mapping unit is used for converting the physical operation signal into a control signal of the vehicle; the signal matching unit is used for matching the signal format of the control signal with the target signal format of the vehicle end and sending the successfully matched control signal to the safety detection unit; the safety detection unit is used for judging the safety of the control signal sent by the signal matching unit according to the current state information of the vehicle and sending the control signal conforming to a traffic safety rule to the signal receiving module; and the signal receiving module is used for controlling the vehicle chassis according to the received signal. According to the technical scheme, the problem that the vehicle chassis testing efficiency is low is solved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of automobile technology, and in particular, to a control system, method, device, equipment and medium for an automobile wire-controlled chassis. Background Art

[0002] The sales of new energy vehicles are rising steadily, and new energy vehicles are developing in the direction of intelligent networking. Driven by the market, technology, capital and policies, intelligent networked vehicles have entered a high-speed development trend. In order for a car to have an autonomous driving function above the L2 level, a wire-controlled chassis is a must-have feature of the vehicle. Traditional cars use mechanical means to transfer energy to achieve specific vehicle control in functions such as acceleration, braking, steering and shifting. Autonomous driving above L2 gradually allows the driver to conditionally leave the control of the vehicle for a short or long time. Without the driver's external force to control the vehicle, the vehicle's steering and shifting actuators are required to complete steering and shifting operations by themselves.

[0003] In the related art, during the testing of the car's wire-controlled chassis, the vehicle chassis is generally controlled by directly sending message signals by a computer. This control method relies on manual input of commands, which makes it impossible to continuously control the vehicle. If the vehicle speed is slightly faster, it will not be able to make a correct control response in time. In addition, during the testing of different vehicles, if the message signal sent by the computer does not correspond to the signal format of the vehicle network, it is necessary to redevelop software adapted to the vehicle network for control, which will delay the test time and cause low test efficiency. Summary of the invention

[0004] The embodiments of the present invention provide a control system, method, device, equipment and medium for a vehicle-by-wire chassis, which realize continuous control of the vehicle chassis and overcome the problem of low efficiency in vehicle chassis testing.

[0005] In a first aspect, the present invention provides a control system for a car wire-controlled chassis, comprising: a signal generating module, a signal processing module and a signal receiving module, wherein the modules are connected via a CAN bus, wherein:

[0006] A signal generating module is configured to generate a physical operation signal based on a user's physical operation, and send the physical operation signal to the signal processing module via a CAN bus in the form of a CAN signal;

[0007] The signal processing module includes a value range mapping unit, a signal matching unit and a safety detection unit, wherein:

[0008] A value range mapping unit, used to receive a physical operation signal and convert the physical operation signal into a vehicle control signal according to a value range mapping relationship between a physical operation value range and a vehicle control value range;

[0009] A signal matching unit is used to match the signal format of the control signal with the target signal format of the vehicle end. If the match is successful, the control signal is sent to the safety detection unit for detection. If the match fails, the format of the control signal is converted so that the signal format of the converted control signal matches the target signal format, and the control signal after the format conversion is sent to the safety detection unit for detection, wherein the signal format includes a baud rate and a signal period;

[0010] A safety detection unit, used to determine the safety of the control signal sent by the signal matching unit according to the current state information of the vehicle, and send the control signal that complies with the traffic safety rules to the signal receiving module through the CAN bus;

[0011] The signal receiving module is configured to receive the control signal sent by the safety detection unit and control the vehicle's wire-controlled chassis according to the received control signal.

[0012] Optionally, the signal generating module includes a control joystick, which is used to move under the operation of the user to generate a physical operation signal;

[0013] Correspondingly, the value range mapping unit is specifically configured as follows:

[0014] According to the value range mapping relationship between the movement range of the control joystick and the vehicle control value range, the travel value of the control joystick movement is converted into the control signal value of the vehicle.

[0015] Optionally, the control joystick includes a direction control joystick and a speed control joystick, wherein:

[0016] The direction control joystick has two moving directions: left and right, which are used to control the vehicle chassis to rotate left and right respectively;

[0017] The speed control joystick has four moving directions: up, down, left, and right, which are used to control the acceleration, deceleration, gear reduction, and gear increase of the vehicle chassis respectively.

[0018] Optionally, the signal processing module further includes a first signal monitoring unit and a first fault processing unit, wherein:

[0019] A first signal detection unit is used to monitor the cycle continuity of the signal sent by the signal generation module, and if it is detected that the signal cycle is discontinuous, a data loss fault signal is sent to the first fault processing unit;

[0020] Correspondingly, the first fault processing unit is used to fill the missing signal cycles, wherein if the missing signal cycles do not reach the preset number threshold, the missing signal is filled with the data of the previous cycle; if the missing signal cycles reaches the preset number threshold, the missing signal is filled with the default value of the signal.

[0021] Optionally, the signal processing module further includes: a second signal monitoring unit and a second fault processing unit, wherein:

[0022] A second signal monitoring unit, configured to verify the validity of the physical operation signal, and send a data value range fault signal to the second fault processing unit if the physical operation signal exceeds the corresponding physical operation value range;

[0023] Correspondingly, the second fault processing unit is used to adjust the physical operation signal to a physical operation signal that complies with the physical operation value range.

[0024] In a second aspect, an embodiment of the present invention further provides a method for controlling a wire-controlled chassis of an automobile, the method comprising:

[0025] Receiving a physical operation signal, and converting the physical operation signal into a vehicle control signal according to a value range mapping relationship between a physical operation value range and a vehicle control value range, wherein the physical operation signal is a CAN signal;

[0026] Matching the signal format of the control signal with the target signal format of the vehicle end, wherein if the match fails, converting the format of the control signal so that the signal format of the converted control signal matches the target signal format, wherein the signal format includes a baud rate and a signal period;

[0027] The safety of the control signal that matches the signal format is determined based on the vehicle's current status information, and the control signal that complies with the traffic safety rules is sent to the signal receiving module on the vehicle side through the CAN bus to instruct the signal receiving module to control the vehicle's wire-controlled chassis based on the control signal that complies with the traffic safety rules.

[0028] Optionally, the method provided by the embodiment of the present invention further includes:

[0029] Monitor the cycle continuity of the received CAN signal, and if it is detected that the signal cycle is discontinuous, fill the missing signal cycle, wherein if the missing signal cycle does not reach a preset number threshold, fill the missing signal with the data of the previous cycle, and if the missing signal cycle reaches the preset number threshold, fill the missing signal with the default value of the signal;

[0030] Optionally, the method provided by the embodiment of the present invention further includes:

[0031] The validity of the received physical operation signal is verified, and if the physical operation signal exceeds the corresponding physical operation value range, the physical operation signal is adjusted to a physical operation signal that conforms to the physical operation value range.

[0032] In a third aspect, an embodiment of the present invention further provides a control device for a car's wire-controlled chassis, the device comprising a signal processing module, the signal processing module comprising: a value range mapping unit, a signal matching unit and a safety detection unit, wherein:

[0033] A value range mapping unit, used for receiving a physical operation signal sent by the signal processing module, and converting the physical operation signal into a vehicle control signal according to a value range mapping relationship between the physical operation value range and the vehicle control value range, wherein the physical operation signal is a CAN signal;

[0034] A signal matching unit is used to match the signal format of the control signal with the target signal format of the vehicle end. If the match is successful, the control signal is sent to the safety detection unit for detection. If the match fails, the format of the control signal is converted so that the signal format of the converted control signal matches the target signal format, and the control signal after the format conversion is sent to the safety detection unit for detection, wherein the signal format includes a baud rate and a signal period;

[0035] The safety detection unit is used to judge the safety of the control signal sent by the signal matching unit according to the current state information of the vehicle, and send the control signal that complies with the traffic safety rules to the signal receiving module through the CAN bus to instruct the signal receiving module to control the vehicle's wire-controlled chassis according to the control signal that complies with the traffic safety rules.

[0036] Optionally, the device provided by the embodiment of the present invention further includes:

[0037] A first signal detection unit, used for monitoring the periodic continuity of the signal sent by the signal generating module;

[0038] The first fault processing unit is used to fill the missing signal cycle in the event of a discontinuous signal cycle, wherein if the missing signal cycle does not reach a preset number threshold, the missing signal is filled with data from the previous cycle; if the missing signal cycle reaches the preset number threshold, the missing signal is filled with a default value of the signal.

[0039] Optionally, the device provided by the embodiment of the present invention further includes:

[0040] A second signal monitoring unit, used to verify the validity of the received physical operation signal;

[0041] The second fault processing unit is used to adjust the physical operation signal that exceeds the corresponding physical operation value range to a physical operation signal that complies with the physical operation value range.

[0042] In a fourth aspect, an embodiment of the present invention further provides a computing device, including:

[0043] A memory storing executable program code;

[0044] a processor coupled to the memory;

[0045] The processor calls the executable program code stored in the memory to execute the control method of the automobile wire-controlled chassis provided by any embodiment of the present invention.

[0046] In a fifth aspect, an embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the control method of the automobile wire-controlled chassis provided by any embodiment of the present invention is implemented.

[0047] The technical solution provided by the embodiment of the present invention is that the signal generating module converts the physical operation of the operator into an electrical signal (digital signal or analog signal) and sends it to the signal processing module. After the signal processing module performs value range mapping, signal format matching and safety detection on the received physical operation signal, the control signal that matches the signal format and complies with the traffic safety rules is transmitted to the vehicle-side signal receiving module through the transmission path, and finally transmitted to the vehicle communication network to realize the whole vehicle control, which solves the problem that the method of manually sending messages by computer in the related technology cannot be continuously tested, and also avoids the problem of needing to redevelop the signal format matching test software when controlling vehicles of different models, and effectively improves the test efficiency. In addition, since the signal generating module, the signal processing module and the signal receiving module transmit signals through the CAN bus, the transmitted signals have strong real-time performance, strong anti-electromagnetic interference ability and strong error detection ability.

[0048] The innovative features of the embodiments of the present invention include:

[0049] 1. The signal processing module performs fault detection and validity identification on the received CAN signal and performs timely fault processing, thereby avoiding the occurrence of safety problems and improving the safety of automobile chassis testing, which is one of the innovative points of the embodiment of the present invention.

[0050] 2. The signal processing module improves the adaptability of the control terminal to the control of different vehicles by matching the signal format of the CAN signal sent by the control terminal with the target signal format of the vehicle end, and converts the signal format of the control signal that fails to match, thereby avoiding the need to develop matching software each time a different vehicle is tested, thereby improving the test efficiency, which is one of the innovations of the embodiment of the present invention.

[0051] 3. By using an industrial control joystick as a signal generating module and connecting the signal sending module, the signal processing module and the signal receiving module through a CAN twisted pair cable to form a wire-controlled terminal control system, the system avoids the step of converting non-CAN signals into CAN signals. Compared with the wireless signal transmission method, the signal transmission method of the embodiment of the present invention improves the real-time and anti-interference performance of the signal transmission. Compared with the manual control method of the PC terminal, the control system provided by the embodiment of the present invention improves the agility and continuity of the operation, which is one of the innovations of the embodiment of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] 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 or the description of the prior art 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.

[0053] Figure 1a A structural block diagram of a control system for an automobile wire-controlled chassis provided in Embodiment 1 of the present invention;

[0054] Figure 1b A schematic diagram of the control direction of the direction control joystick provided in the first embodiment of the present invention;

[0055] Figure 1c A schematic diagram of the control direction of the speed control joystick provided in the first embodiment of the present invention;

[0056] Figure 1d A schematic diagram of a control joystick provided in Embodiment 1 of the present invention;

[0057] Figure 2 A flow chart of a control method for a vehicle wire-controlled chassis provided in Embodiment 2 of the present invention;

[0058] Figure 3 A structural block diagram of a control device for a vehicle wire-controlled chassis provided in Embodiment 3 of the present invention;

[0059] Figure 4 A schematic diagram of the structure of a computing device provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0060] 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.

[0061] It should be noted that the terms "including" and "having" and any variations thereof in the embodiments of the present invention and the accompanying drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0062] The embodiments of the present invention disclose a control system, method, device, equipment and medium for a vehicle-by-wire chassis, which are described in detail below.

[0063] Embodiment 1

[0064] Figure 1a A structural block diagram of a control system for a vehicle wire-controlled chassis provided in the first embodiment of the present invention, such as Figure 1a As shown, the system includes a signal generating module 110, a signal processing module 120 and a signal receiving module 130. The modules are connected by wire via a CAN bus. The functions and effects of each module are described in detail below.

[0065] (I) Signal generating module 110

[0066] The signal generating module is configured to generate a physical operation signal based on a user's physical operation, and send the physical operation signal to the signal processing module 120 via the CAN bus in the form of a CAN signal.

[0067] In this embodiment, the signal generating module is a control terminal, which includes a control joystick, which is used to move under the operation of the user to generate a physical operation signal. The control joystick may include a direction control joystick and a speed control joystick, wherein the direction control joystick has two moving directions, left and right, which are used to control the vehicle chassis to rotate left and right respectively. Figure 1b A schematic diagram of the control direction of the direction control joystick provided in the first embodiment of the present invention is shown in FIG. Figure 1b As shown, the user can realize the left or right steering control of the vehicle chassis by turning the joystick to the left or right. The speed control joystick has four moving directions: up, down, left, and right, which are used to control the acceleration, deceleration, gear reduction, and gear increase of the vehicle chassis respectively. Figure 1cSchematic diagram of the control direction of the speed control joystick provided in the first embodiment of the present invention. Figure 1c As shown, the user can control the vehicle to accelerate forward by moving the speed control joystick upward, control the vehicle to brake by moving the speed control joystick downward, control the vehicle to reduce the gear position of the vehicle in motion by moving the speed control joystick to the left, or control the vehicle to increase the gear position of the vehicle in motion by moving the speed control joystick to the right. The above setting of the control joystick provides great convenience for the user's operation.

[0068] Specifically, the signal generation module in this embodiment can adopt a joystick controller used in industrial control, which supports movement in four directions: up, down, left, and right, and has an enabling switch on the top to turn on or off the joystick function, which can be realized by a control button, etc. In addition, the remote control controller in this embodiment can directly convert the physical control signal into a CAN signal output, and the fast signal update frequency can meet the vehicle chassis control signal cycle requirements. Figure 1d A schematic diagram of a control joystick provided in Embodiment 1 of the present invention is shown in FIG. Figure 1d As shown, the control rocker in this embodiment includes a direction control rocker and a speed control rocker, which are fixed on the base, for example, by screws, and the length of the end face where the screws are located is 72.9 mm. The distance from the top of the rocker enable switch to the end face where the screws are located is 167.7 mm, and the distance from the top of the rocker enable switch to the bottom of the line speed connector is 236.5 mm, wherein the height of the line speed connector is 10 mm.

[0069] In this embodiment, by using the joystick to send control signals, the joystick control is simpler and easier to operate and can perform continuous control compared to the method of directly sending messages manually through a computer host in the related art. In addition, the joystick itself can directly output CAN signals. Compared with the related art using analog voltage signal transmission or wireless transmission, this embodiment uses the CAN bus to transmit CAN signals, and the real-time performance and anti-electromagnetic interference capabilities are effectively improved.

[0070] (ii) Signal processing module 120

[0071] The signal processing module 120 includes a value range mapping unit 121, a signal matching unit 122 and a security detection unit 123, wherein:

[0072] The value range mapping unit 121 is used to receive the physical operation signal and convert the physical operation signal into a vehicle control signal according to the value range mapping relationship between the physical operation value range and the vehicle control value range.

[0073] In this embodiment, taking into account the inconsistency between the signal type sent by the control joystick and the vehicle-side control signal type, for example, the travel value of the directional control joystick moving to the left from the center point is [0,1000], and the actual vehicle control angle range is [0,450] degrees, it is necessary to perform a value range mapping between the physical operation value range of the control joystick and the vehicle control signal value range. For example, if in a certain control process, the travel value of the directional control joystick is 500, then the travel value 500 can be converted into the actual vehicle's left turn angle of 225° based on the mapping relationship between the travel value range [0,1000] and the actual vehicle control angle range [0,450]. In this embodiment, only after the physical operation signal is converted into a vehicle control signal can the vehicle recognize the control signal and then control the vehicle chassis.

[0074] The signal matching unit 122 is used to match the signal format of the control signal with the target signal format on the vehicle side. If the match is successful, the control signal is sent to the safety detection unit for detection. If the match fails, the format of the control signal is converted so that the signal format of the converted control signal matches the target signal format, and the control signal after format conversion is sent to the safety detection unit for detection.

[0075] The signal format includes the baud rate and the signal period. The target signal format of the vehicle end is obtained by the signal matching unit according to the received CAN signal of the vehicle network, and the CAN signal of the vehicle network is transmitted to the signal matching unit through the CAN bus.

[0076] It is understood by those skilled in the art that the period and baud rate of the CAN signal sent by the signal generating module are fixed, while the baud rate and CAN signal period of the CAN interface network of different types of vehicles are different. If one or two of the period and baud rate of the CAN signal of the vehicle interface CAN communication network and the signal generating module are different, the two will not be able to communicate normally. In the related art, each time the signal generating module is applied to control vehicles with different CAN interface periods (or baud rates), it is necessary to redevelop the matching software of the CAN period and baud rate. In the present embodiment, during the control process of the vehicle chassis, the signal processing module automatically matches the baud rate and period of the CAN signal, and under the condition of successful matching, the control signal is sent to the safety detection unit for detection, and under the condition of failed matching (one or two of the period or baud rate of the CAN signal are inconsistent), the signal matching unit will convert the format of the control signal to the same format as the target signal format, and then send the control signal after the format conversion to the unit line detection unit for safety detection. This arrangement avoids improving the adaptability of the control terminal to the control of different vehicles, avoids the process of developing different matching software each time different vehicles are tested, and improves the test efficiency.

[0077] The safety detection unit 123 is used to determine the safety of the control signal sent by the signal matching unit according to the current state information of the vehicle, and send the control signal that complies with the traffic safety regulations to the signal receiving module through the CAN bus.

[0078] Wherein, for a control signal whose safety does not comply with the traffic safety regulations, the signal processing module does not respond to the control signal, that is, does not send the control signal to the signal receiving module.

[0079] Exemplarily, situations where safety does not comply with traffic safety rules may include the following: (1) the vehicle is currently traveling at a high speed (the speed reaches a preset speed threshold), and the control signal received by the safety detection unit is a gear switch to a reverse gear signal; (2) the vehicle is currently traveling at a high speed, and the control signal received by the safety detection unit is a large-scale steering (the steering angle reaches a preset angle threshold) signal; (3) the vehicle is currently traveling at the maximum speed limit, and the control signal received by the safety detection unit is an acceleration signal; (4) when the vehicle is currently experiencing an ABS (Anti-lock Braking System) event, the control signal received by the safety detection unit is a braking signal; (5) when the vehicle is currently in a braking state, the control signal received by the safety detection unit is an acceleration signal. In addition, if the user sends a large-scale steering command while sending an acceleration command, it does not comply with traffic safety rules. Moreover, if the vehicle is currently in a collision, the control signals received by the safety detection unit will not respond. The control signals that do not comply with traffic safety rules are not limited to the above-mentioned signals, and this embodiment does not specifically limit this.

[0080] In this embodiment, by judging the safety of the control signal sent by the signal matching unit according to the current state information of the vehicle, unreasonable instructions of the control terminal can be monitored and intervened in a timely manner, thereby avoiding the occurrence of safety accidents.

[0081] In addition, the signal processing module further includes a first signal monitoring unit, a first fault processing unit, a second signal monitoring unit and a second fault processing unit, wherein:

[0082] The first signal detection unit is used to monitor the cycle continuity of the signal sent by the signal generation module. If the signal cycle is detected to be discontinuous, a data loss fault signal is sent to the first fault processing unit. For example, when the signal frame number is directly from 1 to 3, it means that the second frame signal is lost. Correspondingly, the first fault processing unit is used to fill the missing signal cycle, wherein if the missing signal cycle does not reach a preset number threshold (for example, 3 cycles), the missing signal is filled with the data of the previous cycle. For example, if the second frame signal is lost, the first frame signal is used to fill the lost second frame signal. If the missing signal cycle reaches a preset number threshold, the default value of the signal (for example, 0 or an invalid value) is used to fill the missing signal.

[0083] The second signal monitoring unit is used to verify the validity of the physical operation signal. If the physical operation signal exceeds the corresponding physical operation value range, a data value range fault signal is sent to the second fault processing unit. For example, the movable stroke value of the direction control joystick at the center point is [0,1000], and the stroke value moved by the user is 1020, or due to some interference in the signal transmission, the stroke value of the physical operation signal received by the second signal detection unit is 1020. At this time, it means that the value range of the control signal exceeds the valid value range and is a fault signal. Accordingly, the second fault processing unit is used to adjust the physical operation signal to a physical operation signal that meets the physical operation value range, or the signal can be replaced by the previous valid signal. By adopting the above technical solution for fault detection and fault processing, the occurrence of safety problems is avoided and the safety of automobile chassis testing is improved.

[0084] (III) Signal receiving module 130

[0085] The signal receiving module 130 is configured to receive a control signal sent by the safety detection unit, and control the vehicle's controlled-by-wire chassis according to the received control signal.

[0086] In this embodiment, the signal receiving module belongs to the vehicle side, and the communication network of the vehicle side is also a CAN network. By incorporating the signal processing module into the CAN network of the vehicle side through the CAN bus, the effect of saving hardware costs can be achieved.

[0087] In this embodiment, the operator operates the signal generating module, and the signal generating module converts the operator's physical operation into an electrical signal (digital signal or analog signal) and sends it to the signal processing module. After the signal processing module performs value range mapping, signal format matching and safety detection on the received physical operation signal, the control signal with signal format matching and in compliance with traffic safety rules is transmitted to the vehicle-side signal receiving module through the CAN bus, and finally transmitted to the vehicle communication network to realize vehicle control, solving the problem that the method of manually sending messages by computer in the related technology cannot be continuously tested, and also avoiding the problem of needing to redevelop signal format matching software when controlling vehicles of different models, thereby effectively improving the test efficiency. In addition, since the signal generating module, the signal processing module and the signal receiving module transmit signals through the CAN bus, the real-time and anti-interference performance of the signal transmission are improved.

[0088] Embodiment 2

[0089] Figure 2 This is a flow chart of a control method for a vehicle's wire-controlled chassis provided in the second embodiment of the present invention. The method provided in this embodiment can be applied to the application scenario of testing the vehicle's wire-controlled chassis. The method provided in this embodiment can be executed by a control device for the vehicle's wire-controlled chassis, which can be implemented in software and / or hardware, for example, by the signal processing model in the above embodiment. Figure 2 As shown, the method provided in this embodiment specifically includes:

[0090] S210: Receive a physical operation signal, and convert the physical operation signal into a vehicle control signal according to a value range mapping relationship between a physical operation value range and a vehicle control value range.

[0091] Among them, the physical operation signal is a CAN signal.

[0092] S220, matching the signal format of the control signal with the target signal format of the vehicle end.

[0093] If the match fails, the format of the control signal is converted so that the signal format of the converted control signal matches the target signal format. The signal format includes a baud rate and a signal period;

[0094] S230. Determine the safety of the control signal that matches the signal format according to the current state information of the vehicle, and send the control signal that complies with the traffic safety rules to the signal receiving module on the vehicle side through the CAN bus to instruct the signal receiving module to control the vehicle's wire-controlled chassis according to the control signal that complies with the traffic safety rules.

[0095] Furthermore, the method provided in this embodiment also includes: monitoring the cycle continuity of the received CAN signal, and if it is detected that the signal cycle is discontinuous, filling the missing signal cycle, wherein if the missing signal cycle does not reach a preset number threshold, the missing signal is filled with data from the previous cycle, and if the missing signal cycle reaches the preset number threshold, the default value of the signal is used to fill the missing signal.

[0096] Furthermore, the method provided in this embodiment also includes: verifying the validity of the received physical operation signal, and if the physical operation signal exceeds the corresponding physical operation value range, adjusting the physical operation signal to a physical operation signal that conforms to the physical operation value range.

[0097] In this embodiment, the specific execution process of steps S210 to S230 may refer to the description of the signal processing module in the above embodiment, which will not be repeated here.

[0098] Embodiment 3

[0099] Figure 3 This is a structural block diagram of a control device for a car wire-controlled chassis provided in the third embodiment of the present invention. The device includes a signal processing module, which includes: a value range mapping unit 310, a signal matching unit 320 and a safety detection unit 330, wherein:

[0100] A value range mapping unit 310 is used to receive the physical operation signal sent by the signal processing module, and convert the physical operation signal into a vehicle control signal according to the value range mapping relationship between the physical operation value range and the vehicle control value range, wherein the physical operation signal is a CAN signal;

[0101] The signal matching unit 320 is used to match the signal format of the control signal with the target signal format of the vehicle end. If the match is successful, the control signal is sent to the safety detection unit 330 for detection. If the match fails, the format of the control signal is converted so that the signal format of the converted control signal matches the target signal format, and the control signal after the format conversion is sent to the safety detection unit 330 for detection, wherein the signal format includes a baud rate and a signal period;

[0102] The safety detection unit 330 is used to determine the safety of the control signal sent by the signal matching unit according to the current state information of the vehicle. If the safety complies with the traffic safety rules, the control signal that complies with the traffic safety rules is sent to the signal receiving module through the CAN bus to instruct the signal receiving module to control the vehicle's wire-controlled chassis according to the control signal that complies with the traffic safety rules.

[0103] Embodiment 4

[0104] See also Figure 4 , Figure 4 This is a schematic diagram of the structure of a computing device provided in Embodiment 4 of the present invention. Figure 4 As shown, the computing device may include:

[0105] A memory 701 storing executable program codes;

[0106] a processor 702 coupled to the memory 701;

[0107] The processor 702 calls the executable program code stored in the memory 701 to execute the control method of the automobile wire-controlled chassis provided by any embodiment of the present invention.

[0108] An embodiment of the present invention discloses a computer-readable storage medium storing a computer program, wherein the computer program enables a computer to execute the control method of a vehicle-controlled-by-wire chassis provided by any embodiment of the present invention.

[0109] In various embodiments of the present invention, it should be understood that the size of the serial numbers of the above-mentioned processes does not mean the necessary order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0110] In the embodiments provided by the present invention, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should also be understood that determining B according to A does not mean determining B only according to A, and B can also be determined according to A and / or other information.

[0111] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0112] If the above integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-accessible memory. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product, which is stored in a memory and includes several requests for a computer device (which can be a personal computer, a server or a network device, etc., specifically a processor in a computer device) to perform some or all of the steps of the above methods of various embodiments of the present invention.

[0113] Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable rewritable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0114] Those skilled in the art can understand that the accompanying drawings are only schematic diagrams of an embodiment, and the modules or processes in the accompanying drawings are not necessarily required to implement the present invention.

[0115] Those skilled in the art can understand that the modules in the device in the embodiment can be distributed in the device in the embodiment according to the description of the embodiment, or can be changed accordingly and located in one or more devices different from the embodiment. The modules in the above embodiment can be combined into one module, or can be further divided into multiple sub-modules.

[0116] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control system for a car's wire-controlled chassis, characterized in that: include: The signal generation module, signal processing module and signal receiving module are connected through the CAN bus. The signal generating module is configured to generate a physical operation signal based on a user's physical operation, and send the physical operation signal to the signal processing module via a CAN bus in the form of a CAN signal; The signal processing module includes a value range mapping unit, a signal matching unit and a safety detection unit, wherein: The value range mapping unit is used to receive the physical operation signal and convert the physical operation signal into a vehicle control signal according to a value range mapping relationship between the physical operation value range and the vehicle control value range; The signal matching unit is used to match the signal format of the control signal with the target signal format of the vehicle end, and if the match is successful, the control signal is sent to the safety detection unit for detection; if the match fails, the format of the control signal is converted so that the signal format of the converted control signal matches the target signal format, and the control signal after the format conversion is sent to the safety detection unit for detection, wherein the signal format includes a baud rate and a signal period; The safety detection unit is used to determine the safety of the control signal sent by the signal matching unit according to the current state information of the vehicle, and send the control signal that complies with the traffic safety rules to the signal receiving module through the CAN bus; The signal receiving module is configured to receive the control signal sent by the safety detection unit, and control the vehicle's wire-controlled chassis according to the received control signal.

2. The system according to claim 1, characterized in that The signal generating module includes a control joystick, and the control joystick is used to move under the operation of the user to generate a physical operation signal; Accordingly, the value range mapping unit is specifically configured as follows: According to the value range mapping relationship between the movement range of the control rocker and the vehicle control value range, the travel value of the control rocker movement is converted into a vehicle control signal value.

3. The system according to claim 2, characterized in that The control rocker includes a direction control rocker and a speed control rocker, wherein: The direction control joystick has two moving directions, left and right, which are used to control the vehicle chassis to rotate left and right respectively; The speed control rocker has four moving directions: up, down, left and right, which are used to control the acceleration, deceleration, gear reduction and gear increase of the vehicle chassis respectively.

4. The system according to claim 1, characterized in that The signal processing module further includes a first signal monitoring unit and a first fault processing unit, wherein: The first signal detection unit is used to monitor the cycle continuity of the signal sent by the signal generation module, and if it is detected that the signal cycle is discontinuous, send a data loss fault signal to the first fault processing unit; Correspondingly, the first fault processing unit is used to fill the missing signal cycles, wherein if the missing signal cycles do not reach a preset number threshold, the missing signal is filled with data from the previous cycle; if the missing signal cycles reach the preset number threshold, the missing signal is filled with the default value of the signal.

5. The system according to any one of claims 1 to 4, characterized in that: The signal processing module further includes: a second signal monitoring unit and a second fault processing unit, wherein: The second signal monitoring unit is used to verify the validity of the physical operation signal, and if the physical operation signal exceeds the corresponding physical operation value range, send a data value range fault signal to the second fault processing unit; Correspondingly, the second fault processing unit is used to adjust the physical operation signal to a physical operation signal that complies with the physical operation value range.

6. A control method for a car's wire-controlled chassis, applied to a signal processing module, characterized in that: include: receiving a physical operation signal, and converting the physical operation signal into a vehicle control signal according to a value range mapping relationship between a physical operation value range and a vehicle control value range, wherein the physical operation signal is a CAN signal; Matching the signal format of the control signal with the target signal format of the vehicle end, wherein if the match fails, converting the format of the control signal so that the signal format of the converted control signal matches the target signal format, wherein the signal format includes a baud rate and a signal period; The safety of the control signal that matches the signal format is determined based on the current status information of the vehicle, and the control signal that complies with the traffic safety rules is sent to the signal receiving module on the vehicle side through the CAN bus to instruct the signal receiving module to control the vehicle's wire-controlled chassis according to the control signal that complies with the traffic safety rules.

7. The method according to claim 6, characterized in that The method further comprises: Monitor the cycle continuity of the received CAN signal, and if it is detected that the signal cycle is discontinuous, fill the missing signal cycle, wherein if the missing signal cycle does not reach a preset number threshold, fill the missing signal with the data of the previous cycle, and if the missing signal cycle reaches the preset number threshold, fill the missing signal with the default value of the signal; The method further comprises: The validity of the received physical operation signal is verified, and if the physical operation signal exceeds the corresponding physical operation value range, the physical operation signal is adjusted to a physical operation signal that conforms to the physical operation value range.

8. A control device for a car's wire-controlled chassis, characterized in that: The device comprises a signal processing module, which comprises: a value range mapping unit, a signal matching unit and a safety detection unit, wherein: The value range mapping unit is used to receive the physical operation signal sent by the signal processing module, and convert the physical operation signal into a vehicle control signal according to the value range mapping relationship between the physical operation value range and the vehicle control value range, wherein the physical operation signal is a CAN signal; The signal matching unit is used to match the signal format of the control signal with the target signal format of the vehicle end, and if the match is successful, the control signal is sent to the safety detection unit for detection; if the match fails, the format of the control signal is converted so that the signal format of the converted control signal matches the target signal format, and the control signal after the format conversion is sent to the safety detection unit for detection, wherein the signal format includes a baud rate and a signal period; The safety detection unit is used to judge the safety of the control signal sent by the signal matching unit according to the current state information of the vehicle. If the safety complies with the traffic safety rules, the control signal that complies with the traffic safety rules is sent to the signal receiving module through the CAN bus to instruct the signal receiving module to control the vehicle's wire-controlled chassis according to the control signal that complies with the traffic safety rules.

9. A computing device, characterized in that The computing device comprises: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the control method of the automobile wire-controlled chassis as described in any one of claims 6 or 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the control method of the automobile wire-controlled chassis as claimed in any one of claims 6 or 7 is implemented.

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