Longitudinal force control system and longitudinal force control method based on tire vertical load

Abstract

The invention discloses a longitudinal force control system and a longitudinal force control method based on a tire vertical load. Comprises: an active suspension controller configured to acquire a suspension height and a suspension support force for each tire; the chassis domain controller is configured to determine the vertical load and the target torque limit value of each tire according to the suspension height and the suspension supporting force of each tire; the vehicle control unit is configured to determine the target driving torque of each tire according to the target driving torque limit value and distribute the target driving torque of each tire according to the vertical load; and a stability controller configured to determine a target braking torque for each tire according to the target braking torque limit and to distribute the target braking torque for each tire according to the vertical load. According to the method, the tire vertical load is calculated by introducing the suspension state, control over the longitudinal force is optimized, feedforward control and inter-wheel distribution are conducted on the longitudinal force based on the vertical load, and the dynamic property, stability and comfort are improved.

Description

Technical Field

[0001] The present application relates to the technical field of chassis domain control of vehicles, and in particular to a longitudinal force control system and a longitudinal force control method based on tire vertical load. Background Art

[0002] In the prior art, the driving, energy recovery control or braking of the vehicle is implemented by VCU (or EMS) and ESC+Booster (or IBC) respectively. The calculation of the driving and energy recovery torque is completed by VCU (or EMS) according to the collected motor (or engine) speed and accelerator pedal opening signal through the preset PedalMap parameter table lookup to realize the driver's acceleration intention. Under special working conditions, for example: when the driving torque exceeds the road adhesion limit and causes the driving wheel to slip, ESC (or IBC) performs feedback control intervention on the driving torque according to the collected wheel speed signal and the target wheel speed to maintain vehicle stability. The calculation of the braking torque is completed by Booster (or IBC) according to the collected brake pedal stroke and the preset power curve table lookup to realize the driver's braking intention. Under special working conditions, for example: when the braking torque exceeds the road adhesion limit and causes tire slippage, ESC (or IBC) performs feedback control intervention on the braking torque according to the collected wheel speed signal and the target wheel speed to maintain vehicle stability.

[0003] However, the current technical solution cannot make a relatively accurate estimate of the road adhesion limit. Therefore, when dealing with special working conditions, only feedback control strategies are used, which have certain hysteresis characteristics and limited performance. For example: in off-road conditions, the vertical load of the tire will change greatly due to road excitation, and the driving torque may frequently exceed the road adhesion limit to cause the drive wheel to slip, resulting in power loss, noise or transmission system hardware damage. Another example: when decelerating through a pothole-prone road condition, the vertical load of the tire will quickly drop to zero when passing the pothole, and the braking torque may immediately exceed the road adhesion limit to cause the tire to lock, resulting in an impact when the tire re-contacts the ground. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a longitudinal force control system and cockpit based on the vertical load of the tire, so as to solve the problem that the existing technical solutions have low accuracy in estimating the road adhesion limit, only adopt feedback control strategies when dealing with special working conditions, have certain hysteresis characteristics and limited performance.

[0005] In order to achieve the above-mentioned object, the first aspect of the present application provides a longitudinal force control system and a longitudinal force control method based on a tire vertical load, wherein the longitudinal force control system comprises:

[0006] an active suspension controller configured to collect suspension height and suspension support force of each tire;

[0007] A chassis domain controller is configured to determine a vertical load and a target torque limit value of each tire according to a suspension height and a suspension support force of each tire, wherein the target torque limit value includes a target driving torque limit value and a target braking torque limit value;

[0008] A vehicle controller configured to determine a target driving torque for each tire according to a target driving torque limit value and to distribute the target driving torque for each tire according to a vertical load;

[0009] The stability controller is configured to determine a target braking torque of each tire according to the target braking torque limit value and distribute the target braking torque of each tire according to the vertical load.

[0010] In an embodiment of the present application, the chassis domain controller includes a first functional module, and the chassis domain controller is further configured to:

[0011] Initialize the first functional module;

[0012] receiving a suspension height signal and a suspension support force signal sent by an active suspension controller;

[0013] Get the status of active suspension controller and vehicle controller / stability controller;

[0014] Determining whether the suspension height signal, the suspension support force signal, the state of the active suspension controller, and the state of the vehicle controller / the state of the stability controller are valid;

[0015] When it is determined that the suspension height signal, the suspension support force signal, the state of the active suspension controller, and the state of the vehicle controller / the state of the stability controller are valid, the state of the first functional module is set, and the vertical load is determined according to the suspension height and the suspension support force;

[0016] Determine the target torque limit value according to the vertical load;

[0017] The status bit and the target torque limit of the first functional module are sent to the vehicle controller / stability controller.

[0018] In the embodiment of the present application, the chassis domain controller is further configured to:

[0019] When it is determined that the suspension height signal, the suspension support force signal or the active suspension controller, or the state of the vehicle controller / stability controller is invalid, the first functional module is reset.

[0020] In the embodiment of the present application, the vehicle controller includes a second functional module, and the vehicle controller is further configured to:

[0021] Initialize the second functional module;

[0022] Receiving a status bit of a first functional module and a target driving torque limit signal sent by a chassis domain controller;

[0023] Get the status signal of the motor;

[0024] Determine whether the state bit of the first functional module, the target drive torque limit signal and the state signal of the motor are valid;

[0025] In the case where it is determined that the state bit of the first functional module, the target driving torque limit signal and the state signal of the motor are valid, determining whether the original driving torque exceeds the target driving torque limit;

[0026] In a case where it is determined that the raw driving torque exceeds the target driving torque limit value, the target driving torque limit value is determined as the target driving torque.

[0027] In the embodiment of the present application, the vehicle controller is also configured as follows:

[0028] When it is determined that the state bit of the first functional module, the target driving torque limit signal or the motor state signal is invalid, or the original driving torque does not exceed the target driving torque limit, the original driving torque is determined as the target driving torque.

[0029] In the embodiment of the present application, the stability controller includes a third functional module, and the stability controller is further configured to:

[0030] Initialize the third functional module;

[0031] Receive a status bit of a first functional module and a target braking torque limit signal sent by a chassis domain controller;

[0032] Get the brake status signal;

[0033] Determine whether the status bit of the first functional module, the target braking torque limit signal and the brake status signal are valid;

[0034] When it is determined that the state bit of the first functional module, the target braking torque limit signal and the brake state signal are valid, determining whether the original braking torque exceeds the target braking torque limit;

[0035] In a case where it is determined that the raw braking torque exceeds the target braking torque limit value, the target braking torque limit value is determined as the target braking torque.

[0036] In the embodiment of the present application, the stability controller is further configured to:

[0037] When it is determined that the state bit of the first functional module, the target braking torque limit signal or the brake state signal is invalid, or the original braking torque does not exceed the target braking torque limit, the original braking torque is determined as the target braking torque.

[0038] In the embodiment of the present application, the vehicle controller is also configured as follows:

[0039] Receive the vertical loads of all tires sent by the chassis domain controller;

[0040] When the vertical load of any tire meets a preset condition, the target driving torque of any tire is distributed to other tires.

[0041] In the embodiment of the present application, the stability controller is further configured to:

[0042] Receive the vertical loads of all tires sent by the chassis domain controller;

[0043] When the vertical load of any tire meets a preset condition, the target driving torque of any tire is distributed to other tires.

[0044] A second aspect of the present application provides a longitudinal force control method based on a tire vertical load, which is applied to a longitudinal force control system based on a tire vertical load, wherein the longitudinal force control system includes an active suspension controller, a chassis domain controller, a vehicle controller, and a stability controller, wherein the chassis domain controller communicates with the active suspension controller, the vehicle controller, and the stability controller respectively, and the longitudinal force control method includes:

[0045] The suspension height and the suspension support force of each tire are collected through the active suspension controller;

[0046] Determining the vertical load and target torque limit of each tire respectively according to the suspension height and the suspension support force of each tire by the chassis domain controller, wherein the target torque limit includes a target driving torque limit and a target braking torque limit;

[0047] Determining the target driving torque of each tire according to the target driving torque limit value through the vehicle controller and distributing the target driving torque of each tire according to the vertical load;

[0048] The target braking torque of each tire is determined by a stability controller according to the target braking torque limit value and the target braking torque of each tire is distributed according to the vertical load.

[0049] Beneficial effects of this application:

[0050] (1) The present application calculates the vertical load of the tire by introducing the suspension state to make a more accurate estimate of the road adhesion limit, thereby optimizing the control of the longitudinal force (including driving and braking).

[0051] (2) The present application performs feedforward control and inter-wheel distribution of longitudinal force based on the vertical load of the tire, thereby compensating for the hysteresis problem of feedback control and improving power, stability and comfort.

[0052] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0054] Figure 1 The structure diagram of a longitudinal force control system based on a tire vertical load according to an embodiment of the present application is schematically shown;

[0055] Figure 2 A tire force analysis diagram according to an embodiment of the present application is schematically shown;

[0056] Figure 3 A functional logic flow chart of a chassis domain controller according to an embodiment of the present application is schematically shown;

[0057] Figure 4 A functional logic flow chart of a vehicle control and stability controller according to an embodiment of the present application is schematically shown;

[0058] Figure 5 A diagram schematically showing a suspension support force diagram of a tire according to an embodiment of the present application;

[0059] Figure 6 A flowchart of a longitudinal force control method based on a tire vertical load according to an embodiment of the present application is schematically shown;

[0060] Among them, 100-active suspension controller; 200-chassis domain controller; 300-vehicle controller; 400-stability controller; 114-vehicle position identification unit; 210-first functional module. DETAILED DESCRIPTION

[0061] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0062] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0063] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0064] Figure 1 The structure diagram of a longitudinal force control system based on a tire vertical load according to an embodiment of the present application is schematically shown. Figure 2 A tire force analysis diagram according to an embodiment of the present application is schematically shown. Figure 1 and Figure 2 As shown, in an embodiment of the present application, a longitudinal force control system based on a tire vertical load is provided. The longitudinal force control system based on a tire vertical load may include:

[0065] An active suspension controller 100 is configured to collect the suspension height and the suspension support force of each tire;

[0066] The chassis domain controller 200 is configured to determine the vertical load and the target torque limit of each tire according to the suspension height and the suspension support force of each tire, wherein the target torque limit includes a target driving torque limit and a target braking torque limit;

[0067] The vehicle controller 300 is configured to determine the target driving torque of each tire according to the target driving torque limit and distribute the target driving torque of each tire according to the vertical load;

[0068] The stability controller 400 is configured to determine a target braking torque of each tire according to the target braking torque limit value and distribute the target braking torque to each tire according to the vertical load.

[0069] In the embodiment of the present application, the system first calculates the tire vertical acceleration according to the collected suspension height, and then calculates the tire vertical load in real time according to the collected suspension support force, the preset tire mass parameters and the tire vertical acceleration. The tire force analysis diagram is shown in FIG. Figure 2 As shown. Finally, the longitudinal force (i.e. driving torque or braking torque) is feedforward controlled and distributed among the wheels according to the vertical load of the tire. The calculation formula of the vertical load of the tire is as follows:

[0070]

[0071] Among them, F zWhl is the vertical load of the tire; F zSusup is the suspension support force; m is the tire mass; a is the tire vertical acceleration; h is the suspension height; μ is the coefficient; M is the driving or braking torque; R is the tire rolling radius, F xWhl is the longitudinal force of the tire.

[0072] Specifically, Figure 1As shown, SUS is an active suspension controller; VMC is a chassis domain controller; FxMod is a longitudinal control function module based on the vertical load of the tire; VCU is a vehicle controller; ESC is a stability controller; FzSusp is a suspension support force; h is a suspension height; MProp is a driving torque (including energy recovery torque); MBrk is a braking torque; and FxCtrActive is a longitudinal force control flag. The active suspension controller 100 (SUS) is used to collect the suspension height and the suspension support force of each tire. The chassis domain controller 200 (VMC) communicates with the active suspension controller 100 (SUS) to determine the vertical load and target torque limit of each tire according to the suspension height and the suspension support force of each tire, wherein the target torque limit includes a target driving torque limit and a target braking torque limit. The vehicle controller 300 (VCU) and the stability controller 400 (ESC) communicate with the chassis domain controller 200 (VMC) respectively, and are responsible for arbitrating and executing driving and braking control requests respectively. Specifically, the vehicle controller 300 is used to determine the target driving torque of each tire according to the target driving torque limit and to distribute the target driving torque to each tire according to the vertical load; the stability controller 400 is used to determine the target braking torque of each tire according to the target braking torque limit and to distribute the target braking torque to each tire according to the vertical load.

[0073] The embodiment of the present application collects the suspension height and the suspension support force of each tire through the active suspension controller, and then determines the vertical load of each tire according to the suspension height and the suspension support force of each tire to obtain the target torque limit, wherein the target torque limit includes the target driving torque limit and the target braking torque limit, which can make a more accurate estimate of the road adhesion limit, thereby optimizing the control of the longitudinal force (including driving and braking). At the same time, the longitudinal force can be feed-forward controlled and distributed between wheels based on the vertical load of the tire through the vehicle controller and the stability controller, which makes up for the hysteresis problem of the feedback control and improves the power, stability and comfort.

[0074] Figure 3 The following schematically shows a functional logic flow chart of a chassis domain controller according to an embodiment of the present application. Figure 3 As shown, in the embodiment of the present application, the chassis domain controller 200 includes a first functional module 210, and the chassis domain controller 200 can also be configured as:

[0075] Initialize the first functional module 210;

[0076] Receiving a suspension height signal and a suspension support force signal sent by the active suspension controller 100;

[0077] Obtaining the status of the active suspension controller 100 and the vehicle controller 300 / stability controller 400;

[0078] Determine whether the suspension height signal, the suspension support force signal, the state of the active suspension controller 100 and the state of the vehicle controller 300 / the state of the stability controller 400 are valid;

[0079] When it is determined that the suspension height signal, the suspension support force signal, the state of the active suspension controller 100, and the state of the vehicle controller 300 / the state of the stability controller 400 are valid, the state of the first functional module 210 is set, and the vertical load is determined according to the suspension height and the suspension support force;

[0080] Determine the target torque limit value according to the vertical load;

[0081] The state bit and the target torque limit value of the first function module 210 are sent to the vehicle controller 300 / stability controller 400 .

[0082] like Figure 3 As shown, in the embodiment of the present application, the chassis domain controller 200 can also be configured as:

[0083] When it is determined that the suspension height signal, the suspension support force signal or the state of the active suspension controller 100 , the vehicle controller 300 / the stability controller 400 is invalid, the first function module 210 is reset.

[0084] Specifically, the chassis domain controller 200 is provided with a first functional module 210, that is, a longitudinal control functional module based on the vertical load of the tire. Before the first functional module 210 runs, it needs to be initialized, and after the initialization is completed, the upstream and downstream related signals are first obtained. Among them, the upstream signal is the suspension height signal and the suspension support force signal sent by the active suspension controller 100, and the downstream signal is the state signal of the vehicle controller 300 / stability controller 400. Only when all the upstream and downstream signals are valid can the first functional module operate normally, so it is necessary to judge the validity of the upstream and downstream signals. When it is determined that the suspension height signal, the suspension support force signal, the state of the active suspension controller 100, and the state of the vehicle controller 300 / the state of the stability controller 400 are valid, the state of the first functional module 210 is set, and the vertical load of the tire is determined according to the suspension height and the suspension support force, and then the target torque limit is determined according to the vertical load. When it is determined that the suspension height signal, the suspension support force signal or the state of the active suspension controller 100, the vehicle controller 300 / the stability controller 400 are invalid, the first functional module 210 is reset. Finally, the state bit of the first functional module 210 and the calculated target torque limit are sent to the vehicle controller 300 or the stability controller 400, and the first functional module 210 ends its operation.

[0085] Figure 4 The functional logic flow chart of a vehicle control and stability controller according to an embodiment of the present application is schematically shown. Figure 4 As shown, in the embodiment of the present application, the vehicle controller 300 includes a second functional module, and the vehicle controller 300 can also be configured as:

[0086] Initialize the second functional module;

[0087] Receiving a status bit and a target driving torque limit signal of the first functional module 210 sent by the chassis domain controller 200;

[0088] Get the status signal of the motor;

[0089] Determine whether the state bit of the first functional module 210, the target driving torque limit signal and the motor state signal are valid;

[0090] In the case where it is determined that the state bit of the first functional module 210, the target driving torque limit signal and the motor state signal are valid, determining whether the original driving torque exceeds the target driving torque limit;

[0091] In a case where it is determined that the raw driving torque exceeds the target driving torque limit value, the target driving torque limit value is determined as the target driving torque.

[0092] like Figure 4 As shown, in the embodiment of the present application, the vehicle controller 300 can also be configured as:

[0093] When it is determined that the state bit of the first function module 210 , the target driving torque limit signal or the motor state signal is invalid, or the raw driving torque does not exceed the target driving torque limit, the raw driving torque is determined as the target driving torque.

[0094] Specifically, the vehicle controller 300 is also provided with a functional module, namely the second functional module, which is used to calculate relevant data. Similarly, the second functional module also needs to be initialized before it runs. After the initialization is completed, the upstream and downstream related signals of the vehicle controller 300 are first obtained. Among them, the upstream signal of the vehicle controller 300 is the status bit and the target drive torque limit signal of the first functional module 210 sent by the chassis domain controller 200, and the downstream signal is the status signal of the motor. When all the upstream and downstream signals are valid, the second functional module runs normally, so it is necessary to judge the validity of the upstream and downstream signals. When it is determined that the status bit of the first functional module 210, the target drive torque limit signal and the status signal of the motor are valid, it is further determined whether the original drive torque exceeds the target drive torque limit. When it is determined that the original drive torque exceeds the target drive torque limit, the target drive torque limit is determined as the target drive torque. When it is determined that the status bit of the first functional module 210, the target drive torque limit signal or the status signal of the motor is invalid, or the original drive torque does not exceed the target drive torque limit, the original drive torque is determined as the target drive torque. Finally, the state bit and target drive torque of the second functional module are sent to the motor, and the second functional module ends operation. Saturation limit is applied to the original drive torque, that is, the absolute value is small, which can compensate for the hysteresis problem of feedback control.

[0095] like Figure 4 As shown, in the embodiment of the present application, the stability controller 400 includes a third functional module, and the stability controller 400 can also be configured as:

[0096] Initialize the third functional module;

[0097] Receive a status bit and a target braking torque limit signal of the first functional module 210 sent by the chassis domain controller 200;

[0098] Get the brake status signal;

[0099] Determine whether the state bit of the first functional module 210, the target braking torque limit signal and the brake state signal are valid;

[0100] When it is determined that the state bit of the first functional module 210, the target braking torque limit signal and the brake state signal are valid, determining whether the original braking torque exceeds the target braking torque limit;

[0101] In a case where it is determined that the raw braking torque exceeds the target braking torque limit value, the target braking torque limit value is determined as the target braking torque.

[0102] like Figure 4 As shown, in the embodiment of the present application, the stability controller 400 can also be configured as:

[0103] When it is determined that the state bit of the first function module 210, the target braking torque limit signal or the brake state signal is invalid, or the original braking torque does not exceed the target braking torque limit, the original braking torque is determined as the target braking torque.

[0104] Specifically, the stability controller 400 is also provided with a functional module, namely the third functional module, which is used to calculate relevant data. Similarly, the third functional module also needs to be initialized before it runs. After the initialization is completed, the upstream and downstream related signals of the stability controller 400 are first obtained. Among them, the upstream signal of the stability controller 400 is the state bit and the target braking torque limit signal of the first functional module 210 sent by the chassis domain controller 200, and the downstream signal is the state signal of the brake. When all the upstream and downstream signals are valid, the third functional module runs normally, so it is necessary to judge the validity of the upstream and downstream signals. When it is determined that the state bit of the first functional module 210, the target braking torque limit signal and the state signal of the brake are valid, it is further determined whether the original braking torque exceeds the target braking torque limit. When it is determined that the original braking torque exceeds the target braking torque limit, the target braking torque limit is determined as the target braking torque. When it is determined that the state bit of the first functional module 210, the target braking torque limit signal or the state signal of the brake is invalid, or the original braking torque does not exceed the target braking torque limit, the original braking torque is determined as the target braking torque. Finally, the state bit and target braking torque of the third functional module are sent to the motor, and the third functional module ends operation. Saturation limit is applied to the original braking torque, that is, the absolute value is small, which can compensate for the hysteresis problem of feedback control.

[0105] Figure 5 The following schematically shows a suspension support force diagram of a tire according to an embodiment of the present application. Figure 5 As shown, in the embodiment of the present application, the vehicle controller 300 can also be configured as:

[0106] Receive the vertical loads of all tires sent by the chassis domain controller 200;

[0107] When the vertical load of any tire meets a preset condition, the target driving torque of any tire is distributed to other tires.

[0108] like Figure 5 As shown, in the embodiment of the present application, the stability controller 400 can also be configured as:

[0109] Receive the vertical loads of all tires sent by the chassis domain controller 200;

[0110] When the vertical load of any tire meets a preset condition, the target driving torque of any tire is distributed to other tires.

[0111] Specifically, G is gravity; FzFront is the suspension support force of the front wheel; FzRear is the suspension support force of the rear wheel; FzLeft is the suspension support force of the left wheel; and FzRight is the suspension support force of the right wheel. Since the vertical load of the tire is calculated separately for each wheel, the target drive torque limit and the target brake torque limit can also be accurate to each wheel. Therefore, when executing the drive and brake control request, the target drive torque or target brake torque can be distributed between axles and wheels according to the actual situation, that is, the preset conditions. In one example, when the vehicle controller 300 detects that the vertical load of a certain tire drops sharply, the torque can be transferred and distributed to other tires, thereby maintaining the acceleration or braking performance of the vehicle while ensuring the stability of all wheels.

[0112] Figure 6 The flowchart of a longitudinal force control method based on the vertical load of the tire according to an embodiment of the present application is schematically shown. Figure 6 As shown, the embodiment of the present application also provides a longitudinal force control method based on the vertical load of the tire, which is applied to a longitudinal force control system based on the vertical load of the tire. The longitudinal force control system includes an active suspension controller, a chassis domain controller, a vehicle controller and a stability controller. The chassis domain controller communicates with the active suspension controller, the vehicle controller and the stability controller respectively. The longitudinal force control method may include the following steps:

[0113] Step 601: collecting the suspension height and the suspension support force of each tire through an active suspension controller;

[0114] Step 602: Determine the vertical load and target torque limit of each tire according to the suspension height and the suspension support force of each tire through the chassis domain controller, wherein the target torque limit includes a target driving torque limit and a target braking torque limit;

[0115] Step 603: determining the target driving torque of each tire according to the target driving torque limit value through the vehicle controller and distributing the target driving torque of each tire according to the vertical load;

[0116] Step 604: Determine the target braking torque of each tire according to the target braking torque limit value through a stability controller and distribute the target braking torque of each tire according to the vertical load.

[0117] In an embodiment of the present application, the longitudinal force control system includes an active suspension controller, a chassis domain controller, a vehicle controller and a stability controller. The active suspension controller is used to collect the suspension height and the suspension support force of each tire. The chassis domain controller communicates with the active suspension controller, and is used to determine the vertical load and target torque limit of each tire according to the suspension height and the suspension support force of each tire, wherein the target torque limit includes a target drive torque limit and a target brake torque limit. The vehicle controller and the stability controller communicate with the chassis domain controller respectively, and are responsible for arbitrating and executing drive and brake control requests respectively. Specifically, the vehicle controller determines the target drive torque of each tire according to the target drive torque limit and distributes the target drive torque of each tire according to the vertical load; the stability controller is used to determine the target brake torque of each tire according to the target brake torque limit and distribute the target brake torque of each tire according to the vertical load.

[0118] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0119] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0120] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0121] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0122] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0123] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0124] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0125] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0126] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A longitudinal force control system based on tire vertical load, characterized in that: include: an active suspension controller configured to collect suspension height and suspension support force of each tire; a chassis domain controller, configured to determine a vertical load and a target torque limit of each tire according to the suspension height and the suspension support force of each tire, wherein the target torque limit includes a target driving torque limit and a target braking torque limit; a vehicle controller configured to determine a target driving torque of each tire according to the target driving torque limit value and to distribute the target driving torque of each tire according to the vertical load; The stability controller is configured to determine a target braking torque of each tire according to the target braking torque limit value and distribute the target braking torque to each tire according to the vertical load.

2. The longitudinal force control system based on tire vertical load according to claim 1, characterized in that: The chassis domain controller includes a first functional module, and the chassis domain controller is further configured to: Initializing the first functional module; Receiving a suspension height signal and a suspension support force signal sent by the active suspension controller; Acquiring the states of the active suspension controller and the vehicle controller / the stability controller; Determining whether the suspension height signal, the suspension support force signal, the state of the active suspension controller, and the state of the vehicle controller / the state of the stability controller are valid; When it is determined that the suspension height signal, the suspension support force signal, the state of the active suspension controller, and the state of the vehicle controller / the state of the stability controller are valid, the state of the first functional module is set, and the vertical load is determined according to the suspension height and the suspension support force; determining a target torque limit value according to the vertical load; The state bit of the first functional module and the target torque limit are sent to the vehicle controller / the stability controller.

3. The longitudinal force control system based on tire vertical load according to claim 2, characterized in that: The chassis domain controller is also configured to: When it is determined that the suspension height signal, the suspension support force signal or the state of the active suspension controller, the vehicle controller / the stability controller is invalid, the first functional module is reset.

4. The longitudinal force control system based on tire vertical load according to claim 1, characterized in that: The vehicle controller includes a second functional module, and the vehicle controller is further configured to: Initializing the second functional module; Receiving a status bit of a first functional module and the target driving torque limit signal sent by the chassis domain controller; Get the status signal of the motor; Determining whether the state bit of the first functional module, the target driving torque limit signal and the state signal of the motor are valid; In the case where it is determined that the state bit of the first functional module, the target driving torque limit signal and the state signal of the motor are valid, determining whether the original driving torque exceeds the target driving torque limit; In a case where it is determined that the raw driving torque exceeds the target driving torque limit value, the target driving torque limit value is determined as the target driving torque.

5. The longitudinal force control system based on tire vertical load according to claim 4, characterized in that: The vehicle controller is also configured to: When it is determined that the state bit of the first functional module, the target driving torque limit signal or the motor state signal is invalid, or the raw driving torque does not exceed the target driving torque limit, the raw driving torque is determined as the target driving torque.

6. The longitudinal force control system based on tire vertical load according to claim 1, characterized in that: The stability controller comprises a third functional module, and the stability controller is further configured to: Initializing the third functional module; Receiving the status bit of the first functional module and the target braking torque limit signal sent by the chassis domain controller; Get the brake status signal; Determine whether the state bit of the first functional module, the target braking torque limit signal and the brake state signal are valid; In the case where it is determined that the state bit of the first functional module, the target braking torque limit signal and the brake state signal are valid, determining whether the original braking torque exceeds the target braking torque limit; In a case where it is determined that the raw braking torque exceeds the target braking torque limit value, the target braking torque limit value is determined as the target braking torque.

7. The longitudinal force control system based on tire vertical load according to claim 6, characterized in that: The stability controller is further configured to: When it is determined that the state bit of the first functional module, the target braking torque limit signal or the brake state signal is invalid, or the original braking torque does not exceed the target braking torque limit, the original braking torque is determined as the target braking torque.

8. The longitudinal force control system based on tire vertical load according to claim 1, characterized in that: The vehicle controller is also configured to: Receiving vertical loads of all tires sent by the chassis domain controller; When the vertical load of any tire meets a preset condition, the target driving torque of the any tire is distributed to other tires.

9. The longitudinal force control system based on tire vertical load according to claim 1, characterized in that: The stability controller is further configured to: Receiving vertical loads of all tires sent by the chassis domain controller; When the vertical load of any tire meets a preset condition, the target driving torque of the any tire is distributed to other tires.

10. A longitudinal force control method based on tire vertical load, characterized in that: Applied to a longitudinal force control system based on a tire vertical load, the longitudinal force control system includes an active suspension controller, a chassis domain controller, a vehicle controller and a stability controller, the chassis domain controller communicates with the active suspension controller, the vehicle controller and the stability controller respectively, and the longitudinal force control method includes: Collecting the suspension height and the suspension support force of each tire through the active suspension controller; Determining the vertical load and the target torque limit of each tire respectively according to the suspension height and the suspension support force of each tire by the chassis domain controller, wherein the target torque limit includes a target driving torque limit and a target braking torque limit; Determining, by the vehicle controller, a target driving torque for each tire according to the target driving torque limit value and distributing the target driving torque for each tire according to the vertical load; The stability controller determines a target braking torque of each tire according to the target braking torque limit value and distributes the target braking torque of each tire according to the vertical load.

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