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

Abstract

The application discloses a longitudinal force control system and method based on tire vertical load. The system comprises an active suspension controller configured to collect suspension height and suspension support force of each tire; a chassis domain controller configured to determine vertical load and target torque limit value of each tire according to the suspension height and the suspension support force of each tire; a vehicle controller configured to determine target drive torque of each tire according to the target drive torque limit value and to distribute the target drive torque of each tire according to the vertical load; and a stability controller configured to determine target brake torque of each tire according to the target brake torque limit value and to distribute the target brake torque of each tire according to the vertical load. The application calculates tire vertical load by introducing suspension state, optimizes control of longitudinal force, performs feedforward control and inter-wheel distribution of longitudinal force based on the vertical load, and improves power, stability and comfort.

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, vehicle driving, energy recovery control, or braking are implemented by the VCU (or EMS) and ESC+Booster (or IBC), respectively. The VCU (or EMS) calculates the driving and energy recovery torques by looking up a preset PedalMap parameter table based on the collected motor (or engine) speed and accelerator pedal opening signals to achieve the driver's acceleration intention. Under special operating conditions, such as when the driving torque exceeds the road adhesion limit and causes the drive wheels to slip, the ESC (or IBC) uses the collected wheel speed signals to perform feedback control intervention on the driving torque according to the target wheel speed to maintain vehicle stability. The Booster (or IBC) calculates the braking torque by looking up a preset power assist curve table based on the collected brake pedal travel to achieve the driver's braking intention. Under special operating conditions, such as when the braking torque exceeds the road adhesion limit and causes tire slip, the ESC (or IBC) uses the collected wheel speed signals to perform feedback control intervention on the braking torque according to the target wheel speed to maintain vehicle stability.

[0003] However, current technical solutions 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 vary greatly due to road excitation. The driving torque may frequently exceed the road adhesion limit, causing the drive wheel to slip, resulting in power loss, noise, or damage to the transmission system hardware. 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. The braking torque may immediately exceed the road adhesion limit, causing 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 problems 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] To achieve the above objectives, the present application provides, in a first aspect, a longitudinal force control system and a longitudinal force control method based on a tire vertical load. The longitudinal force control system includes:

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

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

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

[0009] The stability controller is configured to determine a target braking torque for each tire according to the target braking torque limit and distribute the target braking torque to 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 the 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, setting the state of the first functional module and determining the vertical load according to the suspension height and the suspension support force;

[0016] Determine the target torque limit based on the vertical load;

[0017] The status bit and 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] Determining whether the status bit of the first functional module, the target driving torque limit signal, and the status signal of the motor are valid;

[0025] When 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 further configured to:

[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 an 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] receiving a status bit of the first functional module and a target braking torque limit signal sent by the 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 an 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 further configured to:

[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 an 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. 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 includes:

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

[0046] Determining, by a chassis domain controller, a vertical load and a target torque limit for each tire based on 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;

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

[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) This application introduces the suspension state to calculate the vertical load of the tire 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) This application performs feedforward control and inter-wheel distribution of longitudinal force based on the vertical load of the tire, which compensates for the hysteresis problem of feedback control and improves power, stability and comfort.

[0052] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. 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 detailed description, 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 following schematically shows a structural diagram of a longitudinal force control system based on a tire vertical load according to an embodiment of the present application;

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

[0056] Figure 3 The following schematically shows a functional logic flow chart of a chassis domain controller according to an embodiment of the present application;

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

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

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

[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] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions 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, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications 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 for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0064] Figure 1 The following schematically shows a structural diagram of a longitudinal force control system based on tire vertical load according to an embodiment of the present application. 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] The 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 a vertical load and a target torque limit for each tire based on 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 a target driving torque for each tire according to the target driving torque limit and distribute the target driving torque to each tire according to the vertical load;

[0068] The stability controller 400 is configured to determine a target braking torque for each tire according to the target braking torque limit 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 based on the collected suspension height, and then calculates the tire vertical load in real time based on 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 Finally, the longitudinal force (i.e., driving torque or braking torque) is feedforward controlled and distributed among the wheels based on the vertical load of the tire. The vertical load calculation formula 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, if Figure 1As shown, SUS is the active suspension controller; VMC is the chassis domain controller; FxMod is the longitudinal control function module based on tire vertical load; VCU is the vehicle controller; ESC is the stability controller; FzSusp is the suspension support force; h is the suspension height; MProp is the driving torque (including energy recovery torque); MBrk is the braking torque; and FxCtrActive is the longitudinal force control flag. The active suspension controller 100 (SUS) is used to collect suspension height and the suspension support force for 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 for each tire based on the suspension height and the suspension support force for each tire. The target torque limit includes the target driving torque limit and the target braking torque limit. The vehicle controller 300 (VCU) and the stability controller 400 (ESC) each communicate with the chassis domain controller 200 (VMC) 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 of 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 of each tire according to the vertical load.

[0073] In this embodiment, an active suspension controller collects suspension height and the suspension support force of each tire. Based on this information, the active suspension controller then determines the vertical load for each tire, thereby generating a target torque limit. The target torque limit includes a target driving torque limit and a target braking torque limit. This allows for a more accurate estimation of the road adhesion limit, thereby optimizing the control of longitudinal forces (both driving and braking). Furthermore, the vehicle controller and stability controller enable feedforward control and inter-wheel distribution of longitudinal forces based on the tire vertical load, compensating for the hysteresis of feedback control while improving dynamics, 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. The chassis domain controller 200 can also be configured as follows:

[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 based on the vertical load;

[0081] The status bit and target torque limit 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 status of the active suspension controller 100 , the vehicle controller 300 , or the stability controller 400 is invalid, the first function module 210 is reset.

[0084] Specifically, the chassis domain controller 200 includes a first functional module 210, which is a longitudinal control functional module based on tire vertical load. The first functional module 210 must be initialized before operation. After initialization, it first acquires relevant upstream and downstream signals. The upstream signals are the suspension height and suspension support force signals sent by the active suspension controller 100, and the downstream signals are the status signals from the vehicle controller 300 / stability controller 400. The first functional module can only operate properly if all upstream and downstream signals are valid, so the validity of the upstream and downstream signals must be determined. If the suspension height signal, suspension support force signal, active suspension controller 100 status, and vehicle controller 300 / stability controller 400 status are determined to be valid, the first functional module 210 status is reset. The vertical load on the tire is determined based on the suspension height and suspension support force, and then the target torque limit is determined based on the vertical load. If the suspension height signal, suspension support force signal, or the status of the active suspension controller 100, vehicle controller 300 / stability controller 400 are determined to be 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 following schematically shows a functional logic flow chart of a vehicle control and stability controller according to an embodiment of the present application. 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 follows:

[0086] Initialize the second functional module;

[0087] Receive the status bit and 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 status bit of the first functional module 210, the target driving torque limit signal, and the motor status signal are valid;

[0090] If it is determined that the state bit of the first function 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 follows:

[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 also includes a corresponding functional module, namely a second functional module, which is used to calculate relevant data. Similarly, the second functional module also needs to be initialized before operation. After initialization is complete, it first obtains relevant upstream and downstream signals from the vehicle controller 300. The upstream signal from the vehicle controller 300 is the status bit and target drive torque limit signal of the first functional module 210 sent by the chassis domain controller 200, while the downstream signal is the motor status signal. If all upstream and downstream signals are valid, the second functional module operates normally, so it is necessary to determine the validity of the upstream and downstream signals. If the status bit of the first functional module 210, the target drive torque limit signal, and the motor status signal are determined to be valid, it is further determined whether the original drive torque exceeds the target drive torque limit. If the original drive torque is determined to exceed the target drive torque limit, the target drive torque limit is determined as the target drive torque. If the status bit of the first functional module 210, the target drive torque limit signal, or the motor status signal are determined to be invalid, or if 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 status bit and target drive torque of the second functional module are sent to the motor, and the second functional module ends its operation. Saturation limiting the original drive torque, that is, taking a small absolute value response, 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 follows:

[0096] Initialize the third functional module;

[0097] Receive the status bit and 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 status bit of the first functional module 210, the target braking torque limit signal, and the brake status 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 follows:

[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 also includes a corresponding functional module, namely a third functional module, which is used to calculate relevant data. Similarly, the third functional module also requires initialization before operation. After initialization is complete, it first obtains relevant upstream and downstream signals from the stability controller 400. The upstream signal from the stability controller 400 is the status bit and target braking torque limit signal of the first functional module 210 sent by the chassis domain controller 200, while the downstream signal is the brake status signal. If all upstream and downstream signals are valid, the third functional module operates normally, so the validity of the upstream and downstream signals must be determined. If the status bit of the first functional module 210, the target braking torque limit signal, and the brake status signal are determined to be valid, it is further determined whether the raw braking torque exceeds the target braking torque limit. If the raw braking torque is determined to exceed the target braking torque limit, the target braking torque limit is determined as the target braking torque. If the status bit of the first functional module 210, the target braking torque limit signal, or the brake status signal are determined to be invalid, or if the raw braking torque does not exceed the target braking torque limit, the raw braking torque is determined as the target braking torque. Finally, the status bit and target braking torque of the third functional module are sent to the motor, and the third functional module ends its operation. Saturation limiting the original braking torque, that is, taking a small absolute value response, 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 follows:

[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 follows:

[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 for the front wheels; FzRear is the suspension support force for the rear wheels; FzLeft is the suspension support force for the left wheel; and FzRight is the suspension support force for the right wheel. Because the vertical tire load is calculated separately for each wheel, the target drive torque limit and target brake torque limit can also be accurately calculated for each wheel. Therefore, when executing drive and brake control requests, the target drive torque or target brake torque can be distributed between axles and wheels based on actual conditions, i.e., preset conditions. In one example, when the vehicle controller 300 detects a sharp drop in the vertical load on a tire, the torque can be transferred and distributed to other tires, thereby ensuring the stability of all wheels while also maintaining the acceleration or braking performance of the vehicle.

[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, an embodiment of the present application further 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. 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 the active suspension controller;

[0114] Step 602: Determine, by the chassis domain controller, the vertical load and target torque limit of each tire based on 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;

[0115] Step 603: Determine the target driving torque of each tire according to the target driving torque limit value through the vehicle controller and distribute the target driving torque to 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 the 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 driving torque limit and a target braking torque limit. The vehicle controller and the stability controller communicate with the chassis domain controller respectively, and are respectively responsible for arbitrating and executing driving and braking control requests. Specifically, the vehicle controller determines the target driving torque of each tire according to the target driving torque limit and distributes the target driving torque of each tire according to the vertical load; the stability controller is used to determine the target braking torque of each tire according to the target braking torque limit and distribute the target braking torque of each tire according to the vertical load.

[0118] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems or computer program products. Therefore, the present application can 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 can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic 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 produce 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 that can direct a computer or other programmable data processing device to work 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 The 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 operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0122] In a typical configuration, a computing device includes one or more processors (CPUs), 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 includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The 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 disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic 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 transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0125] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0126] The above are merely 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 modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all 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 for each tire according to the target driving torque limit and distribute the target driving torque to each tire according to the vertical load; a stability controller configured to determine a target braking torque for each tire according to the target braking torque limit and distribute the target braking torque to each tire according to the vertical load; The chassis domain controller includes a first functional module, and 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 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, setting the state of the first functional module and determining the vertical load according to the suspension height and the suspension support force; determining a target torque limit value according to the vertical load; The status bit of the first functional module and the target torque limit are sent to the vehicle controller / the stability controller.

2. The longitudinal force control system based on tire vertical load according to claim 1, characterized in that: The chassis domain controller is further configured to: When it is determined that the suspension height signal, the suspension support force signal, or the status of the active suspension controller, the vehicle controller, or the stability controller is invalid, the first functional module is reset.

3. 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 status bit of the first functional module, the target driving torque limit signal, and the status signal of the motor are valid; If 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.

4. The longitudinal force control system based on tire vertical load according to claim 3, characterized in that: The vehicle controller is further 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.

5. The longitudinal force control system based on tire vertical load according to claim 1, characterized in that: The stability controller includes a third functional module, and the stability controller is further configured to: Initializing the third functional module; receiving a status bit of a first functional module and the target braking torque limit signal sent by the chassis domain controller; Get the brake status signal; Determining whether the status bit of the first functional module, the target braking torque limit signal, and the brake status signal are valid; 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; 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.

6. The longitudinal force control system based on tire vertical load according to claim 5, 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.

7. The longitudinal force control system based on tire vertical load according to claim 1, characterized in that: The vehicle 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.

8. 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 braking torque of the any tire is distributed to other tires.

9. A longitudinal force control method based on tire vertical load, characterized in that: Applied to a longitudinal force control system based on 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. The longitudinal force control method includes: collecting the suspension height and the suspension support force of each tire through the active suspension controller; determining, by the chassis domain controller, 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; determining, by the vehicle controller, a target driving torque for each tire according to the target driving torque limit and distributing the target driving torque to each tire according to the vertical load; determining, by the stability controller, a target braking torque for each tire according to the target braking torque limit and distributing the target braking torque to each tire according to the vertical load; The chassis domain controller includes a first functional module, and determining the vertical load and target torque limit of each tire according to the suspension height and the suspension support force of each tire by the chassis domain controller includes: Initializing the first functional module; receiving a suspension height signal and a suspension support force signal sent by the active suspension controller; Acquiring 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, setting the state of the first functional module and determining the vertical load according to the suspension height and the suspension support force; determining a target torque limit value according to the vertical load; The status bit of the first functional module and the target torque limit are sent to the vehicle controller / the stability controller.

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