Vehicle chassis domain controller and vehicle

Abstract

The invention discloses a vehicle chassis domain controller and a vehicle, the controller comprises at least one single-chip microcomputer, a brake system solenoid valve driving module and a shock absorber solenoid coil driving module, the output end of the single-chip microcomputer is connected to a brake system solenoid valve through the brake system solenoid valve driving module, and the output end of the single-chip microcomputer is connected to a shock absorber solenoid coil driving module through the shock absorber solenoid coil driving module. The output end of the single-chip microcomputer is connected to a shock absorber through a shock absorber electromagnetic coil driving module. The braking system electromagnetic valve driving module is used for driving a braking system electromagnetic valve to adjust the braking pressure of wheels; and the shock absorber electromagnetic coil driving module is used for controlling the target current of the vehicle shock absorber electromagnetic coil so as to adjust the damping force of the electric control shock absorber. The electric control shock absorber system has the advantages that the electric control shock absorption function and the electric control brake function of a vehicle are integrated in one domain controller, so that the manufacturing cost of the whole vehicle is reduced, the performance of the electric control shock absorber system is improved, and meanwhile the original functions of the two systems are not affected.

Description

Technical Field

[0001] The present invention relates to the field of automobile integrated control, and in particular to a chassis domain controller and a vehicle integrated with electric control braking and electric control vibration reduction functions. Background Art

[0002] The vehicle uses an electric control braking system to achieve functions such as brake assist, ABS, and body stability control, and the vehicle uses an electric control shock absorber system to achieve chassis vibration reduction. In the related art, the vehicle's electric control braking system and electric control shock absorber system use different controllers and are separately arranged in different positions of the vehicle, which will result in a high manufacturing cost of the vehicle and occupy a large space of the vehicle.

[0003] As the degree of electronicization of cars increases, the number of ECUs on the car increases rapidly, resulting in the independence of each ECU. The large number of ECUs increases the hardware cost and the confusion of wiring harnesses, and causes confusion in logical control. As a result, vehicles enter the field of domain controllers, with different domain controllers such as power domain, cockpit domain, chassis domain, driving domain, and body domain. In the existing technology, the electric shock absorption and electric braking functions are independent of each other and cannot form a complete domain control, which leads to an increase in hardware cost and wiring harness cost.

[0004] In addition, the controller of the electronically controlled shock absorber system needs to use the signals of the electronically controlled braking system, such as gyroscope signals. In the related art, these signals are communicated through the vehicle CAN. Due to the limitation of the vehicle CAN load, the signal transmission rate is generally 10ms or 20ms, which has an adverse effect on the timeliness of the electronically controlled shock absorber system control and cannot achieve more timely or real-time vibration reduction control.

[0005] When the electric brake system and electric shock absorber are integrated into one domain controller, since the safety requirements of the electric brake system are higher than those of the electric shock absorber system, and the functions of the two systems are also different, if the controllers of the two systems are integrated, relevant designs are required to isolate the mutual influence between the two systems. How to eliminate the influence is also an issue that the integrated domain controller needs to consider. Summary of the invention

[0006] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a vehicle chassis domain controller and a vehicle, which integrate the vehicle's electronically controlled vibration reduction function and electronically controlled braking function into one domain controller to reduce the manufacturing cost of the entire vehicle and improve the performance of the electronically controlled shock absorber system without affecting the original functions of the two systems.

[0007] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a vehicle chassis domain controller, including at least one single-chip microcomputer, a brake system solenoid valve drive module, and a shock absorber solenoid coil drive module. The output end of the single-chip microcomputer is connected to the brake system solenoid valve through the brake system solenoid valve drive module, and the output end of the single-chip microcomputer is connected to the shock absorber through the shock absorber solenoid coil drive module; the brake system solenoid valve drive module is used to drive the brake system solenoid valve to adjust the braking pressure of the wheel; the shock absorber solenoid coil drive module is used to control the target current of the vehicle shock absorber solenoid coil to adjust the damping force of the electronically controlled shock absorber.

[0008] An isolation circuit is connected in series between the single chip microcomputer and the shock absorber electromagnetic coil driving module. When the shock absorber or the shock absorber electromagnetic coil driving module fails or fails, the isolation circuit is controlled to disconnect the connection between the single chip microcomputer and the shock absorber electromagnetic coil driving module.

[0009] The brake system solenoid valve drive module and the shock absorber solenoid coil drive module both include a current detection circuit, which is used to collect the working current of the brake system solenoid valve or the shock absorber. The electromagnetic drive module and the shock absorber solenoid coil drive module use a current closed-loop control method to control the brake system solenoid valve and the shock absorber.

[0010] The chassis domain controller also includes a basic data acquisition module, which is used to collect vehicle data required for the operation of the chassis domain controller, and its output end is connected to the IO input end of the single-chip microcomputer.

[0011] The basic data acquisition module includes a CAN transceiver module, a wheel speed sensor interface module, a gyroscope, a switch detection module and / or an acceleration sensor interface module;

[0012] in:

[0013] The microcontroller is connected to the vehicle CAN bus through the CAN transceiver module to obtain vehicle information in the vehicle CAN network;

[0014] The single chip microcomputer is connected to the wheel speed sensor through the wheel speed sensor interface module to obtain wheel speed data through the wheel speed sensor;

[0015] The single chip microcomputer is connected to the parking switch through the switch detection module to obtain the switch state signal of the parking switch;

[0016] The single chip microcomputer is connected to the acceleration sensor through the acceleration sensor interface module to obtain the acceleration data of the vehicle;

[0017] The gyroscope is used to collect vehicle posture data, and its output end is connected to the microcontroller.

[0018] The single-chip microcomputer includes a main single-chip microcomputer and an auxiliary single-chip microcomputer, and the main single-chip microcomputer and the auxiliary single-chip microcomputer are communicatively connected to each other. The single-chip microcomputer and the auxiliary single-chip microcomputer are both connected to a brushed motor drive module through a first selection switch, and the first switch selection circuit is connected to the brushed motor drive module. The single-chip microcomputer and the auxiliary single-chip microcomputer are both connected to an isolation circuit through a second switch selection circuit, and the isolation circuit is respectively connected to a shock absorber electromagnetic coil drive module and an accelerator sensor interface module; the brushed motor drive module is used to control the working state of the vehicle-mounted brushed motor.

[0019] The chassis controller also includes a brushless motor drive module, which is connected to the output end of the single-chip microcomputer and is used to receive a control signal from the single-chip microcomputer; the output end of the brushless motor drive module is connected to the vehicle-mounted brushless motor to control the working state of the brushless motor.

[0020] The electronically controlled shock absorber system function software and the electronically controlled braking system function software are built into the single-chip microcomputer, and two independently partitioned ROM areas are divided in the ROM of the single-chip microcomputer to respectively store the electronically controlled shock absorber system function software and the electronically controlled braking system function software to achieve mutual isolation of functions.

[0021] When the chassis domain controller performs the shock absorber function or the braking function, data interaction between the electronically controlled shock absorber system function software and the electronically controlled braking system function software is performed through the software middle layer.

[0022] A vehicle, comprising the vehicle chassis domain controller.

[0023] The advantages of the present invention are that the electronically controlled vibration reduction function and the electronically controlled braking function of the vehicle are integrated into one domain controller, so as to reduce the manufacturing cost of the whole vehicle and improve the performance of the electronically controlled vibration damper system, while not affecting the original functions of the two systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The following is a brief description of the contents expressed in the drawings of the present specification and the marks in the drawings:

[0025] Figure 1 It is a schematic diagram of the architecture principle of the chassis domain controller of the present invention;

[0026] Figure 2 This is a schematic diagram of the chassis domain controller system architecture implemented by a single single-chip microcomputer in the present invention;

[0027] Figure 3 The schematic diagram of the chassis domain controller system architecture of the present invention using two single-chip microcomputers

[0028] Figure 4 The diagram is a schematic diagram of the isolation of the electronically controlled shock absorber system functional software and the electric brake system functional software in the single chip microcomputer of the present invention. DETAILED DESCRIPTION

[0029] The specific implementation of the present invention will be further explained in detail below by describing the optimal embodiment with reference to the accompanying drawings.

[0030] The present invention discloses a vehicle chassis domain controller, comprising: an electromagnetic valve coil drive circuit of an electric control braking system and an electromagnetic coil drive circuit of an electric control shock absorber are integrated in one controller. The electromagnetic valve coil drive circuit of the electric control braking system is used to drive the electromagnetic valve in the braking circuit to adjust the braking pressure of the wheel. The electromagnetic coil drive circuit of the electric control shock absorber is used to control the target current of the electromagnetic coil of the vehicle shock absorber and adjust the damping force of the electric control shock absorber.

[0031] The vehicle chassis domain controller of the embodiment of the present invention reduces the manufacturing cost of the entire vehicle and occupies less space in the entire vehicle, saves communication time between controllers, improves the control performance of the electronically controlled shock absorber, and complies with the technical development trend of intelligent automobile chassis and integrated control system.

[0032] like Figure 1 As shown, a vehicle chassis domain controller includes at least one single-chip microcomputer, a brake system solenoid valve drive module, and a shock absorber solenoid coil drive module;

[0033] The output end of the single-chip microcomputer is connected to the brake system solenoid valve through the brake system solenoid valve driving module, and the output end of the single-chip microcomputer is connected to the shock absorber through the shock absorber solenoid coil driving module; the brake system solenoid valve driving module is used to drive the brake system solenoid valve to adjust the braking pressure of the wheel; the shock absorber solenoid coil driving module is used to control the target current of the vehicle shock absorber solenoid coil to adjust the damping force of the electronically controlled shock absorber.

[0034] The single-chip microcomputer is used to realize data processing and external output control functions. It can be realized by one single-chip microcomputer or two single-chip microcomputers. When two single-chip microcomputers are used, they are divided into main and auxiliary single-chip microcomputers respectively to realize the main and auxiliary control functions.

[0035] In a preferred embodiment, an isolation circuit is connected in series between the single-chip microcomputer and the shock absorber electromagnetic coil drive module. After the shock absorber or the shock absorber electromagnetic coil drive module fails or fails, the isolation circuit is controlled to disconnect the connection between the single-chip microcomputer and the shock absorber electromagnetic coil drive module. The isolation circuit is used to actively disconnect the connection between the shock absorber system and the single-chip microcomputer to avoid interference of the shock absorber system failure on the single-chip microcomputer, thereby avoiding interference of the shock absorber system failure on the normal function execution of the braking system. The requirement of reducing the failure probability of the braking system as much as possible and avoiding the impact of shock absorber failure on the function of the braking system is achieved.

[0036] In another preferred scheme of the present embodiment, the brake system solenoid valve drive module and the shock absorber solenoid coil drive module both include a current detection circuit, and the current detection circuit is used to collect the working current of the brake system solenoid valve or the shock absorber. The electromagnetic drive module and the shock absorber solenoid coil drive module use a current closed-loop control method to control the brake system solenoid valve and the shock absorber.

[0037] In this embodiment, the chassis domain controller is equipped with a basic data acquisition module, which is used to collect vehicle data required for the operation of the chassis domain controller, and its output end is connected to the IO input end of the single-chip microcomputer.

[0038] The basic data acquisition module includes a CAN transceiver module, a wheel speed sensor interface module, a gyroscope, a switch detection module and / or an acceleration sensor interface module;

[0039] in:

[0040] The microcontroller is connected to the vehicle CAN bus through the CAN transceiver module to obtain vehicle information in the vehicle CAN network;

[0041] The single chip microcomputer is connected to the wheel speed sensor through the wheel speed sensor interface module to obtain wheel speed data through the wheel speed sensor;

[0042] The single chip microcomputer is connected to the parking switch through the switch detection module to obtain the switch state signal of the parking switch;

[0043] The single chip microcomputer is connected to the acceleration sensor through the acceleration sensor interface module to obtain the acceleration data of the vehicle;

[0044] The gyroscope is used to collect vehicle posture data, and its output end is connected to the microcontroller.

[0045] In a preferred embodiment of the present scheme, the chassis controller also includes a brushless motor drive module and a brushed motor drive module, both of which are connected to the output end of the single-chip microcomputer for receiving control signals from the single-chip microcomputer; the output end of the brushless motor drive module is connected to the vehicle-mounted brushless motor to drive and control the working state of the brushless motor; the output end of the brushed motor drive module is connected to the vehicle-mounted brushed motor to drive and control the working state of the brushed motor.

[0046] like Figure 2 , 3 As shown in the figure, there are two schematic diagrams of realizing the single-chip microcomputer, one single-chip microcomputer and two single-chip microcomputers. When there is only one single-chip microcomputer, the single-chip microcomputer is the main single-chip microcomputer. When there are two single-chip microcomputers, Figure 3 As shown, it includes a main single-chip microcomputer and an auxiliary single-chip microcomputer, and the auxiliary control function is realized by the auxiliary single-chip microcomputer.

[0047] The main single-chip microcomputer and the auxiliary single-chip microcomputer are connected in communication, and both the main single-chip microcomputer and the auxiliary single-chip microcomputer are connected to the first switch selection circuit, and the first switch selection circuit is connected to the brushed motor drive module. The single-chip microcomputer and the auxiliary single-chip microcomputer are connected to the isolation circuit through the second switch selection circuit, and the isolation circuit is respectively connected to the shock absorber electromagnetic coil drive module and the accelerator sensor interface module; the brushed motor drive module is used to drive the working state of the vehicle-mounted brushed motor. The main single-chip microcomputer or the auxiliary single-chip microcomputer is selected through the first switch selection circuit and the second switch selection circuit to complete the control function.

[0048] In a preferred embodiment, because the control of the two functions of braking and shock absorber is implemented in the main single-chip microcomputer, in order to avoid interference, the two are isolated; the isolation is divided into two parts: physical isolation and software isolation.

[0049] Physical isolation includes the provision of an isolation circuit, through which the main microcontroller is connected to the shock absorber electromagnetic coil drive module. By controlling the isolation circuit to disconnect, the shock absorber system is disconnected from the microcontroller when it fails, thereby achieving hardware isolation of functions and preventing the shock absorber function from affecting the microcontroller's execution of the brake system function. The isolation circuit is composed of switches, which are actively controlled by the microcontroller. After the microcontroller detects a fault or receives fault feedback, the isolation circuit is used to disconnect the microcontroller and the shock absorber, preventing the shock absorber branch fault from affecting the microcontroller's normal control of the brake system.

[0050] The electronically controlled shock absorber system function software and the electronically controlled braking system function software are built into the single-chip microcomputer, and two independently partitioned ROM areas are divided in the ROM of the single-chip microcomputer to store the electronically controlled shock absorber system function software and the electronically controlled braking system function software respectively to achieve functional isolation. When the chassis domain controller performs the shock absorber function or the braking function, the data of the electronically controlled shock absorber system function software and the electronically controlled braking system function software are exchanged through the software middle layer.

[0051] In a preferred embodiment, the present solution also provides a vehicle, which includes the vehicle chassis domain controller in this embodiment.

[0052] The purpose of this solution is to provide a controller for vehicle chassis domain control to reduce the manufacturing cost of the whole vehicle and improve the performance of the electronically controlled shock absorber system without affecting the original functions of the two systems. In order to achieve this goal, the electromagnetic valve coil drive circuit of the electronically controlled brake system and the electromagnetic coil drive circuit of the electronically controlled shock absorber are integrated into one controller to form a chassis domain controller.

[0053] in:

[0054] The solenoid valve coil drive circuit of the electronically controlled braking system is used to drive the solenoid valve in the braking circuit and adjust the braking pressure of the wheel. The solenoid coil drive circuit of the electronically controlled shock absorber is used to control the target current of the vehicle shock absorber solenoid coil and adjust the damping force of the electronically controlled shock absorber.

[0055] The solenoid valve drive circuit is composed of a high-side switch, a low-side switch, and a current detection circuit. The high-side and low-side switches are used to control the current on and off to achieve current closed-loop drive. Using PWM mode or switch mode closed-loop control, current closed-loop control, circuit fault monitoring and protection can be achieved. The current detection circuit is used to detect and collect the working current of the brake system solenoid valve or the shock absorber. The electromagnetic drive module and the shock absorber electromagnetic coil drive module use current closed-loop control to control the brake system solenoid valve and shock absorber. According to the collected working current information and the corresponding control target current information, the brake system solenoid valve working current or the shock absorber working current is controlled by current closed-loop control, thereby achieving effective and accurate control of braking and chassis vibration reduction.

[0056] In this embodiment, the controller of the chassis domain control is composed of one or two single-chip microcomputers to control the electromagnetic valve coil drive circuit of the electric control brake system and the electromagnetic coil drive circuit of the electric control shock absorber. The controller of the electric control shock absorber system needs to use the signal of the electric control brake system to change the vehicle CAN transmission to the internal signal of the controller, saving 10ms or 20ms of the original communication cycle. Through integration, the cost of a controller is saved, and the signal delay of the electric control shock absorber control system is reduced, thereby improving performance.

[0057] The controller of the chassis domain control uses an isolation circuit to isolate the electromagnetic coil drive circuit of the electronically controlled shock absorber and the brake system circuit to prevent the failure of the electromagnetic coil drive circuit of the electronically controlled shock absorber from affecting the function of the electronically controlled brake system. The storage protection control method is used to isolate the control function of the electromagnetic coil drive circuit of the electronically controlled shock absorber and the control function of the brake system circuit to prevent the mutual influence of the electromagnetic coil drive control function of the electronically controlled shock absorber and the control function of the electronically controlled brake system. In this way, the problem of mutual influence between the two systems is solved.

[0058] like Figure 1 As shown, the vehicle chassis domain controller 10 includes: a brake system solenoid valve drive module 116 of the electric control brake system, a shock absorber solenoid coil drive module 113, a single chip microcomputer 102, and an isolation circuit 121, which are integrated into a controller. The solenoid valve coil drive circuit of the electric control brake system is used to drive the solenoid valve in the brake circuit to adjust the brake pressure of the wheel. The solenoid coil drive circuit of the electric control shock absorber is used to control the target current of the vehicle shock absorber solenoid coil and adjust the damping force of the electric control shock absorber.

[0059] The single chip computer 102 is used to execute the control algorithm and output the corresponding first drive signal, second drive signal, third drive signal and fourth drive signal according to the received information. The isolation circuit 121 isolates the electromagnetic coil drive circuit of the electronically controlled shock absorber from the brake system circuit to prevent the electromagnetic coil drive circuit of the electronically controlled shock absorber from affecting the function of the electronically controlled brake system after failure.

[0060] Please refer to the following Figure 2 , Attachment Figure 3 A system according to an embodiment of the present invention is described.

[0061] like Figure 2 As shown, the vehicle chassis domain controller 10 includes:

[0062] The CAN transceiver module 101 is connected to the single-chip microcomputer 102 and to the CAN bus 103 , and is used for data transmission and reception between the CAN bus 103 and the single-chip microcomputer 102 .

[0063] Specifically, the CAN transceiver module 101 serves as a bridge between the vehicle controller area network (CAN bus 103) and the single-chip microcomputer 102, and is responsible for receiving and sending data. The CAN bus 103 is a widely used communication network inside the vehicle for data exchange between different control units. The CAN transceiver module 101 can achieve high-speed and reliable data transmission and support the collaborative work between various vehicle systems.

[0064] The wheel speed sensor interface module 104 is connected to the single chip microcomputer 102 and to the wheel speed sensor 105 , and is used to transmit the wheel speed data detected by the wheel speed sensor 105 to the single chip microcomputer 102 .

[0065] Specifically, the wheel speed sensor 105 monitors the rotation speed of the wheel and transmits the signal to the single chip computer 102 through the interface module 104, which can provide basic data for the vehicle dynamic control system (such as ABS, ESP, etc.) to help maintain the stability and safety of the vehicle.

[0066] As an example, the number of wheel speed sensors 105 is four.

[0067] The switch detection module 106 is connected to the single-chip microcomputer 102 and to the parking switch 107 , and is used to detect the switch state of the parking switch 107 and send the switch state to the single-chip microcomputer 102 .

[0068] Specifically, the switch detection module is used to detect the state of the parking switch 107 (whether it is activated) and send the state information to the single-chip microcomputer 102 to control the parking system of the vehicle to ensure the safety of the vehicle when it is parked.

[0069] The power management module 108 is connected between the single chip computer 102 and the battery 109 and is used for the distribution and management of power.

[0070] Specifically, it is responsible for the power distribution and management of the MCU 102 and other components of the vehicle chassis domain controller, ensuring that each component operates at an appropriate voltage and current, improving energy efficiency, and protecting the system from voltage fluctuations and short circuits.

[0071] The acceleration sensor interface module 110 is connected to the single-chip microcomputer 102 and to the acceleration sensor 111 , and is used to transmit the acceleration data detected by the acceleration sensor 111 to the single-chip microcomputer 102 .

[0072] Specifically, the acceleration sensor 111 measures the acceleration of the vehicle in all directions and sends the data to the single chip computer 102 through the interface module 110, providing key data for vehicle dynamics analysis, collision warning and other systems.

[0073] The gyroscope 112 is connected to the single-chip microcomputer 102 and is used to detect changes in the vehicle's posture, speed and acceleration in all directions, and transmit the change data to the single-chip microcomputer 102 .

[0074] Specifically, the gyroscope 112 is directly connected to the single-chip microcomputer 102 to detect the vehicle's posture changes (such as tilt, roll) and speed and acceleration changes in various directions. It can enhance the accuracy of vehicle posture control and improve driving stability and safety. The gyroscope can be a six-axis gyroscope, which combines a three-axis gyroscope and a three-axis accelerometer, and can simultaneously measure the angular velocity and linear acceleration of an object in three axes, thereby providing more comprehensive and accurate motion state information.

[0075] The specific working process includes: the three-axis gyroscope in the six-axis gyroscope is responsible for measuring the angular velocity change of the object around the X, Y, and Z axes; and the three-axis accelerometer measures the linear acceleration of the object in these three axes. These data are collected and transmitted to the single-chip microcomputer 102 at the same time. After receiving the data from the gyroscope and the accelerometer, the single-chip microcomputer 102 first performs data verification and preprocessing (such as denoising, filtering, etc.) to improve the accuracy and reliability of the data. Then, the data of the two sensors are fused using a specific algorithm (such as Kalman filtering, complementary filtering, etc.) to eliminate errors and obtain more accurate attitude information. Through the fused data, the single-chip microcomputer 102 can calculate the real-time attitude of the vehicle. According to the calculated attitude information and other related parameters (such as wheel speed data, vehicle speed data, etc.), the single-chip microcomputer 102 can generate corresponding control signals and adjust the performance of the vehicle through actuators (such as shock absorbers, braking systems, etc.). As an example, the single chip microcomputer 102 can adjust the damping value of the shock absorber according to the attitude information provided by the six-axis gyroscope to improve the ride comfort and handling stability of the vehicle.

[0076] The electric-controlled shock absorber current driving module 113 is connected to the isolation circuit single-chip computer 102 and to the shock absorber 114 , and is used to adjust the damping of the shock absorber 114 according to the first driving signal provided by the single-chip computer 102 .

[0077] Specifically, the electronically controlled shock absorber current driving module 113 adjusts the damping of the shock absorber 114 according to the first driving signal sent by the single chip microcomputer 102 to achieve active or semi-active suspension control, thereby improving the ride comfort and handling of the vehicle under different road conditions.

[0078] The brushless motor driving module 115 is connected to the single chip microcomputer 102 and is used to control the brushless motor to work according to the second driving signal provided by the single chip microcomputer 102 .

[0079] Specifically, the brushless motor driving module 115 controls the operation of the brushless motor and receives the second driving signal from the single chip microcomputer 102 to drive the brake hydraulic pump motor in the vehicle to provide braking force.

[0080] The brake system solenoid valve driving module 116 is connected to the single chip microcomputer 102 and is used to control the solenoid valve to work according to the third driving signal provided by the single chip microcomputer 102 .

[0081] Specifically, the brake system solenoid valve driving module 116 controls the switch of the solenoid valve, receives the third driving signal of the single chip computer 102, and realizes precise control of the fluid in various occasions such as the brake system, the shift mechanism, and the cooling system.

[0082] The brushed motor driving module 117 is connected to the single chip microcomputer 102 , and is used to control the brushed motor to work according to the fourth driving signal provided by the single chip microcomputer 102 .

[0083] Specifically, the brushed motor driving module 117 controls the operation of the brushed motor, receives the fourth driving signal from the single chip microcomputer 102, and can drive the parking caliper motor to provide braking force.

[0084] The single chip microcomputer 102 is used to execute a control algorithm and output a corresponding first drive signal, a second drive signal, a third drive signal and a fourth drive signal according to the received information.

[0085] As an example, the single chip microcomputer can also be electrically connected to the ignition switch 118, the pedal position sensor 119 and the instrument switch 120, so as to obtain relevant signals and send relevant control signals in real time.

[0086] It should be noted that the single-chip microcomputer 102 serves as the "brain" of the entire vehicle chassis domain controller. The single-chip microcomputer 102 receives data from various sensors and switches, executes complex control algorithms, and then outputs corresponding drive signals to various actuators. These algorithms may include various functions such as vehicle stability control, energy management, and driving assistance.

[0087] like Figure 3 As shown, the vehicle chassis domain controller 10 adds:

[0088] The switch selection circuit 118 is used to select the main single-chip computer 102 or the auxiliary single-chip computer 119 to control the electromagnetic coil drive circuit of the electronically controlled shock absorber; the auxiliary single-chip computer 119 is used to provide a brush motor drive function when the main single-chip computer 102 fails; the switch selection circuit 120 is used to select the main single-chip computer 102 or the auxiliary single-chip computer 119 to control the brush motor drive circuit 117.

[0089] like Figure 4 As shown, the storage of the electronically controlled shock absorber system function software 401 and the electronically controlled brake system function software 403 are respectively defined in separate ROM areas and isolated from each other; they interact through the software middle layer 402. The data stream 14012 is the input and output data of the electronically controlled shock absorber system function software system, which is obtained or sent through the software middle layer 402, thereby realizing data interaction with the electronically controlled brake system function software 403 system;

[0090] Data flow 2 4032 The electronically controlled brake system functional software system processes the input and output data related to the electronically controlled shock absorber system functional software 401, and obtains or sends it through the software middle layer 402, thereby realizing data interaction with the electronically controlled shock absorber system functional software 401;

[0091] Control flow 1 4011 is that the electronically controlled shock absorber system function software 401 needs to call the service provided by the electronically controlled braking system function software system, which is completed through the software middle layer 402. The electronically controlled shock absorber system function software 401 cannot directly call the internal service of the electronically controlled braking system function software;

[0092] Control flow 2 4031 is that the electronically controlled braking system function software 403 wants to call the service of the electronically controlled shock absorber system function software 401, which is completed through the software middle layer 402. The electronically controlled braking system function software 403 cannot directly call the internal service of the electronically controlled shock absorber system function software 401;

[0093] The above method is used to isolate software. Function calls between software modules require the called party to provide an interface to the caller. The braking and shock absorber systems do not provide a calling interface. The braking and shock absorber function software only open interfaces to the software middle layer RTE, so they can only be transferred through the software middle layer RTE, thus achieving software isolation.

[0094] The single chip computer 102 is specifically used for analyzing the wheel speed data, the change data and the acceleration data, and calculating the target damping of the shock absorber to generate the first driving signal.

[0095] As an example, after receiving the wheel speed data, the single-chip microcomputer 102 first performs data verification to ensure the accuracy and integrity of the data. Then, the wheel speed data is parsed to extract the real-time speed information of each wheel. After receiving the change data and acceleration data, the single-chip microcomputer 102 also performs data verification and parsing. The gyroscope data is used to calculate the angular velocity, angular acceleration and attitude angle (such as pitch angle, roll angle and yaw angle) of the vehicle, while the acceleration sensor data provides the linear acceleration information of the vehicle in all directions. After parsing the wheel speed data, gyroscope data and acceleration data, the single-chip microcomputer 102 uses these data for comprehensive analysis and processing. By running the control algorithm (such as PID control, fuzzy control, etc.) pre-installed in the single-chip microcomputer, the single-chip microcomputer 102 can calculate the optimal damping value of the shock absorber under the current driving conditions. According to the calculated target damping value, the single-chip microcomputer 102 will generate a corresponding first drive signal and send it to the shock absorber 114 through the CDC current drive module 113. The driving signal contains all the information required to adjust the damping of the shock absorber, such as the current magnitude, duration, etc. After receiving the driving signal, the shock absorber 114 will adjust its damping characteristics according to the instructions of the signal, thereby changing the performance of the vehicle's suspension system to improve the vehicle's ride comfort, handling stability and road adaptability.

[0096] Obviously, the specific implementation of the present invention is not limited to the above-mentioned methods. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention, they are all within the protection scope of the present invention.

Claims

1. A vehicle chassis domain controller, characterized in that: It includes at least one single-chip microcomputer, a brake system solenoid valve driving module, and a shock absorber solenoid coil driving module. The output end of the single-chip microcomputer is connected to the brake system solenoid valve through the brake system solenoid valve driving module, and the output end of the single-chip microcomputer is connected to the shock absorber through the shock absorber solenoid coil driving module; the brake system solenoid valve driving module is used to drive the brake system solenoid valve to adjust the braking pressure of the wheel; the shock absorber solenoid coil driving module is used to control the vehicle shock absorber solenoid coil to adjust the damping force of the electronically controlled shock absorber.

2. A vehicle chassis domain controller according to claim 1, characterized in that: An isolation circuit is connected in series between the single chip microcomputer and the shock absorber electromagnetic coil driving module. When the shock absorber or the shock absorber electromagnetic coil driving module fails or fails, the isolation circuit is controlled to disconnect the connection between the single chip microcomputer and the shock absorber electromagnetic coil driving module.

3. A vehicle chassis domain controller as claimed in claim 1, characterized in that: The brake system solenoid valve drive module and the shock absorber solenoid coil drive module both include a current detection circuit, which is used to collect the working current of the brake system solenoid valve or the shock absorber. The electromagnetic drive module and the shock absorber solenoid coil drive module use a current closed-loop control method to control the brake system solenoid valve and the shock absorber.

4. A vehicle chassis domain controller as claimed in claim 1, characterized in that: The chassis domain controller also includes a basic data acquisition module, which is used to collect vehicle data required for the operation of the chassis domain controller, and its output end is connected to the IO input end of the single-chip microcomputer.

5. A vehicle chassis domain controller as claimed in claim 4, characterized in that: The basic data acquisition module includes a CAN transceiver module, a wheel speed sensor interface module, a switch detection module and / or an acceleration sensor interface module; in: The microcontroller is connected to the vehicle CAN bus through the CAN transceiver module to obtain vehicle information in the vehicle CAN network; The single chip microcomputer is connected to the wheel speed sensor through the wheel speed sensor interface module to obtain wheel speed data through the wheel speed sensor; The single chip microcomputer is connected to the parking switch through the switch detection module to obtain the switch state signal of the parking switch; The single chip microcomputer is connected to the acceleration sensor through the acceleration sensor interface module to obtain the acceleration data of the vehicle.

6. A vehicle chassis domain controller as claimed in claim 1, characterized in that: The chassis controller further includes a brushless motor drive module and a brushed motor drive module, both of which are connected to the output end of the single-chip microcomputer to receive control signals from the single-chip microcomputer; the output end of the brushless motor drive module is connected to the vehicle-mounted brushless motor to drive and control the working state of the brushless motor; The output end of the brushed motor driving module is connected to the vehicle-mounted brushed motor to drive and control the working state of the brushed motor.

7. A vehicle chassis domain controller according to any one of claims 1 to 6, characterized in that: The single-chip microcomputer includes a main single-chip microcomputer and an auxiliary single-chip microcomputer. The main single-chip microcomputer and the auxiliary single-chip microcomputer are communicatively connected to each other. The main single-chip microcomputer and the auxiliary single-chip microcomputer are both connected to a first switch selection circuit, and the first switch selection circuit is connected to a brushed motor drive module. The main single-chip microcomputer and the auxiliary single-chip microcomputer are both connected to an isolation circuit through a second switch selection circuit, and the isolation circuit is respectively connected to a shock absorber electromagnetic coil drive module and an accelerator sensor interface module; the brushed motor drive module is used to drive the working state of the vehicle-mounted brushed motor.

8. A vehicle chassis domain controller according to any one of claims 1 to 6, characterized in that: The electronically controlled shock absorber system function software and the electronically controlled braking system function software are built into the single-chip microcomputer, and two independently partitioned ROM areas are divided in the ROM of the single-chip microcomputer to respectively store the electronically controlled shock absorber system function software and the electronically controlled braking system function software to achieve mutual isolation of functions.

9. A vehicle chassis domain controller as claimed in claim 8, characterized in that: When the chassis domain controller performs the shock absorber function or the braking function, data interaction between the electronically controlled shock absorber system function software and the electronically controlled braking system function software is performed through the software middle layer.

10. A vehicle, characterized in that: The vehicle includes a vehicle chassis domain controller as described in any one of claims 1-9.

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