Drive-by-wire chassis system based on electric barham

Abstract

The invention relates to the technical field of automobiles, and discloses a drive-by-wire chassis system based on an electric barham, which comprises a newly added drive-by-wire vehicle control unit, a drive-by-wire steering system, a drive-by-wire braking system and a safety protection device, the drive-by-wire vehicle control unit is used for communicating with the switching signal detection and control circuit, the driving system switching circuit, the first CAN communication circuit and the second CAN communication circuit; wherein the switching signal detection and control circuit is used for detecting a plurality of signals and controlling a gear change-over switch, and the plurality of switching signals comprise an emergency switching signal and an emergency key signal output by a receiving module of a remote controller; the driving system switching circuit comprises a relay switching circuit and a DA output circuit; the first CAN communication circuit is used for sending communication data sent by the computing platform to the brake-by-wire system and the steering-by-wire system; the second CAN communication circuit is used for communication between the drive-by-wire chassis system and the computing platform. Therefore, the drive-by-wire function of the whole chassis system is achieved.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to a method for modifying a wire-controlled chassis system based on an electric Baja vehicle. Background Art

[0002] The chassis-by-wire technology of intelligent connected vehicles is mainly derived from the trend of intelligent and electrified transformation of automobiles. With the continuous advancement of autonomous driving technology, traditional mechanical control methods can no longer meet the needs of high precision and high responsiveness, so chassis-by-wire technology has emerged. Chassis-by-wire technology replaces mechanical connections with electronic signals to achieve precise control of vehicle steering, braking, acceleration and deceleration functions, thereby improving the vehicle's handling performance and safety.

[0003] The following technical problems often occur during the modification of the existing electric Baja vehicle's wire-controlled chassis system:

[0004] First, the traditional electric Baja car driving still relies on the driver's operation;

[0005] Second, most modern cars use electronic control units (ECUs) and complex network communication systems. The complexity and inaccessibility of the wiring harness layout of the electronic control unit seriously affect students' understanding and mastery of automotive electrical principles. The integration of complex network communication systems requires students to master more knowledge when studying, which increases the difficulty of learning. Summary of the invention

[0006] The summary of the invention is used to introduce concepts in a brief form, which will be described in detail in the detailed implementation section below. The summary of the invention is not intended to identify the key features or essential features of the technical solution claimed for protection, nor is it intended to limit the scope of the technical solution claimed for protection.

[0007] The present invention proposes a wire-controlled chassis system based on an electric Baja vehicle to solve one or more of the technical problems mentioned in the above background technology part.

[0008] The invention provides a drive-by-wire chassis system based on an electric Bahamut vehicle, comprising: the drive-by-wire chassis system comprises a newly added drive-by-wire vehicle control unit, a drive-by-wire steering system, a drive-by-wire braking system and a safety protection device; the drive-by-wire vehicle control unit is used to communicate with a switch signal detection and control circuit, a drive system switching circuit, a first CAN communication circuit and a second CAN communication circuit; wherein the switch signal detection and control circuit is used to detect multiple signals and control a gear position switching switch, wherein the multiple signals include an emergency switch signal and an emergency key signal output by a receiving module of a remote controller; the drive system switching circuit comprises a relay switching circuit and a DA output circuit, wherein the relay switching circuit is used to switch between a manual driving mode and a drive-by-wire mode, and when the drive-by-wire vehicle control unit receives a drive-by-wire switching command sent by a computing platform, the relay switching circuit disconnects the connection between a drive motor controller of the vehicle and an output signal of an accelerator pedal; the DA output circuit is used to generate an analog voltage signal according to the control-by-wire switching command, and send the analog voltage signal to the drive motor controller; the first CAN communication circuit is used to send communication data sent by the computing platform to the drive-by-wire braking system and the drive-by-wire steering system; and the second CAN communication circuit is used to communicate between the drive-by-wire chassis system and the computing platform.

[0009] The optional, electric Baja-based ride-by-wire chassis system also includes:

[0010] The control unit of the controlled-by-wire vehicle is used to determine whether a controlled-by-wire request command sent by the computing platform through the second CAN communication circuit is received, and if a controlled-by-wire request command is received, determine whether any of the following abnormal information is received: an emergency switch signal, an emergency key signal output by the receiving module of the remote controller, an abnormal state fed back by the controlled-by-wire brake system, or an abnormal state fed back by the controlled-by-wire steering system; if abnormal information is received, enter the manual driving mode; if no abnormal information is received, enter the controlled-by-wire mode; send the entered controlled-by-wire mode to the controlled-by-wire brake system, the controlled-by-wire steering system, and the drive system switching circuit, so that the drive system switching circuit controls to disconnect the connection between the vehicle's drive motor controller and the accelerator pedal output signal;

[0011] The control-by-wire vehicle control unit is further used to receive control-by-wire information sent by the computing platform through the second CAN communication circuit, the control-by-wire information including a steering angle, a drive output voltage value, and a brake request pressure value, and send the steering angle to the steering system controller according to a preset steering control protocol, so that the steering system controller performs a steering operation according to the steering angle;

[0012] The control unit of the wire-controlled vehicle is also used to send a brake control command and clear the drive output voltage value if the brake request pressure value is greater than or equal to a preset brake threshold; if the brake request pressure value is less than the preset brake threshold, no brake control command is sent, and the brake request pressure value is sent to the wire-controlled brake system;

[0013] The control unit of the controlled-by-wire vehicle is also used to convert the drive output voltage value into a corresponding drive output voltage signal if in the controlled-by-wire mode, and send the drive output voltage signal to the drive motor controller so that the drive motor controller performs drive control according to the drive output voltage signal. The drive output voltage signal is output through the drive system switching circuit.

[0014] The optional, electric Baja-based ride-by-wire chassis system also includes:

[0015] The control unit of the drive-by-wire vehicle is also used to enter the manual driving mode if no drive-by-wire request command is received, and the accelerator pedal output signal is connected to the drive motor controller; send CAN messages to the drive-by-wire steering system and the drive-by-wire braking system through the first CAN communication circuit; and determine whether there are any abnormalities in the drive-by-wire steering system and the drive-by-wire braking system based on the CAN messages.

[0016] The optional, electric Baja-based ride-by-wire chassis system also includes:

[0017] The control unit of the controlled-by-wire vehicle is also used to verify the received communication data. If the verification is successful, the vehicle enters the controlled-by-wire mode; if the verification fails, the vehicle enters the manual driving mode.

[0018] The optional, electric Baja-based ride-by-wire chassis system also includes:

[0019] The steer-by-wire system is used to determine whether a steer-by-wire mode command sent by a computing platform is received. If a steer-by-wire mode command is received, the steer-by-wire working mode is entered, and the power steering motor is controlled according to the target steering data included in the steer-by-wire mode command, wherein the target steering data includes the steering angle, steering torque and steering working status; the target steering data is sent to the computing platform through the second CAN communication circuit to determine whether the driver is operating the steering wheel. If the driver is operating the steering wheel or if the steer-by-wire mode command is not received, the system is switched to the power steering working mode until the vehicle is switched to the steer-by-wire working mode again after power-off and restart.

[0020] The optional, electric Baja-based ride-by-wire chassis system also includes:

[0021] The brake-by-wire system is used to determine the brake pedal pressure value according to the brake pedal stroke if a brake pedal signal is received; determine the brake request pressure value included in the brake request command if a brake request command is received from a computing platform; compare the brake pedal pressure value and the brake request pressure value, and if the brake pedal pressure value is greater than the brake request pressure value, the brake-by-wire system executes the brake pedal pressure value; if the brake pedal pressure value is less than the brake request pressure value, the brake-by-wire system executes the brake request pressure value.

[0022] The optional, electric Baja-based ride-by-wire chassis system also includes:

[0023] The safety protection devices include multiple emergency switches, remote control emergency buttons and emergency buttons on the autonomous driving software interface.

[0024] The optional, electric Baja-based ride-by-wire chassis system also includes:

[0025] The wire-controlled vehicle control unit is also used to send a braking control command to the wire-controlled brake system through the first CAN communication circuit when an emergency switch signal corresponding to any one of the multiple emergency switches is detected; the receiving module of the remote control is installed on the wire-controlled vehicle control unit, and the ... button signal output by the receiving module of the remote control is detected.

[0026] The invention has the following beneficial effects: the wire control function of the entire chassis system is realized; specifically, by adding a wire control vehicle control unit, a wire control steering system, and a wire control braking system to the chassis system, the output end is connected to the drive motor controller by using the drive system switching circuit, so as to realize the wire control function of the entire chassis system; by reserving a CAN communication interface, the information of the wire control steering system, the wire control braking system, and the drive system integrated by the wire control vehicle control unit is sent to the computing platform, so that the automatic driving system can more directly control the wire control chassis system; in combination with various emergency switches, remote controllers, and emergency buttons of the automatic driving software interface, various emergencies are handled to solve various safety hazards; at the same time, the overall appearance of the electric Bahamut vehicle of the invention is open, without a traditional car shell, the appearance and line layout of the electric Bahamut vehicle are more intuitive, and the electrical wiring harness layout of the wire control vehicle control unit, the wire control steering system, and the wire control braking system are also exposed, which is convenient for observation and maintenance. On the one hand, it can enable people in this field to understand and master the technical differences between manual driving and wire control of vehicles, and on the other hand, it can also enable students to more easily master the relevant knowledge and practical skills of the vehicle wire control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The above and other features, advantages and aspects of the embodiments of the present invention will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and that components and elements are not necessarily drawn to scale.

[0028] Figure 1 is an exemplary structural schematic diagram of a wire-controlled chassis system based on an electric Baja vehicle of the present invention;

[0029] Figure 2 This is a physical picture of the body of the electric Baha car of the present invention;

[0030] Figure 3 is a circuit layout diagram of the electric Baja vehicle of the present invention;

[0031] Figure 4 is a circuit layout diagram of the electric Baja vehicle of the present invention;

[0032] Figure 5 is a physical diagram of a wire-controlled vehicle control unit in the electric Baja vehicle of the present invention;

[0033] Figure 6 It is a physical picture of a double-layer printed circuit board of a wire-controlled vehicle control unit of the electric Baja vehicle of the present invention;

[0034] Figure 7 is a physical diagram of the steer-by-wire system of the electric Baja vehicle of the present invention;

[0035] Figure 8 is a physical diagram of the brake-by-wire system of the electric Baja vehicle of the present invention;

[0036] Fig. 9 It is a structural diagram of the EBS electronic brake booster of the electric Baja vehicle of the present invention. DETAILED DESCRIPTION

[0037] The present invention will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as being limited to the embodiments set forth herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

[0038] It should also be noted that, for ease of description, only the parts related to the invention are shown in the drawings. In the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0039] It should be noted that the concepts such as "first" and "second" mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0040] It should be noted that the modifications of "one" and "plurality" mentioned in the present invention are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0041] The names of the messages or information exchanged between multiple devices of the present invention are only for illustrative purposes, and are not used to limit the scope of these messages or information.

[0042] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0043] like Figure 1 , which is an exemplary structural diagram of a wire-controlled chassis system based on an electric Bahamut vehicle of the present invention. The wire-controlled chassis system includes a newly added wire-controlled vehicle control unit, a wire-controlled steering system, a wire-controlled braking system, and a safety protection device; in some embodiments, such as Figure 2 The figure shows the actual body of the electric Baha car of the present invention. On the basis of maintaining the original manual driving of the electric Baha car, a wire-controlled vehicle control unit, a wire-controlled steering system, a wire-controlled braking system and a safety protection device are added to the chassis system; at the same time, Figure 3 and Figure 4 The figure shows the circuit layout of the electric Bahamut vehicle of the present invention. The overall appearance of the electric Bahamut vehicle of the present invention is open, without the traditional car shell. The appearance and circuit layout of the electric Bahamut vehicle are more intuitive, and the electrical wiring harness layout of the wire-controlled vehicle control unit, wire-controlled steering system, and wire-controlled brake system are also exposed, which is convenient for observation and maintenance. On the one hand, it can enable people in this field to understand and master the technical differences between manual driving and wire-controlled vehicles, and on the other hand, it can also make it easier for students to master the relevant knowledge and practical skills of the vehicle wire-controlled system.

[0044] The control unit of the controlled-by-wire vehicle is used to communicate with the switch signal detection and control circuit, the drive system switching circuit, the first CAN communication circuit and the second CAN communication circuit; wherein, the switch signal detection and control circuit is used to detect multiple signals and control the gear switching switch, and the multiple signals include an emergency switch signal and an emergency key signal output by the receiving module of the remote control; the drive system switching circuit includes a relay switching circuit and a DA output circuit, wherein the relay switching circuit is used to switch between the manual driving mode and the controlled-by-wire mode, and when the controlled-by-wire vehicle control unit receives the controlled-by-wire switching command sent by the computing platform, the relay switching circuit disconnects the connection between the vehicle's drive motor controller and the accelerator pedal output signal; the DA output circuit is used to generate an analog voltage signal according to the controlled-by-wire switching command, and send the analog voltage signal to the drive motor controller; the first CAN communication circuit is used to send the communication data sent by the computing platform to the controlled-by-wire brake system and the controlled-by-wire steering system; the second CAN communication circuit is used for communication between the controlled-by-wire chassis system and the computing platform.

[0045] In some embodiments, Figure 5 FIG. 1 is a physical diagram of a wire-controlled vehicle control unit in the electric Baha vehicle of the present invention. Figure 6Shown is a physical picture of a double-layer printed circuit board of the wire-controlled vehicle control unit of the electric Baja vehicle of the present invention. The wire-controlled vehicle control unit (wire-controlled VCU) adopts a double-layer printed circuit board design, which can realize wire-controlled control of the drive system, integrate data of the wire-controlled steering system and the wire-controlled braking system, and communicate with a decision-making unit (such as a computing platform).

[0046] In some embodiments, the line control switching command is transmitted in the form of a digital signal, and the DA output circuit converts the digital signal into an analog voltage signal.

[0047] The optional, electric Baja-based ride-by-wire chassis system also includes:

[0048] The control unit of the drive-by-wire vehicle is used to determine whether a drive-by-wire request command sent by the computing platform through the second CAN communication circuit is received. If a drive-by-wire request command is received, determine whether any of the following abnormal information is received: an emergency switch signal, an emergency button signal output by the receiving module of the remote control, an abnormal state fed back by the drive-by-wire brake system, or an abnormal state fed back by the drive-by-wire steering system; if abnormal information is received, enter the manual driving mode; if no abnormal information is received, enter the drive-by-wire mode; send the entry into the drive-by-wire mode to the drive-by-wire brake system, the drive-by-wire steering system and the drive system switching circuit, so that the drive system switching circuit controls the disconnection between the vehicle's drive motor controller and the accelerator pedal output signal.

[0049] The control-by-wire vehicle control unit is also used to receive control-by-wire information sent by the computing platform through the second CAN communication circuit. The control-by-wire information includes steering angle, drive output voltage value and brake request pressure value. The steering angle is sent to the steering system controller according to a preset steering control protocol so that the steering system controller performs steering operations according to the steering angle.

[0050] In some embodiments, when processing the steering angle, the wire-controlled vehicle control unit will process it according to a preset steering control protocol, which defines the data format, communication method and control logic. The wire-controlled vehicle control unit converts the "steering angle" into instructions that can be parsed by the steering system controller according to the protocol format. The steering system controller controls the steering actuator to adjust the vehicle direction and achieve the target steering angle.

[0051] The wire-controlled vehicle control unit is also used to send a braking control command and clear the drive output voltage value if the braking request pressure value is greater than or equal to a preset braking threshold; if the braking request pressure value is less than the preset braking threshold, no braking control command is sent, and the braking request pressure value is sent to the wire-controlled braking system.

[0052] In some embodiments, the preset braking threshold may be 1.0 MPa. If the braking request pressure value is greater than or equal to the preset braking threshold, emergency braking is initiated and the vehicle's drive system stops working. During emergency braking, the drive output voltage value is cleared to put the motor into "no power" mode to avoid accidental acceleration. For braking requests below the threshold, emergency braking is not triggered and the vehicle drives normally.

[0053] The control unit of the controlled-by-wire vehicle is also used to convert the drive output voltage value into a corresponding drive output voltage signal if in the controlled-by-wire mode, and send the drive output voltage signal to the drive motor controller so that the drive motor controller performs drive control according to the drive output voltage signal. The drive output voltage signal is output through the drive system switching circuit.

[0054] Optionally, a drive-by-wire chassis system based on an electric Baja vehicle further includes:

[0055] The control unit of the drive-by-wire vehicle is also used to enter the manual driving mode if no drive-by-wire request command is received, and the accelerator pedal output signal is connected to the drive motor controller; send CAN messages to the drive-by-wire steering system and the drive-by-wire braking system through the first CAN communication circuit; and determine whether there are any abnormalities in the drive-by-wire steering system and the drive-by-wire braking system based on the CAN messages.

[0056] In some embodiments, the CAN message of the current manual driving mode is sent to the wire control steering system and the wire control braking system. After receiving the wire control vehicle control unit, the wire control steering system and the wire control braking system no longer control the drive, but are controlled by the driver, which can ensure the consistency of the system mode. The CAN message includes multiple data, and the multiple data can be real-time steering angle, steering torque, brake request pressure value, DTC fault code, and each data is compared with a preset standard threshold. If any data is not equal to the preset standard threshold, it is determined that the wire control steering system or the wire control braking system is abnormal. If an abnormality occurs, there is a safety hazard and the vehicle cannot be started.

[0057] Optionally, a drive-by-wire chassis system based on an electric Baja vehicle further includes:

[0058] The control unit of the controlled-by-wire vehicle is also used to verify the received communication data. If the verification is successful, the vehicle enters the controlled-by-wire mode; if the verification fails, the vehicle enters the manual driving mode.

[0059] In some embodiments, the control unit of the controlled-by-wire vehicle and the computing platform continuously send data to each other through the first CAN communication circuit and the second CAN communication circuit, and a verification mechanism is added to the data (for example, a certain value in the data is increased by one each time it is automatically sent). If the control-by-wire vehicle control unit fails to receive data from the computing platform for multiple consecutive times, or the data is abnormal (the received data has not changed), it is considered that the communication between the control-by-wire vehicle control unit and the computing platform is abnormal, and the vehicle will switch back to the manual driving mode until the correct data is received (for example, a certain value in the data is increased by one each time it is automatically sent) before switching to the controlled-by-wire mode.

[0060] Optionally, a drive-by-wire chassis system based on an electric Baja vehicle further includes:

[0061] The steer-by-wire system is used to determine whether a steer-by-wire mode command sent by a computing platform is received. If a steer-by-wire mode command is received, the steer-by-wire working mode is entered, and the power steering motor is controlled according to the target steering data included in the steer-by-wire mode command, wherein the target steering data includes the steering angle, steering torque and steering working status; the target steering data is sent to the computing platform through the second CAN communication circuit to determine whether the driver is operating the steering wheel. If the driver is operating the steering wheel or if the steer-by-wire mode command is not received, the system is switched to the power steering working mode until the vehicle is switched to the steer-by-wire working mode again after power-off and restart.

[0062] In some embodiments, Figure 7 The figure shows a physical picture of the wire-controlled steering system of the electric Bahamut vehicle of the present invention. The wire-controlled steering system adopts an electronic power steering system (EPS) with a wire-controlled function, and provides steering assistance through an electric motor. The wire-controlled steering system includes a power-assisted steering mode and a wire-controlled steering mode, wherein the power-assisted steering mode is that the driver provides steering assistance during manual driving; the wire-controlled steering mode is that the wire-controlled steering mode receives a wire-controlled mode command from the computing platform, and performs corresponding actions according to the target steering data included in the wire-controlled mode command. Further, the wire-controlled steering system supports emergency switching by rotating the steering wheel in the wire-controlled steering mode, that is, in the wire-controlled steering mode, the driver can apply a value exceeding the torque range in the wire-controlled steering mode by operating the steering wheel. When the steering power controller detects the signal, it will be considered that there is a human intervention signal, so the wire-controlled steering system will switch back to the power-assisted steering mode until the vehicle is powered on again.

[0063] In some embodiments, in the wire control mode, the wire control steer system will continuously detect the steering angle and steering torque of the current steering wheel. If a steering angle and steering torque different from those in the wire control mode command are suddenly detected, it can be considered that the driver is controlling the steering wheel. If the driver is controlling the steering wheel or if the wire control mode command is not received, the system switches to the power steering mode until the vehicle is powered on again and then switched to the wire control mode again. Power on again means that the vehicle is stopped and the engine is turned off, and then the engine is turned on again, which is equivalent to a power-off restart of all systems.

[0064] Optionally, a drive-by-wire chassis system based on an electric Baja vehicle further includes:

[0065] The brake-by-wire system is used to determine the brake pedal pressure value according to the brake pedal stroke if a brake pedal signal is received; determine the brake request pressure value included in the brake request command if a brake request command is received from a computing platform; compare the brake pedal pressure value and the brake request pressure value, and if the brake pedal pressure value is greater than the brake request pressure value, the brake-by-wire system executes the brake pedal pressure value; if the brake pedal pressure value is less than the brake request pressure value, the brake-by-wire system executes the brake request pressure value.

[0066] In some embodiments, Figure 8 The figure shows a physical picture of the wire control brake system of the electric Baja vehicle of the present invention. Fig. 9 It is a structural diagram of the EBS electronic brake booster of the electric Baja car of the present invention. The wire control brake system adopts a hydraulic EBS electronic brake booster, which is connected to the hydraulic brake system of the original car. On the one hand, it can increase or eliminate the hydraulic booster according to the driver's stepping on the brake pedal; on the other hand, it can complete the braking according to the brake request command issued by the computing platform without the need for driver action. The two can work at the same time, that is, in the wire control mode, the driver's manual stepping on the brake pedal is still effective. When the two act at the same time, the brake pressure request with a greater pressure shall prevail. When the hydraulic EBS electronic brake booster does not receive the wire control data from the computing platform, the brake pedal stroke is used as the final output pressure value.

[0067] In some embodiments, the brake pedal signal typically comes from a brake pedal sensor, which detects the brake pedal travel (pedal position) and converts the brake pedal travel into a brake pedal voltage signal, and converts the brake pedal voltage signal into a brake pedal pressure value through a preset mapping algorithm.

[0068] Optionally, a drive-by-wire chassis system based on an electric Baja vehicle further includes:

[0069] The safety protection devices include multiple emergency switches, remote control emergency buttons and emergency buttons on the autonomous driving software interface.

[0070] Optionally, a drive-by-wire chassis system based on an electric Baja vehicle further includes:

[0071] The wire-controlled vehicle control unit is also used to send a braking control command to the wire-controlled brake system through the first CAN communication circuit when an emergency switch signal corresponding to any one of the multiple emergency switches is detected; the receiving module of the remote control is installed on the wire-controlled vehicle control unit, and the ... button signal output by the receiving module of the remote control is detected.

[0072] In some embodiments, the wire-controlled vehicle control unit is further configured to send a brake control command to the wire-controlled brake system through the first CAN communication circuit and trigger the vehicle emergency brake to ensure driving safety when an emergency switch signal corresponding to any one of the multiple emergency switches is detected. The number of the multiple emergency switches can be three, which are respectively installed on the rear side, left side and right side of the electric Baha vehicle.

[0073] In some embodiments, the remote control provides an emergency braking function for the vehicle when it is in wire-control mode, wherein the receiving module of the remote control is integrated into the double-layer printed circuit board of the wire-controlled vehicle control unit, and the transmitting module of the remote control is powered by a dry battery (or other portable power source) and is held by the operator. When an emergency occurs, the operator can press the emergency button corresponding to the remote control in time. At this time, when the wire-controlled vehicle control unit detects the signal output by the remote control receiving module, it will promptly disconnect the output of the wire-controlled drive signal, and send an emergency braking command to the wire-controlled braking system through the first CAN communication circuit to execute emergency braking until the signal output by the remote control receiving module is no longer detected, and the wire-controlled vehicle control unit (wire-controlled VCU) resumes normal driving control.

[0074] In some embodiments, the electric Baja vehicle's autonomous driving system is equipped with a visual interface that integrates a virtual emergency control button for emergency situations. The emergency button on the autonomous driving software interface functions similarly to a touch button on a mobile device, and can be triggered by user interaction in an emergency to immediately interrupt the autonomous driving mode and enable manual intervention.

[0075] In some embodiments, the vehicle chassis can also be converted into a wire-controlled chassis system for other open body designs similar to electric Baja vehicles. The present invention uses a wire-controlled vehicle control unit, which integrates the data of the wire-controlled steering system, the wire-controlled braking system, and the drive system, and sends them through the second CAN communication circuit. A non-integrated solution can also be adopted, that is, the wire-controlled vehicle control unit is only responsible for the data of the drive system, and the data of the wire-controlled steering system and the wire-controlled braking system are directly sent to the second CAN communication circuit, and the computing platform performs comprehensive judgment and processing.

[0076] In these embodiments, the wire control function of the entire chassis system is realized; specifically, by adding a wire control vehicle control unit, a wire control steering system, and a wire control brake system to the chassis system, and using a drive system switching circuit to connect the output end to the drive motor controller, the wire control function of the entire chassis system is realized; the information of the wire control steering system, the wire control brake system, and the drive system integrated by the wire control vehicle control unit is sent to the computing platform through the reserved CAN communication interface, so that the automatic driving system can more directly control the wire control chassis system; various emergency switches, remote controls, and emergency buttons of the automatic driving software interface are combined to handle various emergencies and solve various safety hazards; at the same time, the overall appearance of the electric Bahamut vehicle of the present invention is open, without a traditional car shell, the appearance and line layout of the electric Bahamut vehicle are more intuitive, and the electrical wiring harness layout of the wire control vehicle control unit, the wire control steering system, and the wire control brake system are also exposed, which is convenient for observation and maintenance. On the one hand, it can enable people in this field to understand and master the technical differences between manual driving and wire control of vehicles, and on the other hand, it can also make it easier for students to master the relevant knowledge and practical skills of the vehicle wire control system.

[0077] The above descriptions are only some preferred embodiments of the present invention and the explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present invention is not limited to the technical solutions formed by the specific combination of the above technical features, but also should cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above inventive concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present invention (but not limited to) to form a technical solution.

Claims

1. A wire-controlled chassis system based on an electric Baja car, characterized in that: include: The drive-by-wire chassis system includes a newly added drive-by-wire vehicle control unit, a drive-by-wire steering system, a drive-by-wire brake system and safety protection devices; The control-by-wire vehicle control unit is used to communicate with the switch signal detection and control circuit, the drive system switching circuit, the first CAN communication circuit and the second CAN communication circuit; wherein the switch signal detection and control circuit is used to detect multiple signals and control the gear switching switch, and the multiple signals include an emergency switch signal and an emergency key signal output by a receiving module of the remote controller; The drive system switching circuit includes a relay switching circuit and a DA output circuit, wherein the relay switching circuit is used to switch between the manual driving mode and the wire control mode, and when the wire control vehicle control unit receives the wire control switching command sent by the computing platform, the relay switching circuit disconnects the connection between the vehicle's drive motor controller and the accelerator pedal output signal; the DA output circuit is used to generate an analog voltage signal according to the wire control switching command, and send the analog voltage signal to the drive motor controller; The first CAN communication circuit is used to send the communication data sent by the computing platform to the wire-controlled brake system and the wire-controlled steering system; the second CAN communication circuit is used for communication between the wire-controlled chassis system and the computing platform.

2. The wire-controlled chassis system based on the electric Baja vehicle according to claim 1, characterized in that: Also includes: The control-by-wire vehicle control unit is used to determine whether a control-by-wire request command sent by the computing platform through the second CAN communication circuit is received, and if the control-by-wire request command is received, determine whether any of the following abnormal information is received: an emergency switch signal, an emergency key signal output by the receiving module of the remote controller, an abnormal state fed back by the control-by-wire brake system, or an abnormal state fed back by the control-by-wire steering system; if abnormal information is received, enter the manual driving mode; if no abnormal information is received, enter the control-by-wire mode; send the entry into the control-by-wire mode to the control-by-wire brake system, the control-by-wire steering system, and the drive system switching circuit, so that the drive system switching circuit controls to disconnect the connection between the vehicle's drive motor controller and the accelerator pedal output signal; The control-by-wire vehicle control unit is further used to receive control-by-wire information sent by the computing platform through the second CAN communication circuit, the control-by-wire information including a steering angle, a drive output voltage value, and a brake request pressure value, and send the steering angle to the steering system controller according to a preset steering control protocol, so that the steering system controller performs a steering operation according to the steering angle; The control-by-wire vehicle control unit is further configured to send a braking control command and clear the drive output voltage value if the braking request pressure value is greater than or equal to a preset braking threshold; if the braking request pressure value is less than the preset braking threshold, not send the braking control command and send the braking request pressure value to the brake-by-wire system; The control-by-wire vehicle control unit is also used to, if in the control-by-wire mode, convert the drive output voltage value into a corresponding drive output voltage signal, and send the drive output voltage signal to the drive motor controller so that the drive motor controller performs drive control according to the drive output voltage signal, and the drive output voltage signal is output through the drive system switching circuit.

3. The wire-controlled chassis system based on the electric Baja vehicle according to claim 2, characterized in that: Also includes: The control-by-wire vehicle control unit is further configured to enter the manual driving mode if the control-by-wire request command is not received, and the accelerator pedal output signal is connected to the drive motor controller; and send CAN messages to the control-by-wire steering system and the control-by-wire brake system through the first CAN communication circuit; According to the CAN message, it is determined whether the steer-by-wire system and the brake-by-wire system are abnormal.

4. The wire-controlled chassis system based on the electric Baja vehicle according to claim 3 is characterized in that: Also includes: The control unit of the controlled-by-wire vehicle is also used to verify the received communication data, and if the verification is successful, the vehicle enters the controlled-by-wire mode; If the verification fails, the vehicle enters manual driving mode.

5. The wire-controlled chassis system based on the electric Baja vehicle according to claim 4, characterized in that: Also includes: A steer-by-wire system, the steer-by-wire system is used to determine whether a steer-by-wire mode command sent by a computing platform is received. If the steer-by-wire mode command is received, the steer-by-wire operating mode is entered, and the power steering motor is controlled according to the target steering data included in the steer-by-wire mode command, wherein the target steering data includes the steering angle, the steering torque and the steering operating status; the target steering data is sent to the computing platform through a second CAN communication circuit to determine whether the driver is operating the steering wheel. If the driver is operating the steering wheel or if the steer-by-wire mode command is not received, the system is switched to the power steering operating mode until the vehicle is switched to the steer-by-wire operating mode again after power-off and restart.

6. The wire-controlled chassis system based on the electric Baja vehicle according to claim 5, characterized in that: Also includes: A brake-by-wire system, wherein if a brake pedal signal is received, the brake pedal pressure value is determined according to the brake pedal stroke; if a brake request command is received from a computing platform, the brake request pressure value included in the brake request command is determined; the brake pedal pressure value is compared with the brake request pressure value, and if the brake pedal pressure value is greater than the brake request pressure value, the brake-by-wire system executes the brake pedal pressure value; if the brake pedal pressure value is less than the brake request pressure value, the brake-by-wire system executes the brake request pressure value.

7. The wire-controlled chassis system based on the electric Baja vehicle according to claim 6, characterized in that: Also includes: The safety protection device includes multiple emergency switches, a remote control emergency button and an emergency button on the automatic driving software interface.

8. The wire-controlled chassis system based on the electric Baja vehicle according to claim 7, characterized in that: Also includes: The wire-controlled vehicle control unit is also used to send a braking control command to the wire-controlled brake system through the first CAN communication circuit when an emergency switch signal corresponding to any one of the multiple emergency switches is detected; the receiving module of the remote control is installed on the wire-controlled vehicle control unit, and the wire-controlled vehicle control unit is also used to send a braking control command to the wire-controlled brake system through the first CAN communication circuit when an emergency switch signal corresponding to any one of the multiple emergency switches is detected.

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