Vehicle control method of intelligent networked automobile chassis drive-by-wire system

Abstract

The invention relates to the field of intelligent networked automobiles, and discloses an intelligent networked automobile chassis drive-by-wire system vehicle control method which comprises the following steps: receiving first environment data and initial state data of an intelligent networked automobile chassis through a CAN bus, and judging whether the vehicle state of an intelligent networked automobile meets the condition of entering a drive-by-wire driving mode or not; if not, the intelligent networked automobile enters a manual driving mode; if yes, processing the first environment data and the initial state data according to a preset driving strategy, generating a decision instruction and sending the decision instruction to a vehicle control unit, so that the vehicle control unit controls the intelligent networked automobile chassis drive-by-wire system to execute corresponding actions; and after control execution of the vehicle control unit, receiving the second environment data and feedback state data of the chassis of the intelligent networked automobile, and adjusting the decision instruction until the intelligent networked automobile does not meet the condition of entering the drive-by-wire driving mode. Therefore, the accurate control of the chassis drive-by-wire system of the intelligent networked automobile is realized.

Description

Technical Field

[0001] The present invention relates to the field of intelligent networked vehicles, and in particular to a whole vehicle control method for a chassis wire control system of an intelligent networked vehicle. Background Art

[0002] With the rapid development of information technology, sensor technology, artificial intelligence and communication technology, the wire control technology of intelligent connected vehicles (such as wire-controlled steering, wire-controlled braking and wire-controlled acceleration) has gradually matured, making the control of vehicles more precise and flexible. This technological advancement not only improves the handling performance of the vehicle, but also lays the foundation for achieving a higher level of autonomous driving. In the research and development of intelligent connected vehicles, the CAN (Controller Area Network) control protocol of the vehicle chassis wire control system is a crucial component. As an efficient communication protocol, the CAN control protocol is widely used in automotive electronic systems and can realize real-time data exchange between various control units. However, the complexity of the CAN protocol often confuses beginners in the learning process, especially in a teaching environment, where students need to master not only the basic concepts of the protocol, but also its specific implementation details and application scenarios.

[0003] The following technical problems often exist in existing intelligent connected vehicle control: The content of the CAN protocol in the prior art often contains a large number of technical details and complex parameter settings, resulting in low accuracy in controlling the chassis wire-controlled system of intelligent networked vehicles and slow response speed of the chassis wire-controlled system of intelligent networked vehicles; and the complexity of the CAN protocol does not directly help students understand the control method of the chassis wire-controlled system, resulting in poor teaching results. Summary of the invention

[0004] 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.

[0005] The present invention proposes a whole vehicle control method for a chassis wire control system of an intelligent networked vehicle to solve one or more of the technical problems mentioned in the above background technology part.

[0006] The present invention provides a whole vehicle control method of a chassis wire control system of an intelligent networked vehicle, comprising: Receiving first environment data and initial state data of the intelligent network-connected vehicle chassis through the CAN bus; judging whether the vehicle state of the intelligent network-connected vehicle meets the conditions for entering the drive-by-wire mode according to the first environment data and the initial state data; if not, the intelligent network-connected vehicle enters the manual driving mode; If satisfied, the first environment data and the initial state data are processed according to the preset driving strategy to generate a decision instruction; the decision instruction is sent to the vehicle controller through the CAN bus, so that the vehicle controller controls the intelligent networked vehicle chassis wire control system to perform corresponding actions; After the vehicle controller controls the intelligent connected vehicle chassis wire control system to perform corresponding actions, the second environment data and the feedback status data of the intelligent connected vehicle chassis are received through the CAN bus; the decision instructions are adjusted according to the feedback status data and the second environment data to obtain the adjusted decision instructions until the intelligent connected vehicle no longer meets the conditions for entering the wire control driving mode.

[0007] Optionally, the decision instruction includes a control signal, a target vehicle speed, a requested steering angle, a braking control signal, a first reserved byte, and a second reserved byte.

[0008] Optionally, the control signal includes a light signal, a horn signal, a wire control mode enable signal and a gear signal, wherein the light signal includes a contour light signal, a low beam signal, a high beam signal and a warning light signal.

[0009] Optionally, the brake control signal includes a brake enable signal and a brake pressure value.

[0010] Optionally, the feedback status data includes first feedback status data, second feedback status data and third feedback status data.

[0011] Optionally, the first feedback status data includes vehicle basic status, remaining power, steering status, drive system status and braking system status.

[0012] Optionally, the basic status of the vehicle includes driving mode, gear status, fault status and system initialization status, and the drive system status includes drive motor status and current vehicle speed.

[0013] Optionally, the second feedback status data includes node communication status, accelerator pedal signal, brake pedal signal and body switch status, wherein the accelerator pedal signal includes accelerator pedal status and accelerator pedal opening, and the body switch status includes emergency stop switch status and key signal.

[0014] Optionally, the third feedback status data includes a fault code and accumulated mileage.

[0015] Optionally, the drive system state includes the drive motor state and torque.

[0016] The present invention has the following beneficial effects: it improves the accuracy and response speed of the intelligent networked vehicle chassis wire control system, and improves the teaching effect. Specifically, the first environmental data and the initial state data of the intelligent networked vehicle chassis are received through the CAN bus, and it is judged whether the vehicle state of the intelligent networked vehicle meets the conditions for entering the wire control driving mode; if not, the intelligent networked vehicle enters the manual driving mode; if satisfied, the first environmental data and the initial state data are processed according to the preset driving strategy, and a decision instruction is generated and sent to the vehicle controller, so that the vehicle controller controls the intelligent networked vehicle chassis wire control system to perform the corresponding action; after the vehicle controller controls and executes, the second environmental data and the feedback state data of the intelligent networked vehicle chassis are received, and the decision instruction is adjusted until the intelligent networked vehicle does not meet the conditions for entering the wire control driving mode. By simplifying the CAN control protocol and retaining only the control of the chassis wire control system, precise control of the chassis wire control system of the intelligent connected vehicle is achieved, and the response speed of the chassis wire control system is enhanced; and by refining the chassis control protocol of the whole vehicle, students can have a deeper understanding of the chassis control protocol and its strategies, thereby better adapting to teaching needs and improving teaching effectiveness. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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.

[0018] Figure 1 It is a flow chart of a whole vehicle control method of a chassis wire control system of an intelligent networked vehicle of the present invention; Figure 2 It is a hardware system architecture diagram of a manually driven vehicle of a vehicle control method of a chassis wire control system of an intelligent networked vehicle of the present invention; Figure 3 This is a hardware system architecture diagram of a vehicle in a wire-control mode of a vehicle control method of a chassis wire-control system of an intelligent networked vehicle according to the present invention; Figure 4 It is an information structure diagram of a decision instruction of a whole vehicle control method of a chassis wire control system of an intelligent networked vehicle according to the present invention; Figure 5 It is a first feedback state data structure diagram of a whole vehicle control method of a chassis wire control system of an intelligent networked vehicle according to the present invention; Figure 6 It is a second feedback state data structure diagram of a whole vehicle control method of a chassis wire control system of an intelligent networked vehicle according to the present invention; Figure 7It is a third feedback state data structure diagram of a whole vehicle control method of a chassis wire control system of an intelligent networked vehicle according to the present invention. DETAILED DESCRIPTION

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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".

[0023] 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.

[0024] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0025] like Figure 1 FIG. 1 is a flow chart showing a method for controlling a whole vehicle of a chassis wire control system of an intelligent networked vehicle according to the present invention, which specifically includes the following steps: Step 101, receiving first environmental data and initial state data of the intelligent networked vehicle chassis through the CAN bus; judging whether the vehicle state of the intelligent networked vehicle meets the conditions for entering the drive-by-wire mode according to the first environmental data and the initial state data; if not, the intelligent networked vehicle enters the manual driving mode.

[0026] In some embodiments, the execution subject of the vehicle control method of the chassis wire control system of an intelligent networked vehicle of the present invention is a computing platform, which can be a vehicle-mounted computer host. The computing platform is the "brain" of the intelligent networked vehicle, responsible for processing environmental data and vehicle status data, and performing decision-making calculations and decision-making instruction generation and other functions.

[0027] In practice, the execution subject establishes CAN communication connection with various sensors, thereby receiving the first environmental data through the CAN bus. Among them, the CAN bus is a multi-host, real-time, and efficient serial communication protocol. The CAN bus enables different on-board electronic devices to transmit information through the same bus, and has high reliability and anti-interference capabilities. In intelligent connected vehicles, the CAN bus is responsible for transmitting the information of the chassis wire control system and environmental information to the computing platform for decision-making. Intelligent connected vehicles refer to the organic combination of the Internet of Vehicles and smart cars, and eventually replace the new generation of cars operated by people. Intelligent connected vehicles are equipped with advanced on-board sensors, controllers, actuators and other devices, integrating modern communication and network technologies, and realizing intelligent information exchange and sharing between intelligent connected vehicles and people, cars, roads or backgrounds, with the characteristics of safety, comfort, energy saving and efficiency. The first environmental data refers to the environmental information collected by various sensors (such as millimeter wave radar, laser radar, camera, integrated navigation system, etc.) during the system initialization of the chassis system of the intelligent connected vehicle. This environmental information can be real-time data about the surrounding vehicles, pedestrians, traffic signs, road conditions, etc. of the intelligent connected vehicle. The chassis of an intelligent connected vehicle refers to the chassis system of an intelligent connected vehicle. The chassis system includes the steering system, braking system, drive system and other control systems of the vehicle body. Other control systems may be lights and horns, etc. At the same time, the execution subject establishes a CAN communication connection with the vehicle controller, thereby receiving the initial state data of the chassis of the intelligent connected vehicle through the CAN bus. Among them, the vehicle controller is the core control unit in an intelligent connected vehicle or a new energy vehicle, which is used to control the intelligent connected vehicle to perform specific actions. The initial state data refers to the vehicle state information after the chassis system of the intelligent connected vehicle is initialized.

[0028] On this basis, the computing platform runs the autonomous driving software, which processes the received initial state data and the first environment data. Specifically, the autonomous driving software has a set of preset judgment criteria, which are used to judge whether the intelligent networked vehicle meets the conditions for entering the drive-by-wire mode. If the judgment result is not satisfied, the intelligent networked vehicle enters the manual driving mode. The hardware system architecture diagram of the manual driving vehicle in the manual driving mode is shown in the figure below. Figure 2As shown, the feedback information from the accelerator pedal, brake pedal and gear switch is sent to the vehicle controller (VCU), and then the vehicle controller generates control instructions and sends them to the steering system, braking system, drive system, battery management system, charger and other systems. Among them, the steering system is responsible for controlling the steering angle of the vehicle's front wheels to achieve direction control. The braking system is used to slow down or stop. The drive system is responsible for providing power to drive the vehicle forward or backward. The battery management system is used to monitor and manage the status of the power battery, including current, temperature, SOC (battery state of charge) and SOH (battery health status, etc., to ensure the safe and efficient operation of the battery and prevent overcharging, over-discharging or thermal runaway. The charger is a charging device built into the vehicle, which converts external AC power into DC power to charge the power battery. The charger usually has functions such as voltage regulation, power management, and overcharge protection, and can be adapted to different types of charging piles (such as slow charging and fast charging). As an example, if the current road conditions in the first environmental data received by the smart connected car are not clear, the autonomous driving software determines that the external environment is not suitable for the smart connected car to enter the drive-by-wire mode. At this time, the smart connected car will automatically switch to the manual driving mode and remind the driver to take over the driving. If the gear state in the initial state data received by the smart connected car does not match the current scenario, the autonomous driving software determines that the state of the smart connected car itself is not suitable for entering the drive-by-wire mode. At this time, the smart connected car will automatically switch to the manual driving mode and remind the driver to take over the driving.

[0029] Step 102, if satisfied, the first environment data and the initial state data are processed according to the preset driving strategy to generate a decision instruction; the decision instruction is sent to the vehicle controller through the CAN bus, so that the vehicle controller controls the intelligent connected vehicle chassis wire control system to perform corresponding actions.

[0030] In some embodiments, the preset driving strategy is a set of pre-set logical rules used in autonomous driving to guide autonomous driving decisions. On this basis, if the first environment data and the initial state data of the intelligent networked vehicle are normal, the conditions for entering the drive-by-wire mode are met. The hardware system architecture diagram of the drive-by-wire mode vehicle in the drive-by-wire mode is shown in the figure below. Figure 3As shown, the computing platform transmits and interacts with the vehicle controller, and the vehicle controller communicates with the steering system, braking system, drive system, battery management system, charger and other systems. In the wire-controlled driving mode, the autonomous driving software carried by the computing platform analyzes the first environmental data and the initial state data based on the preset driving strategy, calculates the target information for each system in the chassis wire-controlled system, packages this information, and forms a decision instruction. Then, the decision instruction is sent to the vehicle controller through the CAN bus. Among them, the decision instruction is sent in the form of at least one data frame. In practice, the number of data frames is increased or decreased according to the functional requirements of the vehicle in practice or the specific requirements of teaching. Each frame of data includes a frame ID (Identity document) and up to 8 bytes of data, each byte consisting of 8 binary bits. As an example, the frame ID of the decision instruction is 0x110, and the data content can be E0A0000064000000, a total of 8 bytes, and the corresponding contents are control signal (E0, occupying 1 byte), target vehicle speed (A000, occupying 2 bytes), first reserved byte (00, occupying 1 byte), requested steering angle (6400, occupying 2 bytes), brake control signal (00, occupying 1 byte), second reserved byte (00, occupying 1 byte). On this basis, after the vehicle controller receives the decision instruction in the form of a data frame, the vehicle controller parses the data frame, and after parsing, converts the target information in the decision instruction into specific control instructions and sends them to the corresponding steering system, brake system, drive system and other control systems of the vehicle body, so that the intelligent networked vehicle chassis control-by-wire system performs the corresponding actions.

[0031] Step 103, after the vehicle controller controls the intelligent connected vehicle chassis wire control system to perform the corresponding action, the second environment data and the feedback status data of the intelligent connected vehicle chassis are received through the CAN bus; the decision instruction is adjusted according to the feedback status data and the second environment data to obtain the adjusted decision instruction until the intelligent connected vehicle no longer meets the conditions for entering the wire control driving mode.

[0032] In some embodiments, after the vehicle controller controls the intelligent networked vehicle chassis wire control system to perform the corresponding action, the computing platform again establishes a communication connection with various sensors through the CAN bus, and receives the second environmental data, and at the same time, establishes a communication connection with the vehicle controller through the CAN bus again, thereby receiving the feedback state data of the intelligent networked vehicle chassis. Among them, the second environmental data is the environmental information collected by various sensors after the intelligent networked vehicle chassis wire control system performs the corresponding action in the wire control mode. The second environmental data can be real-time data about the surrounding vehicles, pedestrians, traffic signs, road conditions, etc. of the intelligent networked vehicle collected by various sensors after the intelligent networked vehicle performs the corresponding action. The feedback state data is the state data of the updated intelligent networked vehicle chassis wire control system received by the computing platform after the intelligent networked vehicle chassis wire control system performs the corresponding action. Among them, the feedback state data is also received in the form of at least one data frame. As an example, the feedback state data is received in the form of three data frames, and the IDs of the three data frames are 0x101, 0x102, and 0x103 respectively. On this basis, the computing platform updates the previously generated decision instructions according to the updated state data to obtain the adjusted decision instructions. The adjusted decision instruction is an updated decision instruction. The process executed after the intelligent networked vehicle enters the drive-by-wire mode continues until the intelligent networked vehicle no longer meets the conditions for entering the drive-by-wire mode.

[0033] The decision instruction includes a control signal, a target vehicle speed, a requested steering angle, a braking control signal, a first reserved byte and a second reserved byte.

[0034] In some embodiments, the content of the decision instruction includes a control signal, a target vehicle speed, a requested steering angle, a brake control signal, a first reserved byte and a second reserved byte (eg, Figure 4 As shown). Among them, the decision instruction is a command generated by the computing platform based on environmental data, vehicle status data and preset driving strategies. The control signal is a set of data instructions sent by the computing platform to the vehicle controller through the CAN bus, instructing the vehicle to perform specific operations. The target vehicle speed is to set the target driving speed of the vehicle. It is an instruction sent to the drive system to adjust the driving state of the vehicle. The requested steering angle indicates the target steering wheel angle. It is an instruction sent to the steering system of the chassis wire control system to control the driving direction of the vehicle. The braking control signal controls the braking system of the chassis wire control system and determines the braking force of the vehicle. The first reserved byte and the second reserved byte each occupy one byte, which is a temporarily unused byte and can be changed according to specific needs.

[0035] Among them, the control signal includes a light signal, a horn signal, a wire control mode enable signal and a gear signal, wherein the light signal includes a contour light signal, a low beam light signal, a high beam light signal and a warning light signal.

[0036] In some embodiments, the control signal includes a light signal, a horn signal, a drive-by-wire mode enable signal and a gear signal. Among them, the light signal is used to indicate the external lighting status of the vehicle to ensure driving safety, and the light signal includes a contour light signal, a low beam light signal, a high beam light signal and a warning light signal. Among them, the contour light signal is used to indicate the outline of the vehicle and improve visibility. The low beam signal is used for driving at night or in low light environments to prevent dazzle from oncoming vehicles. The high beam signal is used to illuminate long-distance roads and improve nighttime visibility. The warning light signal usually refers to a double flash light, which is used for emergency parking or hazard warning. The horn signal is used to warn pedestrians, non-motor vehicles and other vehicles to avoid traffic accidents. The drive-by-wire mode enable signal is used to indicate whether the drive-by-wire mode is enabled. The gear signal is used to control the gear executed by the vehicle. Common gear signals are parking gear, reverse gear, neutral gear and forward gear. As an example, one byte of the control signal is E0, and the byte of the control signal can be split into 8-bit binary numbers, corresponding to the contour light signal, low beam light signal, high beam light signal, horn signal, warning light signal, wire control mode enable signal and gear position signal (such as Figure 4 As shown). Among them, the gear position signal occupies 2 binary digits, the outline light signal occupies 1 binary digit, the low beam light signal occupies 1 binary digit, the high beam light signal occupies 1 binary digit, the warning light signal occupies 1 binary digit, the horn signal occupies 1 binary digit, and the wire control mode enable signal occupies 1 binary digit. Binary numbers are numbers represented by two digits, 0 and 1.

[0037] The brake control signal includes a brake enable signal and a brake pressure value.

[0038] In some embodiments, the brake control signal can be split into 8-bit binary numbers, of which the brake enable signal occupies 1 binary bit and the brake pressure value occupies 7 binary bits. The brake enable signal is used to indicate whether the vehicle needs to perform a braking operation, and the brake pressure value indicates the force of the brake. As an example, when the brake enable signal is "1", the vehicle will automatically abandon the function of the signal to control the target vehicle speed, similar to the driver stepping on the brake pedal once during driving, and then releasing the brake pedal and the accelerator pedal. At this time, the vehicle is in a neutral gliding state and will gradually slow down according to friction and inertia. The brake control signal is a command sent to the braking system to achieve vehicle deceleration and parking.

[0039] The feedback status data includes first feedback status data, second feedback status data and third feedback status data.

[0040] In some embodiments, the first feedback status data, the second feedback status data and the third feedback status data correspond to three data frames with frame IDs 0x101, 0x102 and 0x103 respectively. In practice, the feedback status data can increase or decrease the number of data frames according to specific needs.

[0041] The first feedback status data includes the basic status of the vehicle, the remaining power, the steering status, the driving system status and the braking system status.

[0042] In some embodiments, the computing platform receives first feedback status data, the first feedback status data is as follows: Figure 5 As shown, the first feedback status data includes the basic status of the vehicle, the remaining power, the steering status, the drive system status and the brake system status. The basic status of the vehicle is the main information of the entire vehicle at present. The remaining power is the remaining battery power of the vehicle, which is used to monitor the endurance and prevent the driving from being affected by insufficient power. As an example, when the remaining battery power is less than 20%, the decision instruction issued by the computing platform is to limit the vehicle speed. The steering state is the current steering angle, which is used to feedback the current steering angle of the vehicle steering wheel. The drive system status is the feedback of the current drive motor status and current vehicle speed of the drive system to ensure normal power output. The brake system status is the feedback brake pressure value, which is used to feedback the current brake pressure of the brake system.

[0043] Among them, the basic status of the vehicle includes driving mode, gear status, fault status and system initialization status, and the drive system status includes the drive motor status and current vehicle speed.

[0044] In some embodiments, the driving mode is manual driving or automatic driving. The gear state is the gear that the vehicle is currently in. The fault state indicates whether the current vehicle is abnormal, and if it is abnormal, it is displayed as a fault level. Among them, the fault levels are divided into primary fault, secondary fault and tertiary fault. A primary fault means that there is a potential problem with the chassis wire control system, but it does not affect the basic functions of the vehicle. As an example, the reading of a sensor is abnormal or the performance of a component is reduced, but the vehicle can still drive safely. A secondary fault indicates that there is a more serious problem with the chassis wire control system, which may affect certain functions of the vehicle. As an example, the engine temperature is too high or the brake system is faulty, etc. It is recommended to check the vehicle as soon as possible, and the vehicle can be driven with limited power, and it may be necessary to stop in a safe situation. A third-level fault indicates that a serious fault has occurred in the chassis wire control system, which may cause the vehicle to be unable to drive safely. As an example, the power system fails or the brake fails, etc. At this time, the vehicle may enter a protection mode, limit certain functions, or even shut down completely. The system initialization state is used to indicate whether the vehicle has completed initialization. The drive system state is to feedback the current operating state of the drive motor and the real-time speed of the vehicle. As an example, the drive motor state is a power consumption state, a power generation state, a closed state, a ready state, an abnormal state, or an invalid state.

[0045] Among them, the second feedback status data includes node communication status, accelerator pedal signal, brake pedal signal and body switch status, wherein the accelerator pedal signal includes accelerator pedal status and accelerator pedal opening, and the body switch status includes emergency stop switch status and key signal.

[0046] In some embodiments, Figure 6 As shown, the second feedback state data includes the node communication state, the accelerator pedal signal, the brake pedal signal and the body switch state. Among them, the node communication state is used to indicate whether the communication of the node is abnormal. As an example, the node communication state includes the communication state of BMS (Battery Management System), OBC (On-Board Charger), EPS (Electric Power Steering), EBS (Electronic Braking System), MCU (Motor Control Unit), BCM (Body Control Module), IPC (Instrument Panel Cluster) and TPMS (tire pressure monitoring system). The accelerator pedal signal is used to feedback the current accelerator pedal state and accelerator pedal opening. Among them, the accelerator pedal state is used to indicate whether the accelerator pedal is stepped on. The accelerator pedal opening refers to the opening and closing degree of the accelerator pedal. As an example, when the received accelerator pedal state is "1", it means that the accelerator pedal is stepped on, and the received accelerator pedal opening is 10%. The brake pedal signal is the pedal status, which is used to feedback the current brake pedal status and brake pedal opening. Among them, the brake pedal status is used to indicate whether the brake pedal is pressed. The brake pedal opening is the degree of opening and closing when pressed. The opening and closing degree refers to the degree of opening or closing of a certain openable and closable component, usually expressed as a percentage or angle. The body switch status is used to feedback the key switch status of the body, including the emergency stop switch status and the key signal. Among them, the emergency stop switch status is used to indicate whether the current vehicle has triggered an emergency stop. The key signal is used to indicate whether the car key is in the car.

[0047] The third feedback status data includes a fault code and accumulated mileage.

[0048] In some embodiments, the third feedback status data is used to feedback the long-term operation status and fault information of the intelligent network-connected vehicle. Figure 7As shown, the third feedback status data includes fault code and accumulated mileage. Among them, the fault code is a standardized code recorded when the intelligent network-connected vehicle chassis wire control system detects an abnormality. In practice, 4 fault codes can be displayed at the same time, namely fault code 1, fault code 2, fault code 3 and fault code 4. The accumulated mileage indicates the total mileage of the intelligent network-connected vehicle from the factory to the present.

[0049] The driving system state includes the driving motor state and torque.

[0050] In some embodiments, the drive system status is mainly used to monitor the operation of the motor or engine. The drive motor status indicates the current working state of the motor, including the operating state, fault state, temperature state, etc., which is used to determine whether the motor is working properly. Torque refers to the torsional force generated by the motor or engine when driving the intelligent connected car. As an example, if the feedback torque error is too large, the computing platform readjusts the torque parameters. If the motor fails, the computing platform triggers an emergency stop.

[0051] In these embodiments, the accuracy and response speed of the intelligent networked vehicle chassis wire control system are improved, and the teaching effect is improved. Specifically, the first environment data and the initial state data of the intelligent networked vehicle chassis are received through the CAN bus, and it is determined whether the vehicle state of the intelligent networked vehicle meets the conditions for entering the wire control driving mode; if not, the intelligent networked vehicle enters the manual driving mode; if satisfied, the first environment data and the initial state data are processed according to the preset driving strategy, and a decision instruction is generated and sent to the vehicle controller, so that the vehicle controller controls the intelligent networked vehicle chassis wire control system to perform the corresponding action; after the vehicle controller controls and executes, the second environment data and the feedback state data of the intelligent networked vehicle chassis are received, and the decision instruction is adjusted until the intelligent networked vehicle does not meet the conditions for entering the wire control driving mode. By simplifying the CAN control protocol and retaining only the control of the chassis wire control system, precise control of the chassis wire control system of the intelligent connected vehicle is achieved, and the response speed of the chassis wire control system is enhanced; and by refining the chassis control protocol of the whole vehicle, students can have a deeper understanding of the chassis control protocol and its strategies, thereby better adapting to teaching needs and improving teaching effectiveness.

[0052] 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 whole vehicle control method for a chassis wire control system of an intelligent networked vehicle, characterized in that: include: Receiving first environment data and initial state data of the intelligent network-connected vehicle chassis through the CAN bus; Determining whether the vehicle state of the intelligent network-connected vehicle meets the conditions for entering the drive-by-wire mode according to the first environment data and the initial state data; If not, the smart connected car will enter manual driving mode; If satisfied, the first environment data and the initial state data are processed according to a preset driving strategy to generate a decision instruction; the decision instruction is sent to the vehicle controller through the CAN bus, so that the vehicle controller controls the intelligent networked vehicle chassis wire control system to perform corresponding actions; After the vehicle controller controls the intelligent connected vehicle chassis wire control system to perform corresponding actions, the second environment data and the feedback status data of the intelligent connected vehicle chassis are received through the CAN bus; according to the feedback status data and the second environment data, the decision instruction is adjusted to obtain the adjusted decision instruction until the intelligent connected vehicle no longer meets the conditions for entering the wire control driving mode.

2. The whole vehicle control method of the intelligent networked vehicle chassis wire control system according to claim 1, characterized in that: The decision instruction includes a control signal, a target vehicle speed, a requested steering angle, a braking control signal, a first reserved byte and a second reserved byte.

3. The whole vehicle control method of the intelligent networked vehicle chassis wire control system according to claim 2 is characterized in that: The control signal includes a light signal, a horn signal, a wire control mode enable signal and a gear signal, wherein the light signal includes a contour light signal, a low beam light signal, a high beam light signal and a warning light signal.

4. The whole vehicle control method of the intelligent networked vehicle chassis wire control system according to claim 3 is characterized in that: The brake control signal includes a brake enable signal and a brake pressure value.

5. The whole vehicle control method of the intelligent networked vehicle chassis wire control system according to claim 4, characterized in that: The feedback status data includes first feedback status data, second feedback status data and third feedback status data.

6. The whole vehicle control method of the intelligent networked vehicle chassis wire control system according to claim 5, characterized in that: The first feedback status data includes vehicle basic status, remaining power, steering status, driving system status and braking system status.

7. The whole vehicle control method of the intelligent networked vehicle chassis wire control system according to claim 6, characterized in that: The basic vehicle status includes driving mode, gear status, fault status and system initialization status, and the drive system status includes drive motor status and current vehicle speed.

8. The whole vehicle control method of the intelligent networked vehicle chassis wire control system according to claim 7, characterized in that: The second feedback status data includes node communication status, accelerator pedal signal, brake pedal signal and body switch status, wherein the accelerator pedal signal includes accelerator pedal status and accelerator pedal opening, and the body switch status includes emergency stop switch status and key signal.

9. The whole vehicle control method of the intelligent networked vehicle chassis wire control system according to claim 8, characterized in that: The third feedback status data includes a fault code and accumulated mileage.

10. The whole vehicle control method of the intelligent networked vehicle chassis wire control system according to claim 6, characterized in that: The driving system state includes the driving motor state and torque.

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