Drive-by-wire chassis selective installation control method and system for wide-body vehicle

Abstract

The drive-by-wire chassis selective installation control method comprises the steps that a worker starts a selective installation mode on a displayer and selects whole vehicle configuration according to requirements, after selection is completed, an instrument sends a configuration selection completion signal to a VCU controller, after the VCU controller receives the configuration selection completion signal, a whole vehicle basic system self-inspection mode is started, and the whole vehicle basic system self-inspection mode is started; if self-inspection is qualified, a qualified signal is sent, a worker accesses a drive-by-wire optional module corresponding to configuration to a chassis or replaces a basic module in a whole vehicle basic system through a physical interface, the VCU controller identifies the drive-by-wire optional module and judges whether the drive-by-wire optional module is a valid module or not, if the drive-by-wire optional module is the valid module, whole vehicle system compatibility detection is carried out, and if the drive-by-wire optional module is not the valid module, the whole vehicle system compatibility detection is carried out. And if the compatibility detection is qualified, finishing optional installation. Physical interfaces and protocol standardization design are adopted, the system expansion capacity is improved, a multi-level self-checking mechanism is established, the mode switching risk is avoided, flexible integration of an unmanned driving module is supported, and rapid switching between a traditional vehicle model and a new energy vehicle model is achieved.

Description

Technical Field

[0001] The invention relates to a control method and system for selecting and controlling a control-by-wire chassis of a wide-body vehicle, and belongs to the technical field of wide-body vehicles. Background Art

[0002] The core control system of current wide-body vehicles still mainly adopts the technical solution of traditional fuel power drive architecture combined with mechanical electronically controlled transmission. This traditional technical system has significant limitations in adapting to new energy power systems, which is specifically manifested in the insufficient expansion capability of the vehicle's underlying control architecture. The existing chassis system adopts a rigidly coupled mechanical transmission structure, which leads to a strong correlation between the physical layout and signal interaction of key execution units such as the steering system and braking system, making it difficult to achieve plug-and-play optional configuration of different functional modules.

[0003] The patent with publication number CN117950754A discloses a vehicle function selection method, device, equipment and storage medium. By presetting a configuration file containing all function variant information, an adjustment instruction is generated in combination with user needs and sent to the ECU device through the vehicle bus. Although this solution achieves the flexibility of function configuration at the software level, it has the following technical defects: Lack of hardware adaptability: The optional mechanism is limited to software parameter configuration, and no standardized protocol for the physical interface of the wire-controlled chassis module has been established. It is unable to support plug-and-play replacement or installation of key hardware such as braking / steering systems, resulting in the need for structural transformation of hardware upgrades such as new energy drive components. Insufficient dynamic compatibility detection: Compatibility verification is based only on static matching of functional parameters, lacks dynamic monitoring of the power load after the hardware module is connected, and does not introduce a real-time collaborative detection mechanism for CAN bus bandwidth utilization and controller CPU load, which poses a risk of system overload and downtime; Control logic safety defects: The command priority strategy for multi-module collaborative control is not defined, and there is a lack of complex safety condition constraints when switching to unmanned driving mode, which can easily cause control link conflicts or abnormal actuator responses, threatening driving safety.

[0004] When it is necessary to add an autonomous driving system or new energy drive components, the vehicle chassis must be structurally modified, and there is a lack of unified standards for control protocol compatibility and signal synchronization between different subsystems, which causes the complexity of system integration to increase exponentially. The inherent defects in the architecture of the patent with publication number CN117950754A make it difficult for vehicles to flexibly expand their functions according to different application scenarios, which seriously restricts the in-depth application and intelligent upgrade process of new energy technologies in the field of wide-body vehicles. Summary of the invention

[0005] Purpose of the invention: In view of the deficiencies in the prior art, the present invention provides a method and system for controlling the optional installation of a drive-by-wire chassis for a wide-body vehicle. The present invention realizes the optional installation control of the drive-by-wire chassis for a wide-body vehicle through the methods of system self-check - installation of drive-by-wire optional module - identification of drive-by-wire optional module - system compatibility detection.

[0006] Technical solution: A control method for optional installation of a wire-controlled chassis of a wide-body vehicle, comprising: The staff starts the optional mode on the display and selects the vehicle configuration according to the needs. After the selection is completed, the instrument sends a configuration selection completion signal to the VCU controller. After receiving the signal, the VCU controller starts the vehicle basic system self-test mode. If the self-test is qualified, it sends a qualified signal. The staff connects the wire control optional module corresponding to the configuration to the chassis through the physical interface or replaces the basic module in the vehicle basic system. The VCU controller identifies the wire control optional module and determines whether it is a valid module. If it is a valid module, it performs a vehicle system compatibility test. If the compatibility test is qualified, the optional installation is completed. If the vehicle basic system self-check fails, stop the optional mode and conduct troubleshooting. After the troubleshooting is completed, restart the optional mode.

[0007] Preferably, the VCU controller self-check is specifically: The VCU controller sends a self-test signal to each basic module of the vehicle basic system. After receiving the self-test signal, each basic module sends a self-test result message to the VCU controller according to the current status of each basic module. If the message result shows that it is qualified, it means that the self-test is qualified. If the message result shows that it is unqualified, it means that the basic module is in a faulty state.

[0008] Preferably, the module identification process is specifically as follows: When the physical interface triggers the insertion signal, the VCU controller sends three consecutive handshake packets containing the protocol version number to the wire control optional module. If the wire control optional module returns a response signal within three times, it is judged as a valid module. If the handshake fails three times in a row, the VCU controller sends the wire control optional module identification invalid information to the staff.

[0009] Preferably, the vehicle system compatibility test includes: Module initialization and protocol verification: Start the initialization program to check whether the communication protocol of the optional wire control module and the VCU controller is consistent; if they are consistent, perform power load detection; if they are inconsistent, determine that they are incompatible and inform the staff of the incompatibility result; Power battery load detection: Monitor the load changes of the power battery after the optional online control module is connected in real time to ensure that the voltage fluctuation range does not exceed ±5% of the nominal value, and evaluate whether the instantaneous peak current is within the safety threshold, that is, the short-term peak value is ≤150% of the rated current; if both the voltage fluctuation range and the instantaneous peak current are qualified, perform logic conflict detection, and if any condition is unqualified, it is judged as incompatible and the incompatibility result is notified to the staff; Logical conflict detection: After the VCU controller sets the priority instructions between the optional wire control module and the vehicle basic system, it runs the vehicle system and the optional wire control module to determine whether the executed instructions meet the set priority instructions, that is, the braking instructions and steering instructions are set as the highest priority instructions. If they meet, communication detection is performed. If not, the priority code is reconfigured and executed again. If it still fails to meet the set requirements after repeated execution three times, it is determined to be incompatible and the incompatibility result is notified to the staff; Communication detection: Through the CAN bus load rate test, ensure that the periodic messages of each system of the vehicle and the event trigger messages have no conflict within the preset bandwidth threshold. The preset bandwidth threshold is ≤70%. At the same time, monitor the CPU utilization of the VCU controller. Under extreme working conditions, the load rate must be lower than 60%. If the preset bandwidth threshold and load rate conditions are met at the same time, the compatibility test is judged to be qualified. If any condition is not met, it is judged to be incompatible and the incompatibility result will be notified to the staff.

[0010] Preferably, the VCU controller identifies the optional wire control module and determines that it is a valid module. The optional wire control module sends a message containing the current optional wire control module type to the VCU controller. After the VCU controller records the current optional wire control module type, it performs a vehicle system compatibility test.

[0011] Preferably, if the type message sent by the wire control optional module is an unmanned driving module message, the VCU controller divides the execution mode of the whole vehicle system into unmanned driving mode and manual driving mode and generates a corresponding control link. The staff selects the driving mode to be executed currently. After the VCU controller starts the selected driving mode, it ensures that the other driving mode is in the off state; when the manual driving mode and the unmanned driving mode are switched between each other, the corresponding switching conditions need to be met.

[0012] Preferably, if the driverless mode is switched during the manual driving mode, the switching request is executed after the following conditions are met: The vehicle is in parking brake state; The communication bus load rate is less than 70%; There are no cliffs or obstacles within 10 meters around the vehicle; Navigation map matching degree ≥ 95%, positioning accuracy error < 10 cm, environmental perception confidence > 95%; The horizontal plane inclination is less than 5°; The power system output torque is 0; If you want to switch to manual driving mode during the unmanned driving mode, you need to meet the following conditions before executing the switch request: The staff remotely sends a request signal to switch to manual driving mode. When the VCU controller sends ≥3 heartbeat packets to the staff for verification and the verification is successful, the switching process is started; The vehicle is in parking brake state; There are no cliffs or obstacles within 10 meters around the vehicle; The inclination angle of the horizontal plane is less than 5°.

[0013] Preferably, when in unmanned driving mode, if a vehicle fault occurs, the braking module is immediately activated through the VCU controller to ensure that the vehicle decelerates to a safe speed or stops within 1.5 seconds. At the same time, the VCU controller sends the current fault code and real-time image to the staff, and the staff remotely takes over the control of the vehicle. According to the current fault code, they can choose to remotely drive the vehicle at a low speed of ≤15km / h to a safe area or choose to turn off the unmanned driving mode and the vehicle parking brake, and wait for the staff to go to the site to manually switch to manual driving mode for troubleshooting.

[0014] A control system for realizing an optional control method for a drive-by-wire chassis of a wide-body vehicle comprises a vehicle basic system and a drive-by-wire optional module, wherein the vehicle basic system comprises a non-optional module and an optional module, wherein the non-optional module comprises a power battery unit, a drive unit, a range extender unit, a VCU controller, a physical interface unit, and a communication protocol unit, wherein the optional module comprises a mechanical brake module and a mechanical steering module, wherein the drive-by-wire optional module comprises a drive-by-wire brake module, a drive-by-wire steering module, an unmanned driving module, and a drive-by-wire common module, wherein the drive-by-wire brake module can replace the mechanical brake module according to configuration requirements or be installed based on the mechanical brake module, wherein the drive-by-wire steering module can be installed based on the mechanical steering module according to configuration requirements, and wherein the drive-by-wire common module is installed on the vehicle basic system according to configuration requirements.

[0015] The present invention performs modular design on the basic control system of the drive-by-wire chassis. Each module can be replaced or installed with a drive-by-wire optional module according to user needs. There is no need to structurally modify the vehicle chassis. The corresponding physical interface module only needs to be plugged with the corresponding drive-by-wire optional module to realize the optional installation of each module of the drive-by-wire chassis.

[0016] Preferably, the unmanned driving module includes a positioning and navigation module, an external perception module, a network module, and a domain controller. The positioning and navigation module and the external perception module are respectively connected to the network module signal, and the domain controller is respectively connected to the network module and the VCU controller signal.

[0017] Beneficial effects: The present invention adopts a standardized design of physical interfaces and protocols, so that key modules such as steering and braking can be replaced or installed in a plug-and-play manner, and are compatible with optional wire-controlled modules of other functions. No chassis structure modification is required when expanding functions. The module identification protocol and multiple compatibility tests performed by the VCU controller ensure seamless integration of the new modules with the basic system, thereby improving the system expansion capability; Establish a self-check mechanism to avoid identifying basic system faults as compatibility issues during compatibility testing, and preset dynamic thresholds to trigger the troubleshooting process. When switching the unmanned driving mode, set the switching conditions and combine the three-heartbeat packet verification mechanism to effectively avoid mode switching risks and enhance control reliability; Supports flexible integration of unmanned driving modules, and realizes dual-mode switching through collaborative control of domain controller and VCU. When a fault is detected, the system can perform emergency braking and initiate remote takeover, synchronously sending fault codes and real-time images, significantly shortening fault response time; Through real-time monitoring of the power battery load by the VCU, the energy distribution strategy is optimized to ensure system stability when adding high-power modules. It is very suitable for pure electric wide-body vehicles and improves the overall energy efficiency ratio.

[0018] The universal chassis can reduce the number of chassis models, which is beneficial for reducing manufacturers' inventory and enabling rapid switching between traditional models and new energy models. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0020] Figure 1 is a flow chart of the method of the present invention; Figure 2 It is a schematic diagram of the system structure of the present invention; Figure 3 It is a schematic diagram of Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of Embodiment 2 of the present invention; Figure 5 This is a schematic diagram of embodiment 3 of the present invention. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] In the description of the present invention, it is necessary to understand that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0023] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0024] like Figure 1 As shown, a control method for optional installation of a drive-by-wire chassis of a wide-body vehicle comprises: The staff starts the optional mode on the display and selects the vehicle configuration according to the needs. After the selection is completed, the instrument sends a configuration selection completion signal to the VCU controller. After receiving the signal, the VCU controller starts the vehicle basic system self-test mode. If the self-test is qualified, it sends a qualified signal. The staff connects the wire control optional module corresponding to the configuration to the chassis through the physical interface or replaces the basic module in the vehicle basic system. The VCU controller identifies the wire control optional module and determines whether it is a valid module. If it is a valid module, it performs a vehicle system compatibility test. If the compatibility test is qualified, the optional installation is completed. If the vehicle basic system self-check fails, stop the optional mode and conduct troubleshooting. After the troubleshooting is completed, restart the optional mode.

[0025] The VCU controller self-test is specifically as follows: The VCU controller sends a self-test signal to each basic module of the vehicle basic system. After receiving the self-test signal, each basic module sends a self-test result message to the VCU controller according to the current status of each basic module. If the message result shows that it is qualified, it means that the self-test is qualified. If the message result shows that it is unqualified, it means that the basic module is in a faulty state.

[0026] The module identification process is specifically as follows: When the physical interface triggers the insertion signal, the VCU controller sends three consecutive handshake packets containing the protocol version number to the wire control optional module. If the wire control optional module returns a response signal within three times, it is judged as a valid module. If the handshake fails three times in a row, the VCU controller sends the wire control optional module identification invalid information to the staff.

[0027] The vehicle system compatibility test includes: Module initialization and protocol verification: Start the initialization program to check whether the communication protocol of the optional wire control module and the VCU controller is consistent; if they are consistent, perform power load detection; if they are inconsistent, determine that they are incompatible and inform the staff of the incompatibility result; Power battery load detection: Monitor the load changes of the power battery after the optional online control module is connected in real time to ensure that the voltage fluctuation range does not exceed ±5% of the nominal value, and evaluate whether the instantaneous peak current is within the safety threshold, that is, the short-term peak value is ≤150% of the rated current; if both the voltage fluctuation range and the instantaneous peak current are qualified, perform logic conflict detection, and if any condition is unqualified, it is judged as incompatible and the incompatibility result is notified to the staff; Logical conflict detection: After the VCU controller sets the priority instructions between the optional wire control module and the vehicle basic system, it runs the vehicle system and the optional wire control module to determine whether the executed instructions meet the set priority instructions, that is, the braking instructions and steering instructions are set as the highest priority instructions. If they meet, communication detection is performed. If not, the priority code is reconfigured and executed again. If it still fails to meet the set requirements after repeated execution three times, it is determined to be incompatible and the incompatibility result is notified to the staff; Communication detection: Through the CAN bus load rate test, ensure that the periodic messages of each system of the vehicle and the event trigger messages have no conflict within the preset bandwidth threshold. The preset bandwidth threshold is ≤70%. At the same time, monitor the CPU utilization of the VCU controller. Under extreme working conditions, the load rate must be lower than 60%. If the preset bandwidth threshold and load rate conditions are met at the same time, the compatibility test is judged to be qualified. If any condition is not met, it is judged to be incompatible and the incompatibility result will be notified to the staff.

[0028] The VCU controller identifies the optional wire control module and determines that it is a valid module. The optional wire control module sends a message containing the current optional wire control module type to the VCU controller. After the VCU controller records the current optional wire control module type, it performs a vehicle system compatibility test.

[0029] If the type message sent by the wire control optional module is an unmanned driving module message, the VCU controller divides the execution mode of the whole vehicle system into unmanned driving mode and manual driving mode and generates a corresponding control link. The staff selects the driving mode to be executed currently. After the VCU controller starts the selected driving mode, it ensures that the other driving mode is in the off state; when the manual driving mode and the unmanned driving mode are switched between each other, the corresponding switching conditions need to be met.

[0030] If you want to switch to unmanned driving mode during manual driving mode, you need to meet the following conditions before executing the switch request: The vehicle is in parking brake state; The communication bus load rate is less than 70%; There are no cliffs or obstacles within 10 meters around the vehicle; Navigation map matching degree ≥ 95%, positioning accuracy error < 10 cm, environmental perception confidence > 95%; The horizontal plane inclination is less than 5°; The power system output torque is 0; If you want to switch to manual driving mode during the unmanned driving mode, you need to meet the following conditions before executing the switch request: The staff remotely sends a request signal to switch to manual driving mode. When the VCU controller sends ≥3 heartbeat packets to the staff for verification and the verification is successful, the switching process is started; The vehicle is in parking brake state; There are no cliffs or obstacles within 10 meters around the vehicle; The inclination angle of the horizontal plane is less than 5°.

[0031] When in unmanned driving mode, if a vehicle failure occurs, the braking module is immediately activated through the VCU controller to ensure that the vehicle decelerates to a safe speed or stops within 1.5 seconds. At the same time, the VCU controller sends the current fault code and real-time images to the staff, who remotely take over the control of the vehicle and choose to remotely drive the vehicle at a low speed of ≤15km / h to a safe area or turn off the unmanned driving mode and the vehicle parking brake according to the current fault code. The staff will go to the site to manually switch to manual driving mode for troubleshooting.

[0032] like Figure 2As shown, a control system for realizing an optional control method of a drive-by-wire chassis of a wide-body vehicle comprises a vehicle basic system and a drive-by-wire optional module, wherein the vehicle basic system comprises a non-optional module and an optional module, wherein the non-optional module comprises a power battery unit, a drive unit, a range extender unit, a VCU controller, a physical interface unit, and a communication protocol unit, wherein the optional module comprises a mechanical brake module and a mechanical steering module, wherein the drive-by-wire optional module comprises a drive-by-wire brake module, a drive-by-wire steering module, an unmanned driving module, and a drive-by-wire common module, wherein the drive-by-wire brake module can replace the mechanical brake module according to configuration requirements or be installed based on the mechanical brake module, wherein the drive-by-wire steering module can be installed based on the mechanical steering module according to configuration requirements, and wherein the drive-by-wire common module is installed on the vehicle basic system according to configuration requirements.

[0033] The basic control system of the drive-by-wire chassis is designed in a modular way. Each module can be replaced or installed with a drive-by-wire optional module according to user needs. There is no need to structurally modify the vehicle chassis. The corresponding drive-by-wire optional module only needs to be plugged into the corresponding physical interface module to realize the optional installation of each module of the drive-by-wire chassis. Embodiment 1

[0034] like Figure 3 As shown, for the installation of the wire control brake module, on the basis of the original mechanical brake module, namely the brake pedal, air pump, air tank, front, middle and rear brakes, mechanical pneumatic front, middle and rear brake valves, and mechanical pneumatic parking brake valves, wire control front, middle and rear brake valves and wire control parking brake valves are additionally installed for use when switching between the unmanned driving mode and the manual driving mode. For the replacement of the wire control brake module, on the basis of retaining the original brake pedal, air pump, air tank, front, middle and rear brakes, the mechanical pneumatic front, middle and rear brake valves and mechanical pneumatic parking brake valves are replaced with wire control front, middle and rear brake valves and wire control parking brake valves for use when the pure unmanned driving mode configuration is required. At the same time, a wire control surplus brake valve can be additionally installed to improve the safety of vehicle braking. Embodiment 2

[0035] like Figure 4 As shown, for the installation of the wire-controlled steering module, on the basis of the original mechanical steering module, namely the steering gear, steering pump, hydraulic oil tank, and steering axle, a wire-controlled steering motor and an angle sensor are additionally installed for use in switching between the unmanned driving mode and the manual driving mode. Embodiment 3

[0036] like Figure 5As shown, in order to endow the vehicle with other functions, the by-wire ordinary module can be retrofitted with a weighing system, an automatic drainage system, and a tire pressure detection system to meet the user's needs for dynamic monitoring and management of the load of mining vehicles, real-time monitoring of the water level of the chassis and key components and timely drainage, and prevention of tire blowout risks caused by insufficient or excessive tire pressure, thereby extending the service life of the tires.

[0037] The driverless module includes a positioning and navigation module, an external perception module, a network module, and a domain controller. The positioning and navigation module and the external perception module are respectively signal-connected to the network module, and the domain controller is respectively signal-connected to the network module and the VCU controller.

[0038] In this specification, the various embodiments are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0039] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control method for the optional installation of a wide-body vehicle's control-by-wire chassis, characterized in that: include: The staff starts the optional mode on the display and selects the vehicle configuration according to the needs. After the selection is completed, the instrument sends a configuration selection completion signal to the VCU controller. After receiving the signal, the VCU controller starts the vehicle basic system self-test mode. If the self-test is qualified, it sends a qualified signal. The staff connects the wire control optional module corresponding to the configuration to the chassis through the physical interface or replaces the basic module in the vehicle basic system. The VCU controller identifies the wire control optional module and determines whether it is a valid module. If it is a valid module, it performs a vehicle system compatibility test. If the compatibility test is qualified, the optional installation is completed. If the vehicle basic system self-check fails, stop the optional mode and conduct troubleshooting. After the troubleshooting is completed, restart the optional mode.

2. The method for controlling the optional installation of a wide-body vehicle by wire-controlled chassis according to claim 1, characterized in that: The VCU controller self-test is specifically as follows: The VCU controller sends a self-test signal to each basic module of the vehicle basic system. After receiving the self-test signal, each basic module sends a self-test result message to the VCU controller according to the current status of each basic module. If the message result shows that it is qualified, it means that the self-test is qualified. If the message result shows that it is unqualified, it means that the basic module is in a faulty state.

3. The control method for the optional installation of a wide-body vehicle by wire chassis according to claim 2, characterized in that: The module identification process is specifically as follows: When the physical interface triggers the insertion signal, the VCU controller sends three consecutive handshake packets containing the protocol version number to the wire control optional module. If the wire control optional module returns a response signal within three times, it is judged as a valid module. If the handshake fails three times in a row, the VCU controller sends the wire control optional module identification invalid information to the staff.

4. The control method for the optional installation of a wide-body vehicle by wire chassis according to claim 3, characterized in that: The vehicle system compatibility test includes: Module initialization and protocol verification: Start the initialization program to check whether the communication protocol of the optional wire control module and the VCU controller is consistent; if they are consistent, perform power load detection; if they are inconsistent, determine that they are incompatible and inform the staff of the incompatibility result; Power battery load detection: Monitor the load changes of the power battery after the optional online control module is connected in real time to ensure that the voltage fluctuation range does not exceed ±5% of the nominal value, and evaluate whether the instantaneous peak current is within the safety threshold, that is, the short-term peak value is ≤150% of the rated current; if both the voltage fluctuation range and the instantaneous peak current are qualified, perform logic conflict detection, and if any condition is unqualified, it is judged as incompatible and the incompatibility result is notified to the staff; Logical conflict detection: After the VCU controller sets the priority instructions between the optional wire control module and the vehicle basic system, it runs the vehicle system and the optional wire control module to determine whether the executed instructions meet the set priority instructions, that is, the braking instructions and steering instructions are set as the highest priority instructions. If they meet, communication detection is performed. If not, the priority code is reconfigured and executed again. If it still fails to meet the set requirements after repeated execution three times, it is determined to be incompatible and the incompatibility result is notified to the staff; Communication detection: Through the CAN bus load rate test, ensure that the periodic messages of each system of the vehicle and the event trigger messages have no conflict within the preset bandwidth threshold. The preset bandwidth threshold is ≤70%. At the same time, monitor the CPU utilization of the VCU controller. Under extreme working conditions, the load rate must be lower than 60%. If the preset bandwidth threshold and load rate conditions are met at the same time, the compatibility test is judged to be qualified. If any condition is not met, it is judged to be incompatible and the incompatibility result will be notified to the staff.

5. The method for controlling the optional installation of a control-by-wire chassis of a wide-body vehicle according to claim 4, characterized in that: The VCU controller identifies the optional wire control module and determines that it is a valid module. The optional wire control module sends a message containing the current optional wire control module type to the VCU controller. After the VCU controller records the current optional wire control module type, it performs a vehicle system compatibility test.

6. The control method for the optional installation of a wide-body vehicle by wire chassis according to claim 5, characterized in that: If the type message sent by the wire control optional module is an unmanned driving module message, the VCU controller divides the execution mode of the whole vehicle system into unmanned driving mode and manual driving mode and generates a corresponding control link. The staff selects the driving mode to be executed currently. After the VCU controller starts the selected driving mode, it ensures that the other driving mode is in the off state; when the manual driving mode and the unmanned driving mode are switched between each other, the corresponding switching conditions need to be met.

7. The control method for the optional installation of a wide-body vehicle by wire chassis according to claim 6, characterized in that: If you want to switch to unmanned driving mode during manual driving mode, you need to meet the following conditions before executing the switch request: The vehicle is in parking brake state; The communication bus load rate is less than 70%; There are no cliffs or obstacles within 10 meters around the vehicle; Navigation map matching degree ≥ 95%, positioning accuracy error < 10 cm, environmental perception confidence > 95%; The horizontal plane inclination is less than 5°; The power system output torque is 0; If you want to switch to manual driving mode during the unmanned driving mode, you need to meet the following conditions before executing the switch request: The staff remotely sends a request signal to switch to manual driving mode. When the VCU controller sends ≥3 heartbeat packets to the staff for verification and the verification is successful, the switching process is started; The vehicle is in parking brake state; There are no cliffs or obstacles within 10 meters around the vehicle; The inclination angle of the horizontal plane is less than 5°.

8. The control method for the optional installation of a wide-body vehicle by wire chassis according to claim 6, characterized in that: When in unmanned driving mode, if a vehicle failure occurs, the braking module is immediately activated through the VCU controller to ensure that the vehicle decelerates to a safe speed or stops within 1.5 seconds. At the same time, the VCU controller sends the current fault code and real-time images to the staff, who remotely take over the control of the vehicle and choose to remotely drive the vehicle at a low speed of ≤15km / h to a safe area or turn off the unmanned driving mode and the vehicle parking brake according to the current fault code. The staff will go to the site to manually switch to manual driving mode for troubleshooting.

9. A control system for realizing the wide-body vehicle's wire-controlled chassis selection control method according to claims 1 to 8, characterized in that: It includes a whole vehicle basic system and a wire control optional module, the whole vehicle basic system includes non-optional modules and optional modules, the non-optional modules include a power battery unit, a drive unit, a range extender unit, a VCU controller, a physical interface unit, and a communication protocol unit, the optional modules include a mechanical brake module and a mechanical steering module, the wire control optional modules include a wire control brake module, a wire control steering module, an unmanned driving module, and a wire control ordinary module, the wire control brake module can replace the mechanical brake module according to configuration requirements or be installed based on the mechanical brake module, the wire control steering module can be installed based on the mechanical steering module according to configuration requirements, and the wire control ordinary module is installed on the whole vehicle basic system according to configuration requirements.

10. The control system of the wire-controlled chassis selection control method for a wide-body vehicle according to claim 9, characterized in that: The unmanned driving module includes a positioning and navigation module, an external perception module, a network module, and a domain controller. The positioning and navigation module and the external perception module are respectively connected to the network module signal, and the domain controller is respectively connected to the network module and the VCU controller signal.

Images