Domain control integrated corner module driving system, corner module controller and electric vehicle

Abstract

The invention discloses a domain control integrated corner module controller and an electric vehicle, and relates to the technical field of new energy automobiles. The corner module controller is used for controlling four corner modules of the electric vehicle, the accelerator pedal sensor interface of the corner module controller is used for being connected with an accelerator pedal sensor of the electric vehicle, and the brake pedal sensor interface is used for being connected with a brake pedal sensor of the electric vehicle. The drive control interface is used for connecting the drive unit of each corner module, and the brake control interface is used for connecting the brake unit of each corner module. The control circuit is used for receiving an accelerator pedal signal and a brake pedal signal. The control circuit is used for controlling the driving unit of each angle module to output driving torque to one wheel according to the accelerator pedal opening indicated by the accelerator pedal signal and controlling the braking unit of each angle module to output braking force to one wheel according to the brake pedal opening indicated by the brake pedal signal. According to the invention, the integration level is high, the real-time response is fast, and the control precision of the electric vehicle is improved.

Description

Technical Field

[0001] The present application relates to the field of electric vehicles, and more specifically, to a domain control integrated corner module drive system, a corner module controller, and an electric vehicle. Background Art

[0002] With the further development of the electrification of electric vehicles, consumers' requirements for the ride comfort, handling and stability performance, and occupant cabin space of the whole vehicle have been further improved. The concepts of skateboard chassis and corner module have emerged. By integrating drive, braking, steering, and suspension into the four wheel ends, the available space in the occupant cabin has been greatly increased, improving the comfort of consumers. However, the components of current electric vehicles are basically independently controlled, and only the vehicle control unit (VCU) performs very few functions of cooperative control. The independent brake controller is responsible for longitudinal and lateral control. The drive control is responsible for longitudinal control by the vehicle controller. The suspension is controlled vertically by the suspension controller to control the continuous damping control (CDC) system. For the corner module, multiple independent controllers are required for separate control. Each controller works independently, and the multiple controller boxes occupy a large space. The complexity and safety level of each controller are relatively high, resulting in a high cost. At the same time, the signal interaction between the corner module and multiple controllers is affected by the communication bandwidth, with a large time delay and low control accuracy.

[0003] Therefore, how to improve the control accuracy and integration of the electric vehicle corner module is a problem to be solved. Summary of the Invention

[0004] The present application provides a domain control integrated corner module drive system, a corner module controller, and an electric vehicle. By integrating the control of the corner module with a domain control integrated corner module controller, the signals of multiple sensors are received, and multiple corner modules are controlled according to the sensor signals. The single controller box occupies less space, reduces the signal interaction time delay between multiple controllers, and has a fast real-time response.

[0005] In a first aspect, the present application provides a domain control integrated corner module drive system. The corner module drive system includes a corner module controller and four corner modules. A corner module controller is used to control the four corner modules of an electric vehicle. Each corner module includes a drive unit and a braking unit. The drive unit of each corner module is used to drive a wheel of the electric vehicle, and the braking unit of each corner module is used to brake a wheel of the electric vehicle. A corner module controller includes a housing and a control circuit. The housing includes a plurality of signal interfaces and a plurality of control interfaces. Among them, the plurality of signal interfaces include an accelerator pedal sensor interface and a brake pedal sensor interface. The accelerator pedal sensor interface is used to connect the accelerator pedal sensor of the electric vehicle, and the brake pedal sensor interface is used to connect the brake pedal sensor of the electric vehicle. The plurality of control interfaces include a drive control interface and a brake control interface. The drive control interface is used to connect the drive unit of each corner module, and the brake control interface is used to connect the braking unit of each corner module. The control circuit is used to receive the accelerator pedal signal from the accelerator pedal sensor through the internal circuit and control the drive unit of each corner module to output drive torque to a wheel according to the accelerator pedal opening indicated by the accelerator pedal signal. The control circuit is also used to receive the brake pedal signal from the brake pedal sensor through the internal circuit and control the braking unit of each corner module to output braking force to a wheel according to the brake pedal opening indicated by the brake pedal signal.

[0006] The corner module controller is the vehicle controller of the electric vehicle or a separately provided controller with control capabilities. The corner module controller is applicable to electric vehicles or hybrid vehicles. The electric vehicle is of a hub motor architecture. The electric vehicle includes four corner modules, and the corner modules include drive units and braking units. The drive unit may include a motor controller and a hub motor. Each corner module can drive or brake a wheel of the electric vehicle.

[0007] The corner module controller is connected to the sensors of the electric vehicle through a plurality of signal interfaces on the housing surface. The sensors include an accelerator pedal sensor and a brake pedal sensor. The control circuit in the corner module controller receives the signals sent by the sensors of the electric vehicle through the signal interfaces. The control circuit is used to receive the accelerator pedal signal from the accelerator pedal sensor through the internal circuit and receive the brake pedal signal from the brake pedal sensor through the internal circuit. The accelerator pedal signal from the accelerator pedal sensor is used to indicate the opening of the accelerator pedal, and the brake pedal signal from the brake pedal sensor is used to indicate the opening of the brake pedal.

[0008] The corner module controller is connected to each corner module of the electric vehicle through multiple control interfaces on the surface of the housing. The control circuit in the corner module controller sends control signals to the drive unit and the brake unit of each corner module through the control interfaces respectively, so as to control the drive unit of the corner module to output torque and control the brake unit of the corner module to output braking force.

[0009] The accelerator pedal in this application is also called the throttle pedal or the acceleration pedal. The opening degree of the accelerator pedal indicates the magnitude of the driving force required by the driver. When the opening degree of the accelerator pedal is larger, the driver's demand for driving is greater, and the corresponding torque required to be output by the drive motor is also larger. The corner module controller controls the drive unit of the corner module to output the torque indicated by the opening degree of the accelerator pedal. When the opening degree of the accelerator pedal is larger, the torque output by the drive unit of the corner module is larger. When the opening degree of the accelerator pedal is smaller, the torque output by the drive unit of the corner module is smaller. The torque output by the drive unit of the corner module changes with the change of the opening degree of the accelerator pedal.

[0010] The brake pedal in this application is also called the brake or the brake pedal. The opening degree of the brake pedal indicates the magnitude of the braking force required by the driver. When the opening degree of the brake pedal is larger, the driver's demand for braking is greater, and the torque required to be output by the brake unit of the corner module is also larger. When the vehicle is driving normally, the corner module controller controls the brake unit of the corner module to output the torque indicated by the opening degree of the brake pedal. When the opening degree of the brake pedal is larger, the braking force output by the brake unit of the corner module is larger. When the opening degree of the brake pedal is smaller, the braking force output by the brake unit of the corner module is smaller. The braking force output by the brake unit of the corner module changes with the change of the opening degree of the brake pedal.

[0011] The corner module controller is connected to the sensors and actuators of the electric vehicle through a controller area network (CAN) bus, Ethernet, local interconnect network (LIN) bus, FlexRay (a high-speed fault-tolerant network protocol), or other types of connection methods and conducts signal interaction.

[0012] The corner module controller is connected to the accelerator pedal sensor and the brake pedal sensor, and integrates the control of the drive unit and the brake unit of the corner module as a computing center. Compared with the separate control of the drive and the brake by multiple independent controllers, after obtaining the sensor signals, the multiple independent controllers perform separate calculations and send control signals to the corner module. Due to the differences in the processing time of each independent controller and the signal transmission time, there may be errors in the coordination of the drive and the brake of the corner module, resulting in a low control accuracy of the electric vehicle. However, the collaborative control by the corner module controller improves the integration and accuracy of the control. At the same time, if the corner module interacts with multiple independent controllers, there are too many communication nodes, the redundant design is complex, and the multiple independent controllers may repeatedly read and use the same sensor signal, and separately perform vehicle state calculation and estimation in their respective controllers, which will increase the computational load and waste the existing hardware resources. The integrated control by the corner module controller can reduce the number of multiple independent control boxes, integrate them into a control box of the corner module controller, reduce the requirements for the vehicle layout, and reduce the cost.

[0013] According to the solution of the present application, the signals of multiple sensors are connected to the corner module controller, and the corner module controller controls the drive and the brake of each corner module according to the signals, with high integration, fast real-time response, and improved control accuracy of the electric vehicle.

[0014] Combined with the first aspect, in some implementation manners of the first aspect, the one corner module controller is configured to receive at least two accelerator pedal signals through the accelerator pedal sensor interface and receive at least two brake pedal signals through the brake pedal sensor interface.

[0015] The corner module controller receives the accelerator pedal signals of at least two accelerator pedal sensors through the accelerator pedal sensor interface, and the corner module controller receives the brake pedal signals of at least two brake pedal sensors through the brake pedal sensor interface. The accelerator pedal usually has two sensor outputs, and the corner module controller receives the two accelerator pedal signals output by the two sensors. The brake pedal also has multiple sensors, which are divided into two groups, and the corner module controller respectively receives the brake pedal signals output by the two groups of brake pedal sensors.

[0016] In the present application, the signals output by the sensors, such as the accelerator pedal signals and the brake pedal signals, are single edge nibble transmission (SENT) signals, or analog voltage signals, or analog current signals, etc.

[0017] According to the solution of the present application, multiple sensors are provided on the accelerator pedal and the brake pedal to output sensor signals, realizing hardware redundancy and effectively improving the reliability and safety of the electric vehicle control.

[0018] In combination with the first aspect, in certain implementations of the first aspect, each corner module further includes a suspension unit for connecting a wheel of an electric vehicle to the vehicle body. The plurality of signal interfaces further include a height sensor interface for connecting a height sensor corresponding to each corner module, and the plurality of control interfaces further include a suspension control interface for connecting the suspension unit of each corner module. The control circuit is configured to receive, via an internal circuit, a height signal from the height sensor through the height sensor interface, and the control circuit is configured to control the suspension unit of each corner module to adjust the suspension damping according to the suspension height indicated by the height signal.

[0019] The corner module controller is connected to the height sensor corresponding to each corner module of the electric vehicle through the height sensor interface on the surface of the housing. The control circuit in the corner module controller receives the height signal sent by the height sensor through the height sensor interface. The control circuit is configured to receive, via an internal circuit, the height signal from the height sensor, and the height signal from the height sensor is used to indicate the vehicle body height. The corner module controller is connected to the suspension unit of each corner module through the suspension control interface on the surface of the housing, and the control circuit is configured to send a control command to the suspension unit of each corner module through the suspension control interface, so as to control the suspension unit of each corner module to adjust the suspension damping or the suspension height according to the suspension height indicated by the height signal.

[0020] The suspension unit of the corner module is used to connect the vehicle body of the electric vehicle to the wheel, and provides support, buffering and stability during the driving of the electric vehicle. The suspension unit includes a shock absorber. Each wheel is individually connected to the vehicle body of the electric vehicle through a shock absorber. For the suspension unit of the corner module with a damping adjustable shock absorber, the corner module controller sends a target damping coefficient or a target damping level to the suspension unit of the corner module, so as to adjust the damping of each shock absorber. The suspension unit of the corner module includes an air suspension or a fully active suspension. The corner module controller sends a target wheel suspension height to the suspension unit of the corner module, so as to adjust the suspension height at the wheel of the electric vehicle.

[0021] In complex driving scenarios where the electric vehicle needs to coordinate the drive, brake and suspension, such as intelligent driving, drifting, turning in place, driving on bumpy roads, etc., the corner module controller jointly controls the drive unit, brake unit and suspension unit of the corner module, and coordinately adjusts the torque output by the corner module drive unit, the braking force output by the corner module brake unit and the damping of the corner module suspension unit, improving the accuracy of the coordinated control.

[0022] According to the solution of the present application, when the electric vehicle is driving, through the coordinated control of the drive unit, brake unit and suspension unit of the corner module, the tire force can be closer to the friction circle limit, expanding the boundary of the available friction force range and improving the handling performance.

[0023] In connection with the first aspect, in certain implementations of the first aspect, each corner module further includes a steering unit. The steering unit of each corner module is configured to adjust the steering angle of a wheel of the electric vehicle. The plurality of signal interfaces further includes a displacement sensor interface, which is configured to connect to the displacement sensor of each corner module. The plurality of control interfaces further includes a steering control interface, which is configured to connect to the steering unit of each corner module. The control circuit is configured to receive, via an internal line, a displacement signal from the displacement sensor through the displacement sensor interface and to control the steering unit of each corner module to adjust the steering angle of a wheel according to the steering angle of the wheel indicated by the displacement signal output by the displacement sensor.

[0024] The corner module controller is connected to the displacement sensor of each corner module of the electric vehicle through the displacement sensor interface on the surface of the housing. The control circuit in the corner module controller receives the displacement signal sent by the displacement sensor through the displacement sensor interface. The control circuit is configured to receive, via an internal line, the displacement signal from the displacement sensor, and the displacement signal from the displacement sensor is used to indicate the steering angle of each wheel. The corner module controller is connected to the suspension unit of each corner module through the steering control interface on the surface of the housing. The control circuit is configured to send a control instruction to the steering unit of each corner module through the steering control interface, so as to control the steering unit of each corner module to adjust the steering angle of the wheel according to the steering angle of the wheel indicated by the displacement signal.

[0025] Since each corner module includes a steering unit and each corner module individually controls the steering angle of the corresponding wheel, the steering angles of each wheel can be the same or different. By changing the steering angles of the two front wheels, the driving direction of the electric vehicle can be changed. By changing the rotation angles and orientations of the two rear wheels, the steering and handling characteristics of the electric vehicle can be effectively adjusted through different steering methods. When the vehicle speed is low, when the steering direction of the rear wheels is opposite to that of the front wheels, the turning radius can be reduced, improving the overall handling and flexibility of the vehicle. When the vehicle speed is high, when the steering direction of the rear wheels is the same as that of the front wheels, the yaw moment generated by the steering operation can be effectively reduced, enhancing the driving stability of the vehicle.

[0026] According to the solution of the present application, integrating the control of the steering angle of each wheel together, in cooperation with the control of driving, braking, and suspension, can achieve more driving scenarios, improve the accuracy of vehicle steering and the passability of the vehicle, and more effectively improve the handling performance and comfort of the electric vehicle.

[0027] In combination with the first aspect, in some implementations of the first aspect, the multiple signal interfaces further include an acceleration interface and a clamping force interface. The acceleration interface is used to connect to an inertial measurement unit or a vehicle body acceleration sensor. The control circuit is configured to receive, through an internal circuit, an acceleration signal from the inertial measurement unit or the vehicle body acceleration sensor via the acceleration interface. The acceleration signal is used to indicate the vehicle body acceleration of the electric vehicle. The clamping force interface is used to connect to the clamping force sensors of each corner module. The control circuit is configured to receive, through an internal circuit, a clamping force signal from the clamping force sensors via the clamping force interface. The clamping force signal is used to indicate the magnitude of the braking force output by the braking unit of each corner module.

[0028] The corner module controller is connected to the inertial measurement unit (IMU) or the vehicle body acceleration sensor of the electric vehicle through the acceleration interface on the surface of the housing. The control circuit in the corner module controller receives the acceleration signal sent by the inertial measurement unit or the vehicle body acceleration sensor through the acceleration interface. The inertial measurement unit or the vehicle body acceleration sensor is used to sense the vehicle body acceleration of the electric vehicle. The control circuit is configured to receive the acceleration signal through an internal circuit. The acceleration signal is used to indicate the vehicle body acceleration of the electric vehicle. The corner module controller controls the suspension unit of the electric vehicle to adjust the suspension damping according to the acceleration signal.

[0029] The inertial measurement unit is not integrated in the corner module and is connected to the corner module controller through an external communication or an internal communication network or the vehicle bus. Alternatively, the inertial measurement unit is integrated in the corner module controller.

[0030] The corner module controller is connected to the electric vehicle clamping force sensor through the clamping force interface on the surface of the housing. The control circuit in the corner module controller receives the clamping force signal sent by the clamping force sensor through the clamping force interface. The clamping force sensor is used to sense the braking force output by the braking unit of the corner module. The control circuit is configured to receive the clamping force signal through an internal circuit. The clamping force signal is used for the magnitude of the braking force output by the braking unit of each corner module. The corner module controller controls the braking unit of the corner module according to the clamping force signal.

[0031] According to the solution of the present application, controlling the suspension unit of the corner module according to the acceleration signal is beneficial to reducing the vertical discomfort and improving the comfort of the electric vehicle. Controlling the braking unit of the corner module according to the clamping force signal improves the accuracy of the braking unit control and the handling performance of the vehicle.

[0032] In combination with the first aspect, in some implementations of the first aspect, the corner module controller is configured to be connected to each corner module through at least two internal controller area network buses.

[0033] The corner module controller is connected to each corner module through at least two groups of internal CAN buses, and can be increased to three or four internal CAN buses according to the actual communication load rate. In other implementation manners, other high-speed communication manners are adopted for connection. When one CAN bus fails, another CAN bus can be adopted to maintain the connection between the corner module controller and the corner module, and maintain the control of the corner module controller over the electric vehicle.

[0034] According to the solution of the present application, the corner module controller is connected through at least two CAN communications, which ensures high-speed signal transmission between the corner module controller and the corner module, and at the same time realizes device redundancy for signal transmission, improving the stability and safety of the corner module controller.

[0035] Combined with the first aspect, in some implementation manners of the first aspect, the multiple signal interfaces further include a parking switch interface for connecting to the electronic parking brake system switch of the electric vehicle, and the multiple control interfaces further include a parking control interface for connecting to the electronic parking brake system of the electric vehicle. The control circuit is configured to control the electronic parking brake system of the electric vehicle to output a parking braking force through the parking control interface.

[0036] The multiple signal interfaces of the corner module controller include a parking switch interface, and the corner module controller is connected to the electronic parking brake system switch of the electric vehicle through the parking switch interface. The electronic parking brake system switch is used to control the electronic parking system of the electric vehicle, and the driver can perform parking braking through the electronic parking brake system switch. The multiple control interfaces of the corner module controller include a parking control interface, and the control circuit is configured to control the electronic parking brake system through the parking control interface. When the electronic parking brake system switch indicates that the electric vehicle needs to park, the control circuit controls the electronic parking brake system to output a parking braking force.

[0037] According to the solution of the present application, the electronic parking brake system switch is connected to the controller integrated in the chassis domain, and the controller can control parking, improving the integration degree of the chassis domain control of the electric vehicle.

[0038] In combination with the first aspect, in some implementations of the first aspect, the corner module drive system further includes another corner module controller, which is used to connect the braking units of each corner module; one corner module controller is further used to connect the suspension units and corresponding height sensors of each corner module; the other corner module controller is further used to connect the displacement sensors and steering units of each corner module. The other corner module controller is used to, when one corner module controller fails, control the braking units of each corner module to output braking force to a wheel according to the braking pedal opening indicated by the braking pedal signal output by the braking pedal sensor, or adjust the suspension damping of the suspension unit of each corner module according to the suspension height indicated by the height signal output by each height sensor, or control the steering unit of each corner module to adjust the steering angle of a wheel according to the steering angle of the wheel indicated by the displacement signal output by each displacement sensor.

[0039] The electric vehicle further includes two domain-controlled integrated corner module controllers, where one corner module controller serves as the main controller and the other corner module controller serves as the backup controller. Each corner module controller includes two motor controllers, which are used to connect the drive units of two corner modules respectively, and the two motor controllers in the corner module controller are used to output current to the drive units of two corner modules respectively to drive two hub motors. The corner module controller serving as the main controller receives the throttle pedal sensor and the braking pedal sensor, analyzes the driver's intention, and sends control instructions to each corner module according to the throttle pedal signal and the braking pedal signal. When the corner module controller serving as the main controller fails, the corner module controller serving as the backup controller takes over the control.

[0040] The other corner module controller serving as the backup controller also receives the braking pedal signal sent by the braking pedal sensor. After the corner module controller serving as the main controller fails, the other corner module controller can implement a complete braking function, including an antilock brake system (ABS), a traction control system (TCS), and a vehicle dynamic control (VDC).

[0041] In one implementation, the two corner module controllers are exactly the same. When there are backups for the sensors of the electric vehicle, the throttle sensor and the vehicle body height sensor also support being connected to the other corner module controller serving as the backup controller.

[0042] According to the solution of the present application, the other corner module controller serving as the backup controller is used to take over the control when the corner module controller serving as the main controller fails, and can support the redundancy backup of the L3 level of intelligent driving.

[0043] In a second aspect, the present application provides a domain control integrated corner module controller. The corner module controller is used to control four corner modules of an electric vehicle. Each corner module includes a driving unit and a braking unit. The corner module controller includes a housing and a control circuit. The housing includes a plurality of signal interfaces and a plurality of control interfaces. Among them, the plurality of signal interfaces include an accelerator pedal sensor interface and a brake pedal sensor interface. The accelerator pedal sensor interface is used to connect the accelerator pedal sensor of the electric vehicle, and the brake pedal sensor interface is used to connect the brake pedal sensor of the electric vehicle. The plurality of control interfaces include a driving control interface and a braking control interface. The driving control interface is used to connect the driving unit of each corner module, and the braking control interface is used to connect the braking unit of each corner module. The control circuit is used to receive the accelerator pedal signal from the accelerator pedal sensor through the internal circuit from the accelerator pedal sensor interface and receive the brake pedal signal from the brake pedal sensor through the internal circuit from the brake pedal sensor interface. The control circuit is used to control the driving unit of each corner module to output a driving torque to a wheel according to the accelerator pedal opening indicated by the accelerator pedal signal, and control the braking unit of each corner module to output a braking force to a wheel according to the brake pedal opening indicated by the brake pedal signal.

[0044] In combination with the second aspect, in some implementation manners of the second aspect, the plurality of signal interfaces further include a height sensor interface, a displacement sensor interface, and an acceleration interface. The height sensor interface is used to connect the height sensor corresponding to each corner module, the displacement sensor interface is used to connect the displacement sensor of each corner module, and the acceleration interface is used to connect an inertial measurement unit or a vehicle body acceleration sensor. The control circuit is used to receive the height signal from the height sensor through the internal circuit from the height sensor interface, receive the displacement signal from the displacement sensor through the internal circuit from the displacement sensor interface, and receive the acceleration signal from the inertial measurement unit or the vehicle body acceleration sensor through the internal circuit from the acceleration interface.

[0045] It should be understood that the plurality of signal interfaces, such as the height sensor interface, the displacement sensor interface, and the acceleration interface, are separately provided as a plurality of individual interfaces, or the plurality of signal interfaces are provided together and connected through a total input interface. The height sensor interface, the displacement sensor interface, and the acceleration interface are respectively provided in the input interface in the form of PIN holes. The height sensor, the displacement sensor, and the acceleration sensor are connected to the input interface through a total signal line, and the plurality of signals are respectively input into the corner module controller through different PINs.

[0046] In combination with the second aspect, in some implementation manners of the second aspect, the control circuit is used to control the suspension unit of each corner module to adjust the suspension damping according to the suspension height indicated by the height signal and control the steering unit of each corner module to adjust the steering angle of a wheel according to the steering angle of the wheel indicated by the displacement signal output by the displacement sensor.

[0047] In a third aspect, the present application provides an electric vehicle, which includes two corner module controllers and four corner modules. Each corner module includes a drive unit and a braking unit. One corner module controller is used to connect the drive units of two corner modules, and the other corner module controller is used to connect the drive units of the other two corner modules. Each corner module controller is respectively used to connect the braking units of the four corner modules. One corner module controller is used to connect the accelerator pedal sensor and the brake pedal sensor of the electric vehicle. One corner module controller is used to output current to the drive units of two corner modules according to the accelerator pedal opening indicated by the accelerator pedal signal output by the accelerator pedal sensor, so that the drive units of the two corner modules respectively output torque, and control the other corner module controller to output current to the other two corner modules, so that the drive units of the other two corner modules respectively output torque. One corner module controller is also used to control the braking unit of each corner module to output braking force to a wheel according to the brake pedal opening indicated by the brake pedal signal output by the brake pedal sensor.

[0048] The electric vehicle includes four corner modules. Each corner module includes a drive unit and a braking unit. The drive unit includes a hub motor. Each corner module is used to drive or brake a wheel. The electric vehicle further includes two domain-controlled integrated corner module controllers, where one corner module controller serves as the main controller and the other corner module controller serves as the backup controller. Each corner module controller includes two motor controllers, which are used to connect the drive units of two corner modules respectively. The two motor controllers in the corner module controller are used to output current to the drive units of the two corner modules respectively to drive the two hub motors. The corner module controller serving as the main controller receives the accelerator pedal sensor and the brake pedal sensor, analyzes the driver's intention, and sends control instructions to each corner module according to the accelerator pedal signal and the brake pedal signal. When the corner module controller serving as the main controller fails, the corner module controller serving as the backup controller takes over the control.

[0049] According to the solution of the present application, two corner module controllers are provided. When the main controller fails, the backup controller takes over the control, realizing hardware redundancy of the controller and improving the safety of the vehicle.

[0050] In combination with the third aspect, in some implementation manners of the third aspect, one corner module controller is used to connect the height sensors corresponding to two corner modules, and the other corner module controller is used to connect the height sensors corresponding to the other two corner modules. One corner module control is used to connect the suspension unit of each corner module. One corner module controller is used to control the suspension unit of each corner module to adjust the suspension damping according to the suspension height indicated by the height signal output by each height sensor.

[0051] The height sensor corresponding to the corner module refers to the height sensor provided at the corner module, which is used to detect the vehicle body height at the corner module. The height sensor corresponding to the corner module is connected to the corner module controller of the corresponding axis. A corner module controller receives the height signals sent by the height sensors corresponding to the other two corner modules from another corner module controller.

[0052] According to the solution of the present application, the height sensor signal is connected to the corner module controller of the corresponding axis, reducing the connection line length and wiring difficulty, and lowering the cost.

[0053] Combined with the third aspect, in some implementation manners of the third aspect, a corner module controller is used to connect the suspension unit of each corner module and the corresponding height sensor, and a corner module controller is used to control the suspension unit of each corner module to adjust the suspension damping according to the suspension height indicated by the height signal output by each height sensor.

[0054] The height sensors corresponding to the corner modules are all connected to a corner module controller serving as the main controller. Compared with connecting the height sensors corresponding to the corner modules to the corner module controllers of the corresponding axes, the signal transmission time for obtaining the height signals sent by the height sensors corresponding to the other two corner modules from another corner module can be saved.

[0055] According to the solution of the present application, all height sensors are connected to a corner module controller, saving the time for the corner module controller to upload the height signals sent by the height sensors, reducing the communication delay, controlling the suspension unit more quickly, and improving the ride comfort of the electric vehicle.

[0056] Combined with the third aspect, in some implementation manners of the third aspect, a corner module controller is used to connect the resolver sensors corresponding to the drive units of two corner modules, and another corner module controller is used to connect the resolver sensors corresponding to the drive units of the other two corner modules. A corner module controller is further used to receive the resolver signals from the resolver sensors corresponding to the drive units of two corner modules, and another corner module controller is further used to receive the resolver signals from the resolver sensors corresponding to the drive units of the other two corner modules. The resolver signals are used to indicate the rotational speeds of the hub motors of each corner module.

[0057] The corner module controller is connected to the resolver sensor of each corner module of the electric vehicle through the resolver interface on the surface of the housing. The control circuit in the corner module controller receives the resolver signal sent by the resolver sensor through the resolver interface. The control circuit is used to receive the resolver signal from the resolver sensor through the internal circuit. The resolver signal from the resolver sensor is used to indicate the rotational speed of the hub motor of each corner module. Thus, the corner module controller controls the drive unit of the corner module according to the rotational speed of the hub motor indicated by the resolver signal.

[0058] The resolver sensor can accurately detect the position, direction and speed of the drive motor rotor, is responsible for monitoring and extracting the rotational speed of the drive motor, has a high sampling rate, is directly connected to the motor controller, has a short signal transmission time, and has higher stability.

[0059] According to the solution of the present application, the motor controller controls the drive unit of the angle module to output the torque indicated by the angle module controller according to the resolver signal indicated by the resolver sensor, improving the accuracy of the drive unit control and the maneuverability of the vehicle.

[0060] Combined with the third aspect, in some implementation manners of the third aspect, an angle module controller is used to connect the displacement sensor and the steering unit of each angle module, and an angle module controller is used to control the steering unit of each angle module to adjust the steering angle of a wheel according to the steering angle of the wheel indicated by the displacement signal output by each displacement sensor.

[0061] Combined with the third aspect, in some implementation manners of the third aspect, each angle module controller is used to connect to each angle module through at least two internal controller area network buses, and another angle module controller is used to, when an angle module controller fails, control the braking unit of each angle module to output braking force to a wheel according to the braking pedal opening indicated by the braking pedal signal output by the braking pedal sensor, or control the suspension unit of each angle module to adjust the suspension damping according to the suspension height indicated by the height signal output by each height sensor, or control the steering unit of each angle module to adjust the steering angle of a wheel according to the steering angle of the wheel indicated by the displacement signal output by each displacement sensor.

[0062] Another angle module controller as a backup controller also receives the braking pedal signal sent by the braking pedal sensor. After an angle module controller as the main controller fails, the other angle module controller can implement a complete braking function, including an antilock brake system (ABS), a traction control system (TCS), and a vehicle dynamic control (VDC).

[0063] In one implementation manner, the two angle module controllers are exactly the same. In the case where there is a backup for the sensors of the electric vehicle, the throttle sensor and the vehicle body height sensor also support being connected to another angle module controller as a backup controller.

[0064] According to the solution of the present application, another angle module controller as a backup controller is used to take over the control when an angle module controller as the main controller fails, and can support the redundancy backup of the intelligent driving L3 level.

[0065] In combination with the third aspect, in some implementation manners of the third aspect, each corner module controller includes a domain control unit and two motor controllers. The domain control unit is used to connect to the main control chips of the two motor controllers through a controller area network (CAN) bus or a serial peripheral interface (SPI) bus. The domain control unit is used to send torque signals to the main control chips of the two motor controllers respectively. The main control chip of each motor controller is used to drive the power circuit of the motor controller to output current to the drive unit of the corresponding corner module so that the drive unit outputs the torque indicated by the torque signal.

[0066] The domain control unit of the corner module controller and the main control chips of the two motor controllers are separately arranged, and high-speed communication is carried out between the domain control unit and the main control chips of the two motor controllers through a controller area network (CAN) bus or a serial peripheral interface (SPI) bus. High-speed communication of the serial peripheral interface can reduce the time delay between the domain control unit and the motor controller and improve performances such as wheel slip control.

[0067] In combination with the third aspect, in some implementation manners of the third aspect, each corner module controller includes a domain control unit and two power circuits. The domain control unit is used to drive the two power circuits respectively to output current to the drive unit of the corresponding corner module so that the drive unit outputs torque.

[0068] The corner module controller uses a high-performance main control chip as the domain control unit. The domain control unit integrates motor drive control and the control of the domain control calculation center, saving the time delay of the domain control unit sending communication instructions to the motor controller and improving performances such as wheel slip control.

[0069] For the beneficial effects in other aspects, reference can be made to the beneficial effects described in the first aspect, which will not be elaborated here. Description of the Drawings

[0070] Figure 1 is a schematic diagram of the electric vehicle architecture provided by the embodiment of the present application;

[0071] Figure 2 is a schematic diagram of the corner module controller 20 provided by the embodiment of the present application;

[0072] Figure 3 is a connection schematic diagram of a corner module controller 20 of an electric vehicle provided by the embodiment of the present application;

[0073] Figure 4 is another connection schematic diagram of a corner module controller 20 of an electric vehicle provided by the embodiment of the present application;

[0074] Figure 5It is a schematic connection diagram of another corner module controller 20 of an electric vehicle provided by an embodiment of the present application;

[0075] Figure 6 It is a schematic connection diagram of another corner module controller 20 of an electric vehicle provided by an embodiment of the present application;

[0076] Figure 7 It is a schematic diagram of a control circuit of a corner module controller provided by an embodiment of the present application;

[0077] Figure 8 It is a schematic diagram of a control circuit of another corner module controller provided by an embodiment of the present application. Specific embodiments

[0078] Next, the technical solutions in the present application will be described in conjunction with the accompanying drawings. The following detailed description of the embodiments and the drawings are used to exemplarily illustrate the principles of the present application, but cannot be used to limit the scope of the present application, that is, the present application is not limited to the described embodiments.

[0079] With the further development of the electrification of electric vehicles, consumers' requirements for the ride comfort, handling stability, and occupant cabin space of the whole vehicle have been further improved. The concepts of skateboard chassis and corner module have emerged. By integrating drive, braking, steering, and suspension into the four wheel ends, the available space in the occupant cabin has been greatly improved, enhancing the comfort of consumers. However, the components of current electric vehicles are basically independently controlled. The independent brake controller is responsible for longitudinal and lateral control. The vehicle controller is responsible for longitudinal drive control. The suspension is controlled by the suspension controller for vertical control to achieve the control of the continuous damping control (CDC) system. For the corner module, multiple independent controls are required, and each controller works independently. The multiple controller boxes occupy a large space, and the complexity and safety level of each controller are relatively high, resulting in a high cost. At the same time, the signal interaction between the corner module and multiple controllers is affected by the communication bandwidth, with a large time delay, and the control accuracy and coordination are not high.

[0080] Based on the above problems, the embodiments of the present application provide a domain control integrated corner module drive system, a corner module controller, and an electric vehicle. By integrating the control of the corner module through the domain control integrated corner module controller, receiving the signals of multiple sensors, and controlling multiple corner modules according to the sensor signals, it has a high integration degree, less space occupied by a single controller box, reduces the signal interaction time delay between multiple controllers, has a fast real-time response, and can effectively improve the control accuracy and vehicle handling performance.

[0081] Figure 1 It is a schematic diagram of the architecture of the electric vehicle 10 provided by an embodiment of the present application.

[0082] As Figure 1As shown, the electric vehicle 10 includes an angular module drive system, a power battery (not shown in the figure), and four wheels. The angular module control system includes an angular module controller 20 and four angular modules. The four angular modules are angular module 31, angular module 32, angular module 33, and angular module 34 respectively. The angular module controller 20 is used to control the four angular modules to drive or brake the four wheels respectively. Each angular module includes a drive unit and a brake unit. The drive unit of each angular module is used to drive one wheel of the electric vehicle 10, and the brake unit of each angular module is used to brake one wheel of the electric vehicle 10.

[0083] The angular module controller 20 provided in this application is the vehicle controller of the electric vehicle 10 or a separately provided controller with control capabilities.

[0084] The electric vehicle 10 further includes an accelerator pedal and a brake pedal. The accelerator pedal is used to indicate the output torque to the wheels of the electric vehicle 10. The brake pedal is used to indicate the output braking force to the wheels of the electric vehicle 10.

[0085] In one embodiment, during the process of the driver driving the vehicle, when it is necessary to drive the electric vehicle 10, the driver steps on the accelerator pedal, and the angular module outputs torque according to the opening of the accelerator pedal, thereby driving the wheels of the electric vehicle 10.

[0086] In one embodiment, during the process of the driver driving the vehicle, when it is necessary to brake the electric vehicle 10, the driver steps on the brake pedal, and the angular module outputs a clamping force to the brake disc according to the opening of the brake pedal, thereby generating a frictional braking force to make the electric vehicle 10 brake.

[0087] Figure 2 The schematic diagram of the angular module controller 20 provided in the embodiment of this application is shown.

[0088] As Figure 2 shown, the angular module controller 20 includes a housing 21 and a control circuit 22. Among them, the surface of the housing 21 includes a plurality of sensor interfaces 23 and a plurality of control interfaces 24.

[0089] Figure 3 The connection schematic diagram of an angular module controller 20 of an electric vehicle 10 provided in the embodiment of this application is shown.

[0090] As Figure 3 shown, the multiple signal interfaces 23 of the angular module controller 20 include an accelerator pedal sensor interface and a brake pedal sensor interface. The accelerator pedal sensor interface is used to connect the accelerator pedal sensor of the electric vehicle 10, and the brake pedal sensor interface is used to connect the brake pedal sensor of the electric vehicle 10.

[0091] The multiple control interfaces 24 include a drive control interface and a brake control interface. The drive control interface is used to connect to the drive unit 40 of each corner module, and the brake control interface is used to connect to the brake unit 50 of each corner module.

[0092] The control circuit 22 is configured to receive the accelerator pedal signal from the accelerator pedal sensor through the internal line from the accelerator pedal sensor interface and receive the brake pedal signal from the brake pedal sensor through the internal line from the brake pedal sensor interface.

[0093] The control circuit 22 is configured to control the drive unit 40 of each corner module to output drive torque to a wheel according to the accelerator pedal opening indicated by the accelerator pedal signal, and control the brake unit 50 of each corner module to output braking force to a wheel according to the brake pedal opening indicated by the brake pedal signal.

[0094] The corner module includes a drive unit 40, a brake unit 50, a steering unit 60, and a suspension unit 70.

[0095] In one embodiment, the drive unit 40 includes a motor controller and a hub motor. The motor controller is configured to output current to the hub motor to drive the wheel. The drive unit 40 further includes a resolver sensor (or an encoder) on the hub motor.

[0096] In one embodiment, the brake unit 50 includes a brake control board and a brake actuator. The brake actuator includes a brake motor, a reducer, and a mechanism such as a ball screw. The brake motor is used to drive the brake actuator. The brake unit 50 has basic protection functions such as over-temperature and over-voltage.

[0097] In one embodiment, the steering unit 60 includes a steering control board and a steering actuator. The steering actuator includes a steering motor, sensors such as a torque angle sensor (TAS) or a displacement sensor, a reducer, and a connecting member mechanical structure. The steering motor drives the steering actuator. The steering unit 60 has basic protection functions such as over-temperature and over-voltage.

[0098] In one embodiment, the suspension unit 70 includes a suspension control board and a suspension actuator. The suspension actuator includes a shock absorber or an air spring or a new type of linear motor-based suspension, and a connecting mechanism. Among them, the linear motor-based suspension includes a motor, and the motor is used to drive the suspension actuator. The suspension unit 70 has basic protection functions such as over-temperature and over-voltage.

[0099] In one embodiment, the wheel corner module serves as an actuator, does not include the control algorithm of the upper-level power domain, and only receives and executes the instructions issued by the corner module controller 20.

[0100] The corner module controller 20 is connected to the sensors of the electric vehicle 10 through a plurality of signal interfaces 23 on the surface of the housing 21. The sensors include an accelerator pedal sensor and a brake pedal sensor. The control circuit 22 in the corner module controller 20 receives the signals sent by the sensors of the electric vehicle 10 through the signal interfaces 23. The control circuit 22 is used to receive the accelerator pedal signal from the accelerator pedal sensor through the internal circuit, and receive the brake pedal signal from the brake pedal sensor through the internal circuit. The accelerator pedal signal from the accelerator pedal sensor is used to indicate the opening degree of the accelerator pedal, and the brake pedal signal from the brake pedal sensor is used to indicate the opening degree of the brake pedal.

[0101] The corner module controller 20 is connected to each corner module of the electric vehicle 10 through a plurality of control interfaces 24 on the surface of the housing 21. The control circuit 22 in the corner module controller 20 sends control signals to the drive unit 40 and the brake unit 50 of each corner module through the control interfaces 24 respectively, so as to control the drive unit 40 of the corner module to output torque and control the brake unit 50 of the corner module to output braking force.

[0102] In one embodiment, a plurality of signal interfaces such as a height sensor interface, a displacement sensor interface, and an acceleration interface are separately arranged as a plurality of individual interfaces. A plurality of control interfaces such as a drive control interface, a brake control interface, and a suspension control interface are separately arranged as a plurality of individual interfaces.

[0103] In another embodiment, a plurality of signal interfaces are arranged together and connected through a total input interface. The height sensor interface, the displacement sensor interface, and the acceleration interface are respectively arranged in the input interface in the form of PIN pinholes. The height sensor, the displacement sensor, and the acceleration sensor are connected to the input interface through a total signal line, and a plurality of signals are respectively input into the corner module controller through different PIN pins. A plurality of control interfaces such as a drive control interface, a brake control interface, and a suspension control interface are arranged together and connected through a total output interface. The drive control interface, the brake control interface, and the suspension control interface are respectively arranged in the input interface in the form of PIN pinholes.

[0104] The corner module controller 20 is connected to the sensors and actuators of the electric vehicle 10 through a controller area network (CAN) bus, Ethernet, a local interconnect network (LIN) bus, a FlexRay (Fault Tolerant Network Protocol), or other types of connection methods and performs signal interaction.

[0105] The corner module controller 20 is connected to the accelerator pedal sensor and the brake pedal sensor, and integrates the control of the drive unit 40 and the brake unit 50 of the corner module as a computing center. Compared with the separate control of driving and braking by multiple independent controllers, where multiple independent controllers obtain sensor signals, perform separate calculations, and send control signals to the corner module, there may be errors in the coordination of driving and braking by the corner module due to differences in the processing time of each independent controller and the signal transmission time, resulting in a lower control accuracy of the electric vehicle 10. However, the coordinated control by the corner module controller 20 improves the integration and accuracy of control. At the same time, if the corner module interacts with multiple independent controllers, there will be too many communication nodes, the redundant design will be complex, and multiple independent controllers may repeatedly read and use the same sensor signal, and separately perform vehicle state calculation and estimation within their respective controllers, which will increase the computational workload and waste the existing hardware resources. The integrated control by the corner module controller 20 can reduce the number of multiple independent control boxes and integrate them into one control box of the corner module controller 20, reducing the requirements for the vehicle layout and lowering the cost.

[0106] According to the solution of the present application, the corner module drive system connects the signals of multiple sensors to the corner module controller 20, and the corner module controller 20 controls the driving and braking of each corner module according to the signals, with high integration and fast real-time response, improving the control accuracy of the electric vehicle 10.

[0107] In one embodiment, the corner module controller 20 is used to connect to each corner module through at least two internal controller area network buses.

[0108] The corner module controller 20 is connected to each corner module through at least two groups of internal CAN buses, and can be increased to three or four internal CAN buses according to the actual communication load rate. In other implementation manners, other high-speed communication methods such as Ethernet, local area network bus, and high-speed fault-tolerant network protocol are used for connection.

[0109] When one CAN bus fails, another CAN bus can be used to maintain the connection between the corner module controller 20 and the corner module, and maintain the control of the electric vehicle 10 by the corner module controller 20.

[0110] In one embodiment, the corner module controller 20 is used to receive at least two accelerator pedal signals through the accelerator pedal sensor interface and receive at least two brake pedal signals through the brake pedal sensor interface.

[0111] The corner module controller 20 receives the accelerator pedal signals of at least two accelerator pedal sensors through the accelerator pedal sensor interface, and the corner module controller 20 receives the brake pedal signals of at least two brake pedal sensors through the brake pedal sensor interface. The accelerator pedal usually has two sensor outputs, and the corner module controller 20 receives the two accelerator pedal signals output by the two sensors. The brake pedal also has multiple sensors, which are divided into two groups, and the corner module controller 20 receives the brake pedal signals output by the two groups of brake pedal sensors respectively.

[0112] In this application, the signals output by the sensors, such as the accelerator pedal signal and the brake pedal signal, are single edge nibble transmission (SENT) signals, or analog voltage signals, or analog current signals, etc.

[0113] In one embodiment, the internal sensors of the braking unit 50 and the steering unit 60 are not connected to the corner module controller 20.

[0114] In one embodiment, the multiple signal interfaces 23 further include a displacement sensor interface for connecting the displacement sensor of each corner module, and the multiple control interfaces 24 further include a steering control interface for connecting the steering unit 60 of each corner module; the control circuit 22 is configured to receive the displacement signal from the displacement sensor through the internal line from the displacement sensor interface. The control circuit 22 is configured to control the steering unit 60 of each corner module to adjust the steering angle of a wheel according to the steering angle of the wheel indicated by the displacement signal output by the displacement sensor.

[0115] The corner module controller 20 is connected to the displacement sensor of each corner module of the electric vehicle 10 through the displacement sensor interface on the surface of the housing 21. The control circuit 22 in the corner module controller 20 receives the displacement signal sent by the displacement sensor through the displacement sensor interface. The control circuit 22 is configured to receive the displacement signal from the displacement sensor through the internal line, and the displacement signal from the displacement sensor is used to indicate the steering angle of each wheel. The corner module controller 20 is connected to the suspension unit 70 of each corner module through the steering control interface on the surface of the housing 21, and the control circuit 22 is configured to send a control instruction to the steering unit 60 of each corner module through the steering control interface, so as to control the steering unit 60 of each corner module to adjust the steering angle of the wheel according to the steering angle of the wheel indicated by the displacement signal.

[0116] Each corner module includes a steering unit 60. Each corner module independently controls the steering angle of the corresponding wheel. The steering angles of each wheel can be the same or different. By changing the steering angles of the two front wheels, the driving direction of the electric vehicle 10 can be changed. By changing the rotation angles and orientations of the two rear wheels, the steering and handling characteristics of the electric vehicle 10 can be effectively adjusted through different steering methods. When the vehicle speed is low, when the steering direction of the rear wheels is opposite to that of the front wheels, the turning radius can be reduced, improving the overall handling and flexibility of the vehicle. When the vehicle speed is high, when the steering direction of the rear wheels is the same as that of the front wheels, the yaw moment generated by the steering operation can be effectively reduced, enhancing the driving stability of the vehicle.

[0117] In one embodiment, the plurality of signal interfaces 23 further includes a height sensor interface for connecting the height sensor corresponding to each corner module, and the plurality of control interfaces 24 further includes a suspension control interface for connecting the suspension unit 70 of each corner module. The control circuit 22 is configured to receive the height signal from the height sensor through an internal line from the height sensor interface, and the control circuit 22 is configured to control the suspension unit 70 of each corner module to adjust the suspension damping according to the suspension height indicated by the height signal.

[0118] The corner module controller 20 is connected to the height sensor corresponding to each corner module of the electric vehicle 10 through the height sensor interface on the surface of the housing 21. The control circuit 22 in the corner module controller 20 receives the height signal sent by the height sensor through the height sensor interface. The control circuit 22 is configured to receive the height signal from the height sensor through an internal line, and the height signal from the height sensor is used to indicate the vehicle body height. The corner module controller 20 is connected to the suspension unit 70 of each corner module through the suspension control interface on the surface of the housing 21, and the control circuit 22 is configured to send a control instruction to the suspension unit 70 of each corner module through the suspension control interface, so as to control the suspension unit 70 of each corner module to adjust the suspension damping or suspension height according to the suspension height indicated by the height signal.

[0119] The suspension unit 70 of the corner module is used to connect the vehicle body and the wheels of the electric vehicle 10, providing support, buffering and stability during the driving of the electric vehicle 10. The suspension unit 70 includes a shock absorber. Each wheel is independently connected to the vehicle body of the electric vehicle 10 through a shock absorber. For the suspension unit 70 of the corner module with a damping adjustable shock absorber, the corner module controller 20 sends a target damping coefficient or a target damping level to the suspension unit 70 of the corner module, so as to adjust the damping of each shock absorber. The suspension unit 70 of the corner module includes an air suspension or a fully active suspension. The corner module controller 20 sends a target wheel suspension height to the suspension unit 70 of the corner module, so as to adjust the suspension height at the wheels of the electric vehicle 10.

[0120] In complex driving scenarios where the electric vehicle 10 requires the coordinated operation of drive, braking, and suspension, such as intelligent driving, drifting, in-place turning, driving on bumpy roads, etc., the corner module controller 20 jointly controls the drive unit 40, braking unit 50, and suspension unit 70 of the corner module, and cooperatively adjusts the torque output by the corner module drive unit 40, the braking force output by the corner module braking unit 50, and the damping of the corner module suspension unit 70, thereby improving the accuracy of cooperative control.

[0121] In one embodiment, the multiple signal interfaces 23 further include an acceleration interface and a clamping force interface. The acceleration interface is used to connect to an inertial measurement unit or a vehicle body acceleration sensor. The control circuit 22 is configured to receive, via an internal circuit, an acceleration signal from the inertial measurement unit or the vehicle body acceleration sensor through the acceleration interface. The acceleration signal is used to indicate the vehicle body acceleration of the electric vehicle 10. The clamping force interface is used to connect to the clamping force sensors of each corner module. The control circuit 22 is configured to receive, via an internal circuit, a clamping force signal from the clamping force sensors through the clamping force interface. The clamping force signal is used to indicate the magnitude of the braking force output by the braking unit 50 of each corner module.

[0122] The corner module controller 20 is connected to the inertial measurement unit or the vehicle body acceleration sensor of the electric vehicle 10 through the acceleration interface on the surface of the housing 21. The control circuit 22 in the corner module controller 20 receives the acceleration signal sent by the inertial measurement unit or the vehicle body acceleration sensor through the acceleration interface. The inertial measurement unit or the vehicle body acceleration sensor is used to sense the vehicle body acceleration of the electric vehicle 10. The control circuit 22 is configured to receive the acceleration signal through an internal circuit. The acceleration signal is used to indicate the vehicle body acceleration of the electric vehicle 10. The corner module controller 20 controls the suspension unit 70 of the electric vehicle 10 to adjust the suspension damping according to the acceleration signal.

[0123] The corner module controller 20 is connected to the clamping force sensors of the electric vehicle 10 through the clamping force interface on the surface of the housing 21. The control circuit 22 in the corner module controller 20 receives the clamping force signal sent by the clamping force sensors through the clamping force interface. The clamping force sensors are used to sense the braking force output by the braking unit 50 of the corner module. The control circuit 22 is configured to receive the clamping force signal through an internal circuit. The clamping force signal is used for the magnitude of the braking force output by the braking unit 50 of each corner module. The corner module controller 20 controls the braking unit 50 of the corner module according to the clamping force signal.

[0124] It should be understood that the height sensor and the acceleration sensor are vehicle sensors and are not included in the suspension actuator.

[0125] In one embodiment, the multiple signal interfaces 23 further include a parking switch interface for connecting to the electronic parking brake (EPB) switch of the electric vehicle 10. The multiple control interfaces 24 further include a parking control interface for interfacing with the electronic parking brake system of the electric vehicle 10. The control circuit 22 is configured to control the electronic parking brake system of the electric vehicle 10 to output a parking braking force through the parking control interface.

[0126] The multiple signal interfaces 23 of the corner module controller 20 include a parking switch interface. The corner module controller 20 is connected to the electronic parking brake system switch of the electric vehicle 10 through the parking switch interface. The electronic parking brake system switch is used to control the electronic parking system of the electric vehicle 10, and the driver can perform parking braking through the electronic parking brake system switch. The multiple control interfaces 24 of the corner module controller 20 include a parking control interface. The control circuit 22 is configured to control the electronic parking brake system through the parking control interface. When the electronic parking brake system switch indicates that the electric vehicle 10 needs to park, the control circuit 22 controls the electronic parking brake system to output a parking braking force.

[0127] According to the solution of the present application, the corner module domain controller and the power components are directly integrated, which occupies less space and has fast real-time response. The corner module controller 20 has high integration, low cost, fast real-time response, and supports L3 redundancy backup for intelligent driving.

[0128] Figure 4 The connection schematic diagram of another corner module controller 20 of the electric vehicle 10 provided by the embodiment of the present application is shown.

[0129] As Figure 4 shown, the electric vehicle 10 further includes another corner module controller 201.

[0130] In one embodiment, the corner module drive system further includes another corner module controller 201 for connecting to the braking unit 50 of each corner module. One corner module controller is also used to connect to the suspension unit 70 of each corner module and the corresponding height sensor. Another corner module controller is also used to connect to the displacement sensor and the steering unit 60 of each corner module. Another corner module controller 201 is configured to, when one corner module controller 20 fails, control the braking unit 50 of each corner module to output a braking force to a wheel according to the brake pedal opening indicated by the brake pedal signal output by the brake pedal sensor, or control the suspension unit 70 of each corner module to adjust the suspension damping according to the suspension height indicated by the height signal output by each height sensor, or control the steering unit 60 of each corner module to adjust the steering angle of a wheel according to the steering angle of the wheel indicated by the displacement signal output by each displacement sensor.

[0131] The electric vehicle 10 further includes two domain - integrated corner module controllers, one of the corner module controllers 20 serves as the main controller, and the other corner module controller 201 serves as the backup controller. Each corner module controller includes two motor controllers, and the two motor controllers are used to connect the drive units of two corner modules respectively. The two motor controllers in the corner module controller are used to output current to the drive units of the two corner modules respectively to drive the two hub motors. The corner module controller serving as the main controller receives the throttle pedal sensor and the brake pedal sensor, analyzes the driver's intention, and sends control instructions to each corner module according to the throttle pedal signal and the brake pedal signal. When the corner module controller serving as the main controller fails, the corner module controller serving as the backup controller takes over the control.

[0132] The corner module controller 20 serves as the main controller, and the other corner module controller 201 serves as the backup controller. When the corner module controller 20 serving as the main controller fails, the other corner module controller 201 serving as the backup controller takes over the control.

[0133] The other corner module controller 201 serving as the backup controller also receives the brake pedal signal sent by the brake pedal sensor. After the corner module controller 20 serving as the main controller fails, the other corner module controller 201 can implement a complete braking function, including an antilock brake system (ABS), a traction control system (TCS), and a vehicle dynamic control (VDC).

[0134] In one embodiment, the two corner module controllers 20 are exactly the same. When there are backups for the sensors of the electric vehicle 10, the throttle sensor and the body height sensor also support being connected to the other corner module controller 201 serving as the backup controller.

[0135] Figure 5 The connection schematic diagram of another corner module controller 20 of the electric vehicle 10 provided by the embodiment of the present application is shown.

[0136] As Figure 5 shown, the electric vehicle 10 includes two corner module controllers 20 and four corner modules. Each corner module includes a drive unit 40 and a brake unit 50. One corner module controller 20 is used to connect the drive units 40 of two corner modules, and the other corner module controller 20 is used to connect the drive units 40 of the other two corner modules.

[0137] Each corner module controller 20 is respectively used to connect the brake units 50 of the four corner modules.

[0138] An angular module controller 20 is used to connect the throttle pedal sensor and the brake pedal sensor of the electric vehicle 10. An angular module controller 20 is configured to output current to the drive units 40 of two angular modules according to the throttle pedal opening indicated by the throttle pedal signal output by the throttle pedal sensor, so that the drive units 40 of the two angular modules output torque respectively, and control another angular module controller 201 to output current to the other two angular modules, so that the drive units 40 of the other two angular modules output torque respectively.

[0139] An angular module controller 20 is further configured to control the brake unit 50 of each angular module to output a braking force to a wheel according to the brake pedal opening indicated by the brake pedal signal output by the brake pedal sensor.

[0140] In one embodiment, the drive unit 40 of the angular module includes a hub motor, and the hub motor is configured to receive current from the angular module controller 20 to drive the wheel.

[0141] The electric vehicle 10 includes two domain-controlled integrated angular module controllers 20, where one angular module controller 20 serves as the main controller, and the other angular module controller 201 serves as the backup controller. Each angular module controller 20 includes two motor controllers, and the two motor controllers are configured to connect the drive units 40 of two angular modules respectively. The two motor controllers in the angular module controller 20 are configured to output current to the drive units 40 of the two angular modules respectively to drive two hub motors. The angular module controller 20 serving as the main controller receives the throttle pedal sensor and the brake pedal sensor, analyzes the driver's intention, and sends control instructions to each angular module according to the throttle pedal signal and the brake pedal signal. When the angular module controller 20 serving as the main controller fails, the angular module controller 20 serving as the backup controller takes over the control.

[0142] According to the solution of the present application, two angular module controllers 20 are provided, and when the main controller fails, the backup controller takes over the control, realizing hardware redundancy of the controller and improving the safety of the vehicle.

[0143] In one embodiment, one angular module controller 20 is used to connect the resolver sensors corresponding to the drive units 40 of two angular modules, and the other angular module controller 20 is used to connect the resolver sensors corresponding to the drive units 40 of the other two angular modules. One angular module controller 20 is further configured to receive the resolver signals from the resolver sensors corresponding to the drive units 40 of two angular modules, and the other angular module controller 201 is further configured to receive the resolver signals from the resolver sensors corresponding to the drive units 40 of the other two angular modules. The resolver signals are used to indicate the rotational speed of the hub motor of each angular module.

[0144] The resolver module controller 20 is connected to the resolver sensors of each corner module of the electric vehicle 10 through the resolver interface on the surface of the housing 21. The control circuit 22 in the resolver module controller 20 receives the resolver signals sent by the resolver sensors through the resolver interface. The control circuit 22 is used to receive the resolver signals from the resolver sensors through the internal circuit, and the resolver signals from the resolver sensors are used to indicate the rotational speed of the hub motor of each corner module. Thus, the resolver module controller 20 controls the drive unit 40 of the corner module according to the rotational speed of the hub motor indicated by the resolver signal.

[0145] The resolver sensor can accurately detect the position, direction and speed of the drive motor rotor, is responsible for monitoring and extracting the rotational speed of the drive motor, has a high sampling rate, is directly connected to the motor controller, has a short signal transmission time, and has higher stability.

[0146] In one embodiment, one resolver module controller 20 and another resolver module controller 201 are used to receive the acceleration signals from the inertial measurement unit, and the acceleration signals are used to indicate the acceleration of the electric vehicle 10.

[0147] Since there are multiple execution units in the corner module and it is difficult to isolate vibrations, and the inertial measurement unit needs to measure the acceleration of the vehicle body, the inertial measurement unit is not integrated in the corner module and is connected to the resolver module controller 20 through an external communication or internal communication network or the vehicle bus.

[0148] In one embodiment, the inertial measurement unit is integrated in the resolver module controller.

[0149] In one embodiment, one resolver module controller 20 is used to connect the displacement sensor and the steering unit 60 of each corner module, and one resolver module controller 20 is used to control the steering unit 60 of each corner module to adjust the steering angle of a wheel according to the steering angle of the wheel indicated by the displacement signal output by each displacement sensor.

[0150] In one embodiment, each resolver module controller 20 is used to connect to each corner module through at least two internal controller area network buses. Another resolver module controller 201 is used to, when one resolver module controller 20 fails, control the braking unit 50 of each corner module to output braking force to a wheel according to the braking pedal opening indicated by the braking pedal signal output by the braking pedal sensor, or control the suspension unit 70 of each corner module to adjust the suspension damping according to the suspension height indicated by the height signal output by each height sensor, or control the steering unit 60 of each corner module to adjust the steering angle of a wheel according to the steering angle of the wheel indicated by the displacement signal output by each displacement sensor.

[0151] Another corner module controller 201 as a backup controller also receives the brake pedal signal sent by the brake pedal sensor. After a corner module controller 20 as the main controller fails, the other corner module controller 201 can implement a complete braking function, including an antilock brake system (ABS), a traction control system (TCS), and a vehicle dynamic control (VDC).

[0152] In one embodiment, one corner module controller 20 is used to connect the height sensors corresponding to two corner modules, and the other corner module controller 201 is used to connect the height sensors corresponding to the other two corner modules. One corner module controller is used to connect the suspension unit 70 of each corner module. One corner module controller 20 is used to control the suspension unit 70 of each corner module to adjust the suspension damping according to the suspension height indicated by the height signal output by each height sensor.

[0153] The height sensor corresponding to a corner module refers to the height sensor provided at that corner module, and this height sensor is used to detect the vehicle body height at that corner module. The height sensor corresponding to a corner module is connected to the corner module controller 20 of the axis where it is located. One corner module controller 20 receives the height signals sent by the height sensors corresponding to the other two corner modules from the other corner module controller 201.

[0154] According to the solution of the present application, the height sensor signal is connected to the corner module controller 20 of the corresponding axis, which reduces the connection line length and wiring difficulty and lowers the cost.

[0155] In one implementation, the two corner module controllers 20 are exactly the same. When there is a backup for the sensors of the electric vehicle 10, the throttle sensor and the vehicle body height sensor also support being connected to the other corner module controller 201 as a backup controller.

[0156] Figure 6 Fig. shows a connection schematic diagram of another corner module controller 20 of the electric vehicle 10 provided by the embodiment of the present application.

[0157] In one embodiment, as Figure 6 shown, one corner module controller 20 is used to connect the suspension unit 70 of each corner module and the corresponding height sensor. One corner module controller 20 is used to control the suspension unit 70 of each corner module to adjust the suspension damping according to the suspension height indicated by the height signal output by each height sensor.

[0158] The height sensors corresponding to the corner modules are all connected to a corner module controller 20 serving as the main controller. Compared with connecting the height sensors corresponding to the corner modules to the corner module controller 20 of the corresponding axis, the signal transmission time for obtaining the height signals sent by the height sensors corresponding to the other two corner modules from another corner module can be saved.

[0159] According to the solution of the present application, all height sensors are connected to a corner module controller 20, saving the time for the corner module controller 20 to upload the height signals sent by the height sensors, reducing the communication delay, controlling the suspension unit 70 more quickly, and improving the ride comfort of the electric vehicle 10.

[0160] It should be understood that the connecting lines in the above figures are only for illustration. Each connecting line may correspond to multiple actual cables, and multiple connecting lines may also correspond to a combined actual cable.

[0161] Figure 7 and Figure 8 The schematic diagrams of the control circuits 22 of two corner module controllers 20 provided by the embodiments of the present application are shown.

[0162] In one embodiment, as Figure 7 shown, each corner module controller 20 includes a domain control unit and two motor controllers. The domain control unit is used to connect to the main control chips of the two motor controllers through a controller area network bus or a serial peripheral interface bus. The domain control unit is used to send torque signals to the main control chips of the two motor controllers respectively. The main control chip of each motor controller is used to drive the power circuit of the motor controller to output current to the drive unit 40 of the corresponding corner module so that the drive unit 40 outputs the torque indicated by the torque signal.

[0163] The domain control unit of the corner module controller 20 and the main control chips of the two motor controllers are separately arranged, and high-speed communication is carried out between the domain control unit of the corner module controller 20 and the main control chips of the two motor controllers through a controller area network (CAN) bus or a serial peripheral interface (SPI) bus. High-speed communication through the serial peripheral interface can reduce the delay between the domain control unit and the motor controller and improve performance such as wheel slip control.

[0164] In one embodiment, as Figure 8 shown, each corner module controller 20 includes a domain control unit and two power circuits. The domain control unit is used to drive the two power circuits respectively to output current to the drive unit 40 of the corresponding corner module so that the drive unit 40 outputs torque.

[0165] The corner module controller 20 uses a high-performance main control chip as the domain control unit. The domain control unit integrates the motor drive control and the control of the domain control computing center, saving the time delay of the domain control unit sending communication instructions to the motor controller and improving performances such as wheel slip control.

[0166] The above are only the specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A domain control integrated corner module drive system, characterized in that The corner module drive system includes a corner module controller and four corner modules. The corner module controller is used to control the four corner modules of the electric vehicle. Each corner module includes a drive unit and a braking unit. The drive unit of each corner module is used to drive a wheel of the electric vehicle, and the braking unit of each corner module is used to brake a wheel of the electric vehicle. The corner module controller includes a housing and a control circuit. The housing includes a plurality of signal interfaces and a plurality of control interfaces, where; The plurality of signal interfaces include an accelerator pedal sensor interface and a brake pedal sensor interface. The accelerator pedal sensor interface is used to connect the accelerator pedal sensor of the electric vehicle, and the brake pedal sensor interface is used to connect the brake pedal sensor of the electric vehicle. The plurality of control interfaces include a drive control interface and a brake control interface. The drive control interface is used to connect the drive unit of each corner module, and the brake control interface is used to connect the braking unit of each corner module; The control circuit is used to receive the accelerator pedal signal from the accelerator pedal sensor through the internal circuit from the accelerator pedal sensor interface and control the drive unit of each corner module to output drive torque to a wheel according to the accelerator pedal opening indicated by the accelerator pedal signal. The control circuit is also used to receive the brake pedal signal from the brake pedal sensor through the internal circuit from the brake pedal sensor interface and control the braking unit of each corner module to output braking force to a wheel according to the brake pedal opening indicated by the brake pedal signal.

2. The angular module drive system according to claim 1, characterized in that The corner module controller is used to receive at least two paths of the accelerator pedal signals through the accelerator pedal sensor interface and receive at least two paths of the brake pedal signals through the brake pedal sensor interface.

3. The angular module drive system according to claim 1 or 2, characterized in that, Each corner module further includes a suspension unit. The suspension unit is used to connect a wheel of the electric vehicle and the vehicle body. The plurality of signal interfaces further include a height sensor interface. The height sensor interface is used to connect the height sensor corresponding to each corner module. The plurality of control interfaces further include a suspension control interface. The suspension control interface is used to connect the suspension unit of each corner module; The control circuit is used to receive the height signal from the height sensor through the internal circuit from the height sensor interface. The control circuit is used to control the suspension unit of each corner module to adjust the suspension damping according to the suspension height indicated by the height signal.

4. The angular module drive system according to any one of claims 1-3, characterized in that, Each corner module further includes a steering unit. The steering unit of each corner module is used to adjust the steering angle of a wheel of the electric vehicle. The plurality of signal interfaces further include a displacement sensor interface. The displacement sensor interface is used to connect the displacement sensor of each corner module. The plurality of control interfaces further include a steering control interface. The steering control interface is used to connect the steering unit of each corner module; The control circuit is configured to receive a displacement signal from the displacement sensor through an internal line from the displacement sensor interface and to control the steering unit of each of the corner modules to adjust the steering angle of a wheel according to the steering angle of the wheel indicated by the displacement signal output by the displacement sensor.

5. The corner module drive system according to any one of claims 1-4, characterized in that The plurality of signal interfaces further include an acceleration interface and a clamping force interface. The acceleration interface is used to connect an inertial measurement unit or a vehicle body acceleration sensor. The control circuit is configured to receive an acceleration signal from the inertial measurement unit or the vehicle body acceleration sensor through an internal line from the acceleration interface. The acceleration signal is used to indicate the vehicle body acceleration of the electric vehicle. The clamping force interface is used to connect the clamping force sensors of each corner module. The control circuit is configured to receive a clamping force signal from the clamping force sensors through an internal line from the clamping force interface. The clamping force signal is used to indicate the magnitude of the braking force output by the braking unit of each corner module.

6. The angular module drive system according to any one of claims 1-5, characterized in that, One corner module controller is configured to be connected to each of the corner modules through at least two internal controller area network buses.

7. The angular module drive system according to any one of claims 1 to 6, characterized in that, The plurality of signal interfaces further include a parking switch interface. The parking switch interface is used to connect the electronic parking brake system switch of the electric vehicle. The plurality of control interfaces further include a parking control interface. The parking control interface is used to interface and connect the electronic parking brake system of the electric vehicle. The control circuit is configured to control the electronic parking brake system of the electric vehicle to output a parking braking force through the parking control interface.

8. The angular module drive system according to any one of claims 5-7, characterized in that, The corner module drive system further includes another corner module controller. The another corner module controller is used to connect the braking unit of each corner module. The one corner module controller is further used to connect the suspension unit and the corresponding height sensor of each corner module. The another corner module controller is further used to connect the displacement sensor and the steering unit of each corner module. The another corner module controller is configured to: When the one corner module controller fails, control the braking unit of each corner module to output a braking force to a wheel according to the brake pedal opening indicated by the brake pedal signal output by the brake pedal sensor, or control the suspension unit of each corner module to adjust the suspension damping according to the suspension height indicated by the height signal output by each height sensor, or control the steering unit of each corner module to adjust the steering angle of a wheel according to the steering angle of the wheel indicated by the displacement signal output by each displacement sensor.

9. A domain control integrated corner module controller, characterized in that, The corner module controller is configured to control four corner modules of the electric vehicle. Each corner module includes a drive unit and a braking unit. The corner module controller includes a housing and a control circuit. The housing includes a plurality of signal interfaces and a plurality of control interfaces, wherein; The plurality of signal interfaces include an accelerator pedal sensor interface and a brake pedal sensor interface. The accelerator pedal sensor interface is used to connect the accelerator pedal sensor of the electric vehicle. The brake pedal sensor interface is used to connect the brake pedal sensor of the electric vehicle. The multiple control interfaces include a drive control interface and a brake control interface. The drive control interface is used to connect the drive units of each of the corner modules, and the brake control interface is used to connect the brake units of each of the corner modules; The control circuit is configured to receive a throttle pedal signal from the throttle pedal sensor via an internal line from the throttle pedal sensor interface and receive a brake pedal signal from the brake pedal sensor via the internal line from the brake pedal sensor interface; The control circuit is configured to control the drive unit of each corner module to output a driving torque to a wheel according to the throttle pedal opening indicated by the throttle pedal signal, and control the brake unit of each corner module to output a braking force to a wheel according to the brake pedal opening indicated by the brake pedal signal.

10. The corner module controller according to claim 9, characterized in that, The multiple signal interfaces further include a height sensor interface, a displacement sensor interface, and an acceleration interface. The height sensor interface is used to connect the height sensor corresponding to each corner module, the displacement sensor interface is used to connect the displacement sensor of each corner module, and the acceleration interface is used to connect an inertial measurement unit or a vehicle body acceleration sensor; The control circuit is configured to receive a height signal from the height sensor via an internal line from the height sensor interface, receive a displacement signal from the displacement sensor via the internal line from the displacement sensor interface, and receive an acceleration signal from the inertial measurement unit or the vehicle body acceleration sensor via the acceleration interface.

11. The corner module controller according to claim 10, characterized in that, The control circuit is configured to control the suspension unit of each corner module to adjust the suspension damping according to the suspension height indicated by the height signal and control the steering unit of each corner module to adjust the steering angle of a wheel according to the steering angle of the wheel indicated by the displacement signal output by the displacement sensor.

12. An electric vehicle, characterized in that, The electric vehicle includes two corner module controllers and four corner modules. Each corner module includes a drive unit and a brake unit. One of the corner module controllers is used to connect the drive units of two corner modules, and the other corner module controller is used to connect the drive units of the other two corner modules. Each of the corner module controllers is respectively used to connect the brake units of the four corner modules, One of the corner module controllers is used to connect the throttle pedal sensor and the brake pedal sensor of the electric vehicle. One of the corner module controllers is configured to output a current to the drive units of the two corner modules according to the throttle pedal opening indicated by the throttle pedal signal output by the throttle pedal sensor so that the drive units of the two corner modules respectively output torques, and control the other corner module controller to output a current to the other two corner modules so that the drive units of the other two corner modules respectively output torques; One of the corner module controllers is further configured to control the brake unit of each corner module to output a braking force to a wheel according to the brake pedal opening indicated by the brake pedal signal output by the brake pedal sensor.

13. The electric vehicle according to claim 12, characterized in that, One of the corner module controllers is used to connect the height sensors corresponding to the two corner modules, and the other corner module controller is used to connect the height sensors corresponding to the other two corner modules. One of the corner module controllers is used to connect the suspension unit of each of the corner modules. The one corner module controller is configured to: Control the suspension unit of each corner module to adjust the suspension damping according to the suspension height indicated by the height signal output by each height sensor.

14. The electric vehicle according to claim 12, characterized in that, One of the corner module controllers is used to connect the suspension unit and the corresponding height sensor of each corner module. The one corner module controller is configured to: Control the suspension unit of each corner module to adjust the suspension damping according to the suspension height indicated by the height signal output by each height sensor.

15. The electric vehicle according to any one of claims 12 - 14, characterized in that, One of the corner module controllers is used to connect the resolver sensors corresponding to the drive units of the two corner modules, and the other corner module controller is used to connect the resolver sensors corresponding to the drive units of the other two corner modules. The one corner module controller is further configured to receive resolver signals from the resolver sensors corresponding to the drive units of the two corner modules; the other corner module controller is further configured to receive resolver signals from the resolver sensors corresponding to the drive units of the other two corner modules. The resolver signals are used to indicate the rotational speed of the hub motor of each corner module.

16. The electric vehicle according to any one of claims 12 - 15, characterized in that, One of the corner module controllers is used to connect the displacement sensor and the steering unit of each corner module. The one corner module controller is configured to: Control the steering unit of each corner module to adjust the steering angle of one wheel according to the steering angle of the wheel indicated by the displacement signal output by each displacement sensor.

17. The electric vehicle according to claim 16, characterized in that, Each corner module controller is used to connect to each corner module through at least two internal controller area network buses. The other corner module controller is configured to: When the one corner module controller fails, control the braking unit of each corner module to output braking force to one wheel according to the brake pedal opening indicated by the brake pedal signal output by the brake pedal sensor, or control the suspension unit of each corner module to adjust the suspension damping according to the suspension height indicated by the height signal output by each height sensor, or control the steering unit of each corner module to adjust the steering angle of one wheel according to the steering angle of the wheel indicated by the displacement signal output by each displacement sensor.

18. The electric vehicle according to any one of claims 12-17, characterized in that, Each corner module controller includes a domain control unit and two motor controllers. The domain control unit is used to connect to the main control chips of the two motor controllers through a controller area network bus or a serial peripheral interface bus. The domain control unit is configured to send torque signals to the main control chips of the two motor controllers respectively. The main control chip of each motor controller is used to drive the power circuit of the motor controller to output current to the drive unit of the corresponding corner module so that the drive unit outputs the torque indicated by the torque signal.

19. The electric vehicle according to any one of claims 12-17, characterized in that, Each corner module controller includes a domain control unit and two power circuits. The domain control unit is used to drive the two power circuits respectively to output current to the drive units of the corresponding corner modules so that the drive units output torque.

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