Chassis domain integrated controller and electric vehicle for realizing intelligent driving execution layer integration

Abstract

The invention discloses a chassis domain integrated controller and an electric vehicle for realizing intelligent driving execution layer integration, and relates to the technical field of new energy automobiles. A controller for controlling a drive system, a brake system, and a suspension system of an electric vehicle according to a plurality of sensor signals includes a housing and a control circuit. The sensor interfaces on the surface of the shell are used for being connected with an accelerator pedal sensor, a brake pedal sensor and a height sensor respectively, and the control interfaces on the surface of the shell are used for being connected with a power assembly, a wheel end brake device and a suspension system respectively. The control circuit is used for controlling the power assembly according to the accelerator pedal opening indicated by the accelerator pedal signal, controlling the four wheel end braking devices to brake the four wheels according to the brake pedal opening indicated by the brake pedal signal and controlling the suspension system to adjust suspension damping according to the vehicle body height indicated by the height signal. According to the scheme, the chassis domain controller is high in integration level and fast in real-time response, 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 particularly, to a controller integrated in a chassis domain and an electric vehicle implementing integration of an intelligent driving execution layer. 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 are further improved. Currently, the components of 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 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 air spring of the continuous damping control (CDC) system. Each actuator is basically in an independent working state, and there is no overall cooperative controller. During driving, each controller needs to separately receive sensor signals and send control signals to each actuator, resulting in a large impact on signal delay and low control accuracy and coordination.

[0003] Therefore, how to improve the integration and coordination of the chassis domain control of electric vehicles is a problem to be solved. Summary of the Invention

[0004] The present application provides a controller integrated in a chassis domain and an electric vehicle implementing integration of an intelligent driving execution layer. By connecting the signals of multiple sensors to the controller integrated in the chassis domain, the controller integrated in the chassis domain controls the drive, brake, and suspension according to the signals, with high integration and fast real-time response.

[0005] In a first aspect, the present application provides a chassis domain integrated controller, which is used to control the drive system, braking system, and suspension system of an electric vehicle according to sensor signals from an accelerator pedal sensor, a brake pedal sensor, and a height sensor. The controller includes a housing and a control circuit. Among them, the housing surface includes a plurality of sensor interfaces and a plurality of control interfaces. The plurality of sensor interfaces are respectively used to connect the accelerator pedal sensor, the brake pedal sensor, and the height sensor. The plurality of control interfaces are used to connect the powertrain, four wheel-end braking devices, and the suspension system of the electric vehicle respectively. The control circuit is used to receive the accelerator pedal signal from the accelerator pedal sensor through the internal circuit, receive the brake pedal signal from the brake pedal sensor through the internal circuit, and receive the height signal from the height sensor through the internal circuit. The control circuit is used to control the powertrain to drive the wheels of the electric vehicle according to the accelerator pedal opening indicated by the accelerator pedal signal, control the four wheel-end braking devices to brake the four wheels of the electric vehicle according to the brake pedal opening indicated by the brake pedal signal, and control the suspension system to adjust the suspension damping according to the vehicle body height indicated by the height signal.

[0006] The chassis domain integrated controller is the vehicle controller of the electric vehicle or a separately provided controller with control capabilities. The chassis domain integrated controller is applicable to electric vehicles or hybrid vehicles. The electric vehicle has a distributed motor or a centralized motor architecture and has multiple drive motors and multiple motor controllers. The drive motor is a wheel-side motor or a hub motor, and the drive motor independently drives one wheel of the vehicle.

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

[0008] The accelerator pedal in this application is also known as the throttle pedal or the acceleration pedal. The opening degree of the accelerator pedal indicates the magnitude of the driving force demanded 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 controller controls the drive motor 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 motor is larger. When the opening degree of the accelerator pedal is smaller, the torque output by the drive motor is smaller. The torque output by the controller to control the drive motor changes with the change in the opening degree of the accelerator pedal. The brake pedal in this application is also known as the brake or the brake pedal. The opening degree of the brake pedal indicates the magnitude of the braking force demanded 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 braking system is also larger. When the vehicle is traveling normally, the controller controls the wheel-end braking device to output the torque indicated by the opening degree of the brake pedal according to the opening degree of the brake pedal. When the opening degree of the brake pedal is larger, the braking force output by the wheel-end braking device is larger. When the opening degree of the brake pedal is smaller, the braking force output by the wheel-end braking device is smaller. The braking force output by the wheel-end braking device changes with the change in the opening degree of the brake pedal. The electric vehicle includes multiple wheel-end braking devices, and each wheel corresponds to at least one wheel-end braking device. The wheel-end braking device is used to output a braking force to the corresponding wheel to brake the electric vehicle.

[0009] The suspension system is used to connect the body of the electric vehicle and the wheels, and provides support, buffering and stability during the driving process of the electric vehicle. The suspension system includes shock absorbers. Each wheel is individually connected to the body of the electric vehicle through a shock absorber. For a suspension system with damping-adjustable shock absorbers, the controller sends a target damping coefficient or a target damping level to the suspension system, thereby adjusting the damping of each shock absorber. The suspension system includes an air suspension or a fully active suspension. The controller sends a target wheel suspension height to the suspension system, thereby adjusting the suspension height at the wheels of the electric vehicle.

[0010] The controller of the chassis domain integration is connected to the actuators of the electric vehicle through multiple control interfaces on the surface of the housing. The actuators include the powertrain, the wheel-end braking device and the suspension system. The control circuit in the controller of the chassis domain integration sends control signals to multiple actuators through the control interfaces respectively, thereby controlling the powertrain to output torque, controlling the wheel-end braking device to output braking force, and controlling the suspension system to adjust the suspension damping.

[0011] The controller of the chassis domain integration is connected to the sensors and actuators of the electric vehicle through a controller area network (CAN) bus, a local interconnect network (LIN) bus, a FlexRay (Fault Tolerant Serial Communication System) or other types of connection methods and conducts signal interaction.

[0012] The controller for chassis domain integration is connected to the accelerator pedal sensor, brake pedal sensor, and height sensor, and integrates the control of the electric vehicle's drive system, braking system, and suspension system as a computing center. In driving scenarios where the electric vehicle requires the cooperation of the drive system, braking system, and suspension system, such as intelligent driving, drifting, and driving on bumpy roads, the controller for chassis domain integration jointly controls the powertrain, wheel-end braking device, and suspension, and coordinately adjusts the torque output by the powertrain, the braking force output by the wheel-end braking device, and the damping of the suspension system, improving the accuracy of cooperative control. When the electric vehicle is driving, through the cooperative control of the drive system, braking system, and suspension system, the tire force can be closer to the friction circle limit, expanding the boundary of the available friction force range and enhancing the handling performance.

[0013] Compared with the separate control by multiple independent controllers, the cooperative control by the controller for chassis domain integration improves the integration degree and accuracy of control. After obtaining the sensor signals, multiple independent controllers perform separate calculations and send control signals to the actuators. Due to the differences in the processing time of each independent controller and the signal transmission time, there may be errors in the cooperation between multiple actuators, resulting in a lower control accuracy of the electric vehicle. At the same time, each actuator independently interacts with other domain controls, with too many communication nodes, complex redundant design, and the controller may repeatedly read and use the same sensor signal, and separately perform vehicle state calculation and estimation within its own controller, which will cause an increase in the calculation amount and a waste of existing hardware resources. The integrated control by the controller for chassis domain integration can reduce the number of control boxes for each actuator, integrate them into the control box of a controller for chassis domain integration, reduce the requirements for vehicle layout, and lower the cost.

[0014] According to the solution of this application, the signals of multiple sensors are connected to the controller for chassis domain integration, and the controller for chassis domain integration controls the drive, brake, and suspension according to the signals, with high integration degree and fast real-time response, improving the control accuracy of the electric vehicle.

[0015] Combined with the first aspect, in some implementation manners of the first aspect, the multiple control interfaces include a drive control interface, and the drive control interface is used to connect to the motor controller of the powertrain through at least two internal controller area network buses. The multiple control interfaces include a brake control interface, and the brake control interface is used to connect to four wheel-end braking devices through at least two internal controller area network buses.

[0016] The multiple control interfaces of the chassis domain integrated controller include a drive control interface and a brake control interface. The drive control interface is used to connect to the motor controller of the powertrain, and the brake control interface is used to connect to the four-wheel end brake devices. The chassis domain integrated controller is connected to each motor controller and each wheel end brake device 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 are used for connection. When one CAN bus fails, another CAN bus can be used to maintain the connection between the controller and the actuator, and maintain the control of the electric vehicle by the controller.

[0017] According to the solution of the present application, the chassis domain integrated controller is connected through at least two-way CAN communication, which ensures high-speed signal transmission between the controller and the actuator, and at the same time realizes device redundancy for signal transmission, improving the stability and safety of the chassis domain integrated controller.

[0018] Combined with the first aspect, in some implementation manners of the first aspect, the multiple control interfaces include a suspension control interface, and the controller is used to connect to the suspension controller of the electric vehicle through the suspension control interface. The control circuit is used to send a suspension signal to the suspension controller, and the suspension signal is used to instruct the suspension controller to drive the suspension actuator to adjust the suspension damping.

[0019] The multiple control interfaces of the chassis domain integrated controller include a suspension control interface. The controller is used to control an independent suspension controller through the suspension control interface, and the suspension controller is used to drive the suspension actuator to adjust the suspension damping. For suspension actuators in the form of CDC, air springs or active suspension oil pump actuators, the chassis domain integrated controller controls an independent suspension drive board through the suspension signal. The suspension controller sends a PWM solenoid valve drive to the CDC, or sends a PWM solenoid valve drive to the air spring, or sends a control instruction to the oil pump actuator through a communication instruction, so as to adjust the suspension damping.

[0020] According to the solution of the present application, the chassis domain integrated controller drives the suspension of the electric vehicle through an independent suspension controller, with high stability and improving the reliability of the chassis domain integrated controller.

[0021] Combined with the first aspect, in some implementation manners of the first aspect, the multiple control interfaces include a suspension control interface, and the controller is used to connect to the suspension actuator through the suspension control interface. The control circuit directly controls the suspension actuator to adjust the suspension damping through the suspension control interface.

[0022] The multiple control interfaces of the chassis domain integrated controller include a suspension control interface, and the control circuit is used to directly control the suspension actuator through the suspension control interface. The chassis domain integrated controller includes a driving circuit for the suspension, and can directly send a PWM solenoid valve drive to the CDC from the chassis domain integrated controller, or send a PWM solenoid valve drive to the air spring, or send a control command to the oil pump actuator through a communication command, so as to adjust the suspension damping.

[0023] According to the solution of the present application, in the case of high requirements for ride comfort, the chassis domain integrated controller directly drives the suspension actuator, which improves the ride comfort of the suspension control and the response speed.

[0024] Combined with the first aspect, in some implementation manners of the first aspect, the multiple control interfaces include a steering control interface, and the controller is used to connect to the rear-wheel steering system of the electric vehicle through the steering control interface. The control circuit is used to control the rear-wheel steering system to adjust the steering angle of the rear wheels of the electric vehicle through the steering control interface.

[0025] The rear-wheel steering system of the electric vehicle can control the rear-wheel steering. The rear-wheel steering system can change the rotation angles and orientations of the two rear wheels, so that the electric vehicle can effectively adjust the steering and handling characteristics of the electric vehicle through different steering methods. When the vehicle speed is low, when the steering direction of the rear wheels is opposite to the steering direction of the front wheels, the turning radius can be reduced, and the overall handling and flexibility of the vehicle can be improved. When the vehicle speed is high, when the steering direction of the rear wheels is the same as the steering direction of the front wheels, the yaw moment generated by the steering operation can be effectively reduced, and the driving stability of the vehicle can be enhanced.

[0026] The multiple control interfaces of the chassis domain integrated controller include a steering control interface, and the control circuit is used to control the rear-wheel steering system of the electric vehicle to adjust the steering angle of the rear wheels of the electric vehicle through the steering control interface. Integrating the control of rear-wheel steering and coordinating with the control of drive, brake and suspension can more effectively improve the handling performance and comfort of the electric vehicle.

[0027] According to the solution of the present application, the signals of multiple sensors are connected to the chassis domain integrated controller, and the chassis domain integrated controller controls drive, brake, suspension and steering according to the signals, with high integration and fast real-time response, improving the handling performance and comfort of the electric vehicle.

[0028] Combined with the first aspect, in some implementation manners of the first aspect, the multiple sensor 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. The controller is used to connect to the electronic parking brake system of the electric vehicle through the parking control interface, and the control circuit is used to control the electronic parking brake system of the electric vehicle to output a parking braking force through the parking control interface.

[0029] The multiple sensor interfaces of the chassis domain integrated controller include a parking switch interface, and the 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 chassis domain integrated controller include a parking control interface, and the control circuit is used 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 parking braking force.

[0030] According to the solution of the present application, the electronic parking brake system switch is connected to the chassis domain integrated controller, and the controller can control parking, improving the integration degree of the chassis domain control of the electric vehicle.

[0031] Combined with the first aspect, in some implementation manners of the first aspect, the multiple sensor interfaces further include an accelerator pedal sensor interface and a brake pedal sensor interface. The accelerator pedal sensor interface is used to receive at least two accelerator pedal signals from the accelerator pedal sensor, and the brake pedal sensor interface is used to receive at least two brake pedal signals from the brake pedal sensor.

[0032] The chassis domain integrated controller receives the accelerator pedal signals of the accelerator pedal sensor through the accelerator pedal sensor interface, and the chassis domain integrated controller receives the brake pedal signals of the brake pedal sensor through the brake pedal sensor interface. The accelerator pedal usually has two sensor outputs, and the 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 controller receives the brake pedal signals output by the two groups of brake pedal sensors respectively.

[0033] 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.

[0034] 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 control of the electric vehicle.

[0035] Combined with the first aspect, in some implementation manners of the first aspect, the multiple sensor interfaces further include a body acceleration sensor interface. The body acceleration sensor interface is used to receive the acceleration signal from the body acceleration sensor, and the acceleration signal is used to indicate the vertical acceleration of the body of the electric vehicle.

[0036] The multiple sensor interfaces of the chassis domain integrated controller include a vehicle body acceleration sensor interface. The controller is connected to the vehicle body acceleration sensor through the vehicle body acceleration sensor interface. The vehicle body acceleration sensor is used to sense the vertical acceleration of the vehicle body of the electric vehicle. The control circuit is used to receive the acceleration signal of the vehicle body acceleration sensor, so as to obtain the vertical acceleration of the vehicle body. The controller controls the suspension system of the electric vehicle to adjust the suspension damping according to the acceleration signal.

[0037] According to the solution of the present application, the chassis domain integrated controller controls the suspension system according to the vertical acceleration of the vehicle body by receiving the acceleration signal of the vehicle body acceleration sensor, which is beneficial to reducing the vertical discomfort and improving the comfort of the electric vehicle.

[0038] In combination with the first aspect, in some implementation manners of the first aspect, the multiple sensor interfaces further include a wheel speed sensor interface. The wheel speed sensor interface is used to receive the wheel speed signal from the wheel speed sensor, and the wheel speed signal is used to indicate the rotational speed of the wheels of the electric vehicle.

[0039] The multiple sensor interfaces of the chassis domain integrated controller include a wheel speed sensor interface. The controller is used to connect to the wheel speed sensor through the wheel speed sensor interface. The control circuit receives the wheel speed signals from multiple wheel speed sensors through the wheel speed sensor interface, and the wheel speed signals are used to indicate the rotational speed of each wheel of the electric vehicle. The controller controls the torque output by the powertrain of the electric vehicle and the braking force output by the wheel end braking device according to the rotational speed of the wheels indicated by the wheel speed signals.

[0040] According to the solution of the present application, the chassis domain integrated controller controls the drive system and the braking system of the electric vehicle according to the wheel speed by receiving the wheel speed signal of the wheel speed sensor, which is beneficial to improving the accuracy of the longitudinal and lateral control of the electric vehicle.

[0041] In combination with the first aspect, in some implementation manners of the first aspect, the surface of the housing further includes an intelligent driving signal input interface. The intelligent driving signal input interface is used to receive the intelligent driving signal from the intelligent driving controller of the electric vehicle, and the intelligent driving signal is used to control the drive system, the braking system and the suspension system of the electric vehicle.

[0042] The intelligent driving controller in this application can be a domain controller for implementing functions such as perception, positioning, path planning, and decision-making control. When the electric vehicle is in the intelligent driving mode, the intelligent driving controller performs intelligent active driving or assists the user in driving. The intelligent driving controller receives the perception data signals sent by the perception components of the electric vehicle, such as sensors like radar and cameras. The intelligent driving controller fuses the information perceived by various sensors and obtains the driving state and lane information of the electric vehicle based on the perception data signals. By analyzing signals such as distance, speed, and acceleration, it obtains the target acceleration and target speed, etc., and makes driving decisions and plans based on the fused information, and sends intelligent driving signals to the controller integrated in the chassis domain, thereby controlling the drive system, braking system, and suspension system to achieve intelligent driving.

[0043] The electric vehicle can detect the environment around the electric vehicle and the operation state information of the electric vehicle through the perception system. The perception system can include sensors such as cameras, lidar, and millimeter-wave radars responsible for perceiving the surrounding environment and collecting and processing environmental information and in-vehicle information, mainly involving technologies such as road boundary monitoring, vehicle detection, and pedestrian detection. The perception system can also include sensors such as vehicle speed sensors, acceleration sensors, and inertial measurement units for detecting the vehicle body state and the driving information of the electric vehicle. The perception data signals can include information such as relative distance, relative vehicle speed, relative acceleration, and lane information. The perception signals can also include information such as the speed, acceleration, roll angle, and yaw angle of the electric vehicle. The electric vehicle can detect the information between the electric vehicle and the obstacle based on the obtained perception data and plan a driving path. The electric vehicle can avoid obstacles by detecting the distance between the electric vehicle and the obstacle in real time through sensors such as cameras and radars.

[0044] The intelligent driving controller realizes the driving calculation of the electric vehicle and sends it to the controller integrated in the chassis domain through the intelligent driving signal. The controller integrated in the chassis domain realizes the control of each actuator. Compared with the situation where multiple actuators are controlled by independent controllers respectively, the intelligent driving controller only needs to communicate with the controller integrated in the chassis domain, reducing the connection of communication lines, avoiding the time delay error of communicating with each independent controller, and improving the responsiveness and accuracy of control.

[0045] According to the solution of this application, when the electric vehicle is in the intelligent driving mode, the intelligent driving controller completes the calculation of the intelligent driving signal, and the controller integrated in the chassis domain controls the drive system, braking system, and suspension system according to the intelligent driving signal, with a faster response and improved control accuracy.

[0046] In combination with the first aspect, in certain implementations of the first aspect, the control circuit is configured to output a torque signal, a brake signal, and a suspension control signal through a drive control interface, a brake control interface, and a suspension control interface respectively according to the indication of the intelligent driving signal. The torque signal is used to control the power assembly to output the torque indicated by the intelligent driving signal, the brake signal is used to control the four-wheel end brake devices to output the braking force indicated by the intelligent driving signal, and the suspension control signal is used to control the suspension system to adjust the suspension damping to the damping indicated by the intelligent driving signal.

[0047] The control circuit sends a torque signal, a brake signal, and a suspension control signal respectively to control the drive system, the brake system, and the suspension system.

[0048] According to the solution of the present application, the controller integrated in the chassis domain uniformly sends control signals to the drive system, the brake system, and the suspension system. Each system has a fast response and better coordination, improving the accuracy of electric vehicle control.

[0049] In a second aspect, the present application provides an electric vehicle implementing intelligent driving execution layer integration. The electric vehicle includes a drive system, a brake system, a suspension system, a steering system, and a controller in the first aspect and its various implementations. The controller is configured to receive an intelligent driving signal from the intelligent driving controller of the electric vehicle. The controller is further configured to control the drive system to output the torque indicated by the intelligent driving signal, control the brake system to output the braking force indicated by the intelligent driving signal, control the suspension system to adjust the suspension damping to the damping indicated by the intelligent driving signal, and control the steering system to adjust the wheel steering angle of the electric vehicle to the angle indicated by the intelligent driving signal.

[0050] In combination with the second aspect, in certain implementations of the second aspect, the electric vehicle further includes a backup controller. The backup controller is configured to be connected to the controller through at least two internal controller area network buses. The backup controller is configured to take over from the controller to control the drive system, the brake system, the suspension system, and the steering system when the controller fails.

[0051] According to the solution of the present application, two controllers are provided. The backup controller serves as the hardware redundancy of the controller and takes over the control in case of controller failure, sending control instructions to the actuators, improving the safety of the vehicle.

[0052] In combination with the second aspect, in certain implementations of the second aspect, the backup controller is configured to receive at least two brake pedal signals from a brake pedal sensor. The brake pedal signals are used to indicate the opening degree of the brake pedal of the electric vehicle.

[0053] The backup controller also receives the brake pedal signal sent by the brake pedal sensor. After the controller fails, the backup controller can implement a complete braking function, including an antilock brake system (ABS), a traction control system (TCS), and a vehicle dynamic control (VDC).

[0054] In one implementation, the backup controller is exactly the same as the controller. 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 backup controller.

[0055] According to the solution of the present application, a backup controller is provided to take over control when the controller fails, and it can support redundant backup at the intelligent driving L3 level.

[0056] Combined with the second aspect, in some implementations of the second aspect, the electric vehicle includes four wheel-end assemblies. One of the four wheel-end assemblies is used to receive two brake pedal signals from the brake pedal sensor. The brake pedal signal is used to indicate the opening degree of the brake pedal of the electric vehicle. The wheel-end assembly is used to take over the controller to control the braking system to output braking force to brake the electric vehicle when the controller fails.

[0057] Combined with the second aspect, in some implementations of the second aspect, the electric vehicle includes four wheel-end assemblies. One of the four wheel-end assemblies is used to receive one brake pedal signal from the brake pedal sensor, and another one of the four wheel-end assemblies is used to receive another brake pedal signal from the brake pedal sensor. The brake pedal signal is used to indicate the opening degree of the brake pedal of the electric vehicle. The wheel-end assembly is used to take over the controller to control the braking system to output braking force to brake the electric vehicle when the controller fails.

[0058] Integrate the electromechanical brake control backup control into the brake wheel-end assembly, and the wheel-end assembly includes a set of brake pedal sensor signal samplings. The electromechanical brake control function integrated into the wheel-end includes at least basic braking, and according to the actual chip resources and costs, it also includes functions such as antilock brake system, traction control system, vehicle dynamic control function or partial functions.

[0059] According to the solution of the present application, set the wheel-end assembly to integrate the electromechanical brake function, and achieve redundant backup at the intelligent driving L3 level with low cost.

[0060] The beneficial effects in other aspects can refer to the beneficial effects described in the first aspect, and will not be elaborated here. Description of the Drawings

[0061] Figure 1It is a schematic diagram of an electric vehicle provided by an embodiment of the present application;

[0062] Figure 2 It is a schematic diagram of the architecture of an electric vehicle provided by an embodiment of the present application;

[0063] Figure 3 It is a schematic diagram of a chassis domain integrated controller provided by an embodiment of the present application;

[0064] Figure 4 It is a connection schematic diagram of a chassis domain integrated controller provided by an embodiment of the present application;

[0065] Figure 5 It is a schematic diagram of the architecture of an electric vehicle provided by an embodiment of the present application;

[0066] Figure 6 It is a schematic diagram of the architecture of another electric vehicle provided by an embodiment of the present application;

[0067] Figure 7 It is a schematic diagram of the architecture of another electric vehicle provided by an embodiment of the present application;

[0068] Figure 8 It is a connection schematic diagram of a chassis domain integrated controller and a backup controller provided by an embodiment of the present application. Detailed implementation manners

[0069] Next, the technical solutions in the present application will be described with reference to the accompanying drawings. The following detailed description of the embodiments and the drawings are used to exemplarily illustrate the principle 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.

[0070] 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 are further improved. Currently, each component is basically independently controlled. The independent brake controller is responsible for longitudinal and lateral directions. The drive control is responsible for longitudinal by the vehicle controller. The suspension is controlled by the suspension controller for the vertical direction to achieve the control of the continuously variable damping suspension system. Each actuator is basically in an independent working state, without a total collaborative controller. When driving, each controller needs to separately receive sensor signals and send control signals to each actuator, and the signal delay has a great impact, and the control accuracy and coordination are not high.

[0071] Based on the above problems, the embodiments of the present application provide a chassis domain integrated controller and an electric vehicle that realizes the integration of the intelligent driving execution layer. By connecting the signals of multiple sensors to the chassis domain integrated controller, the chassis domain integrated controller controls the drive, brake, and suspension according to the signals, with high integration and fast real-time response, which can effectively improve the control accuracy and vehicle handling performance.

[0072] Figure 1 and Figure 2 is a schematic diagram of the architecture of the electric vehicle 10 provided in the embodiments of the present application.

[0073] As Figure 1 shown, the electric vehicle 10 includes a controller 20, a drive system 50, a braking system 60, a suspension system 70, an intelligent driving controller 80, a power battery (not shown in the figure), and multiple wheels. The drive system 50 includes a drive motor 30 and a motor controller 40. The motor controller 40 is configured to output current to the drive motor 30 to control the drive motor 30 to output torque to drive the electric vehicle 10. The intelligent driving controller 80 is configured to plan a driving trajectory based on the obstacle information detected by the sensors of the electric vehicle 10 and the driving information of the electric vehicle 10. The controller 20 is configured to receive the intelligent driving signal from the intelligent driving controller 80 of the electric vehicle 10. The controller 20 is further configured to control the drive system 50 to output the torque indicated by the intelligent driving signal, control the braking system 60 to output the braking force indicated by the intelligent driving signal, control the suspension system 70 to adjust the suspension damping to the damping indicated by the intelligent driving signal, and control the steering system to adjust the wheel steering angle of the electric vehicle 10 to the angle indicated by the intelligent driving signal.

[0074] The chassis domain integrated controller 20 provided in the present application is the vehicle controller of the electric vehicle 10 or a separately provided controller with control capabilities.

[0075] The electric vehicle 10 includes, but is not limited to, pure electric vehicles (pure electric vehicle / battery electric vehicle, pure EV / battery EV), hybrid electric vehicles (hybrid electric vehicle, HEV), range extended electric vehicles (range extended electric vehicle, REEV), plug-in hybrid electric vehicles (plug-in hybrid electric vehicle, PHEV), new energy vehicles (new energy vehicle, NEV), etc.

[0076] The electric vehicle 10 has a drive architecture with a single drive motor, a dual-motor drive architecture, a triple-motor drive architecture, or a quadruple-drive motor drive architecture. The electric vehicle 10 can be a distributed quadruple-drive motor drive architecture, where the drive motors are arranged beside the driven wheels and are controlled by separate motor controllers 40. The electric vehicle 10 can also be a centralized drive motor drive architecture, where the drive motors for driving two front wheels or two rear wheels are arranged together. The motor controller 40 can be one or more. The motor controller 40 and the drive motors can be in a one-to-one correspondence, or one motor controller 40 can correspond to multiple drive motors. The motor controller 40 is used to control one or more drive motors to output torque to drive the electric vehicle 10.

[0077] In one embodiment, as Figure 2 shown in (a) of Figure 2 , the electric vehicle 10 can be a distributed quadruple-drive motor drive architecture, where the drive motors are arranged beside the driven wheels and are controlled by separate motor controllers. The electric vehicle 10 can also be a centralized quadruple-motor drive architecture as shown in (b) of

[0078] , where the two drive motors for driving two front wheels or two rear wheels are arranged together.

[0078] Exemplarily, the electric vehicle 10 includes four motor controllers, which are motor controller 41, motor controller 42, motor controller 43, and motor controller 44. The four drive motors include drive motor 31, drive motor 32, drive motor 33, and drive motor 34. The motor controller 41 controls the drive motor 31 to drive the wheel 51, the motor controller 42 controls the drive motor 32 to drive the wheel 52, the motor controller 43 controls the drive motor 33 to drive the wheel 53, and the motor controller 44 controls the drive motor 34 to drive the wheel 54.

[0079] In one embodiment, the electric vehicle 10 can also be a centralized drive motor architecture as shown in (c) of Figure 2 , where one drive motor is used to drive the two front wheels of the electric vehicle 10, and two drive motors are used to drive the two rear wheels of the electric vehicle 10 respectively.

[0080] In one embodiment, it is also possible to combine multiple architectures mentioned above. For example, the front-wheel drive adopts a distributed drive motor architecture, and the rear-wheel drive adopts a centralized drive motor architecture.

[0081] The electric vehicle 10 further includes an accelerator pedal and a brake pedal. The accelerator pedal is used to indicate the output of torque to the wheels of the electric vehicle 10. The brake pedal is used to indicate the output of braking force to the wheels of the electric vehicle 10.

[0082] In one embodiment, during the driver's driving process, when the electric vehicle 10 needs to be driven, the driver steps on the accelerator pedal, and the drive system 50 outputs torque according to the opening of the accelerator pedal, thereby driving the wheels of the electric vehicle 10.

[0083] In one embodiment, the braking system 60 includes four wheel-end braking devices, including wheel-end braking device 61, wheel-end braking device 62, wheel-end braking device 63, and wheel-end braking device 64. During the driver's driving process, when the electric vehicle 10 needs to be braked, the driver steps on the brake pedal, and the braking system 60 outputs a clamping force to the brake disc according to the opening of the brake pedal, thereby generating a frictional braking force to brake the electric vehicle 10.

[0084] In one embodiment, the electric vehicle 10 further includes a rear-wheel steering system for controlling the steering angle of the rear wheels of the electric vehicle 10. The rear-wheel steering system can change the rotation angles and orientations of the two rear wheels, thereby effectively adjusting the steering and handling characteristics of the vehicle 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. The rear-wheel steering system gives the vehicle a higher control margin, can improve the handling and flexibility of the vehicle at low speeds, while enhancing the stability at high speeds and reducing the risk of vehicle out of control.

[0085] In one embodiment, the suspension system 70 of the electric vehicle 10 includes variable-damping shock absorbers. The variable-damping shock absorbers are shock absorbers that can adjust the damping force by an electronic control method according to the driving conditions of the vehicle, for example, by changing the flow resistance of the fluid inside the shock absorber to adjust the damping force, thereby realizing the change of the response characteristics of the suspension system.

[0086] In one embodiment, the suspension system 70 of the electric vehicle 10 includes air springs, and the suspension system 70 can adjust the body height by inflating and deflating, providing a comfortable riding experience and good handling performance.

[0087] In one embodiment, the intelligent driving controller of the electric vehicle 10 can be a domain controller for implementing functions such as perception, positioning, path planning, and decision-making control. When the electric vehicle 10 is in the intelligent driving mode, at this time, the intelligent driving controller 80 performs intelligent active driving or assists the user in driving. The intelligent driving controller 80 receives the perception data signals sent by the perception components of the electric vehicle 10, such as sensors like radar and cameras. The intelligent driving controller 80 fuses the information sensed by various sensors and obtains the driving state and lane information of the electric vehicle 10 based on the perception data signals. By analyzing signals such as distance, speed, and acceleration, it obtains the target acceleration and target speed, etc., makes driving decisions and plans based on the fused information, and sends the intelligent driving signals to the controller 20 integrated in the chassis domain, thereby controlling the drive system 50, the braking system 60, and the suspension system 70 to achieve intelligent driving.

[0088] The electric vehicle 10 can detect the environment around the electric vehicle 10 and the operating state information of the electric vehicle 10 through the perception system. The perception system includes sensors such as cameras, lidar, and millimeter-wave radars, which are responsible for perceiving the surrounding environment and collecting and processing environmental information and in-vehicle information, mainly involving technologies such as road boundary monitoring, vehicle detection, and pedestrian detection. The perception system also includes sensors such as vehicle speed sensors, acceleration sensors, and inertial measurement units for detecting the vehicle body state and the driving information of the electric vehicle 10. The perception data signals include information such as relative distance, relative vehicle speed, relative acceleration, and lane information. The perception signals can also include information such as the speed, acceleration, roll angle, and yaw angle of the electric vehicle 10. The electric vehicle 10 detects the information between the electric vehicle 10 and the obstacles based on the obtained perception data and plans a driving path. The electric vehicle 10 avoids obstacles by using sensors such as cameras and radars to detect the distance between the electric vehicle 10 and the obstacles in real time.

[0089] Figure 3 The schematic diagram of the controller 20 integrated in the chassis domain provided by the embodiment of the present application is shown.

[0090] As Figure 3 shown, the 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. The plurality of sensor interfaces 23 are respectively used to connect the throttle pedal sensor, the brake pedal sensor, and the height sensor, and the plurality of control interfaces 24 are respectively used to connect the powertrain of the electric vehicle 10, the four-wheel end braking devices, and the suspension system 70.

[0091] The controller 20 is used to control the drive system 50, the braking system 60, and the suspension system 70 of the electric vehicle 10 according to the sensor signals from the throttle pedal sensor, the brake pedal sensor, and the height sensor.

[0092] Figure 4 The figure shows a schematic connection diagram of the chassis domain integrated controller 20 provided by the embodiments of the present application.

[0093] As Figure 4 shown, the control circuit 22 of the chassis domain integrated controller 20 is configured to receive the accelerator pedal signal from the accelerator pedal sensor through an internal line, receive the brake pedal signal from the brake pedal sensor through an internal line, and receive the height signal from the height sensor through an internal line. The control circuit 22 is configured to control the wheels of the electric vehicle 10 driven by the powertrain according to the accelerator pedal opening indicated by the accelerator pedal signal, control the four wheel-end braking devices to brake the four wheels of the electric vehicle 10 according to the brake pedal opening indicated by the brake pedal signal, and control the suspension system 70 to adjust the suspension damping according to the vehicle body height indicated by the height signal.

[0094] The chassis domain integrated controller 20 is connected to the sensors of the electric vehicle 10 through a plurality of sensor interfaces 23 on the surface of the housing 21. The sensors include an accelerator pedal sensor, a brake pedal sensor, and a height sensor. The control circuit 22 in the chassis domain integrated controller 20 receives the signals sent by the sensors of the electric vehicle 10 through the sensor interfaces 23. The control circuit 22 is configured to receive the accelerator pedal signal from the accelerator pedal sensor through an internal line, receive the brake pedal signal from the brake pedal sensor through an internal line, and receive the height signal from the height sensor through an internal line. The accelerator pedal signal from the accelerator pedal sensor is used to indicate the opening of the accelerator pedal, the brake pedal signal from the brake pedal sensor is used to indicate the opening of the brake pedal, and the height signal from the height sensor is used to indicate the vehicle body height.

[0095] The opening degree of the accelerator pedal indicates the magnitude of the driving force demanded by the driver. The greater the opening degree of the accelerator pedal, the greater the driver's demand for driving, and the greater the corresponding torque required to be output by the drive motor 30. The controller 20 controls the drive motor 30 to output the torque indicated by the opening degree of the accelerator pedal. The greater the opening degree of the accelerator pedal, the greater the torque output by the drive motor 30. The smaller the opening degree of the accelerator pedal, the smaller the torque output by the drive motor 30. The torque output by the controller 20 to control the drive motor 30 changes with the change of the opening degree of the accelerator pedal. The brake pedal in this application is also referred to as the brake or the braking pedal. The opening degree of the brake pedal indicates the magnitude of the braking force demanded by the driver. The greater the opening degree of the brake pedal, the greater the driver's demand for braking, and the greater the torque required to be output by the braking system 60. When the vehicle is traveling normally, the controller 20 controls the wheel-end braking device to output the torque indicated by the opening degree of the brake pedal according to the opening degree of the brake pedal. The greater the opening degree of the brake pedal, the greater the braking force output by the wheel-end braking device. The smaller the opening degree of the brake pedal, the smaller the braking force output by the wheel-end braking device. The braking force output by the wheel-end braking device changes with the change of the opening degree of the brake pedal. The electric vehicle 10 includes four wheel-end braking devices, and each wheel corresponds to at least one wheel-end braking device. The wheel-end braking device is used to output a braking force to the corresponding wheel to brake the electric vehicle 10.

[0096] The suspension system 70 is used to connect the body of the electric vehicle 10 and the wheels, and provides functions of support, buffering and stability during the driving process of the electric vehicle 10. The suspension system 70 includes shock absorbers. Each wheel is individually connected to the body of the electric vehicle 10 through a shock absorber. For the suspension system 70 with damping-adjustable shock absorbers, the controller 20 sends a target damping coefficient or a target damping level to the suspension system 70 to adjust the damping of each shock absorber. The suspension system 70 includes an air suspension or a fully active suspension. The controller 20 sends a target wheel suspension height to the suspension system 70 to adjust the suspension height at the wheels of the electric vehicle 10.

[0097] The chassis domain integrated controller 20 is connected to the actuators of the electric vehicle 10 through a plurality of control interfaces 24 on the surface of the housing 21. The actuators include a power assembly, a wheel-end braking device and the suspension system 70. The control circuit 22 in the chassis domain integrated controller 20 sends control signals to the plurality of actuators respectively through the control interfaces 24, so as to control the power assembly to output torque, control the wheel-end braking device to output braking force, and control the suspension system 70 to adjust the suspension damping.

[0098] The controller 20 for chassis domain integration is connected to the sensors and actuators of the electric vehicle 10 through a controller area network (CAN) bus, Ethernet, local interconnect network (LIN) bus, FlexRay (fault-tolerant high-speed network protocol), or other types of connection methods to interact signals.

[0099] The controller 20 for chassis domain integration accesses the accelerator pedal sensor, brake pedal sensor, and height sensor, and integrates the control of the drive system 50, brake system 60, and suspension system 70 of the electric vehicle 10 as a computing center. In driving scenarios where the electric vehicle 10 requires the cooperation of the drive system 50, brake system 60, and suspension system 70, such as intelligent driving, drifting, and driving on bumpy roads, the controller 20 for chassis domain integration jointly controls the powertrain, wheel-end braking device, and suspension, and coordinately adjusts the torque output by the powertrain, the braking force output by the wheel-end braking device, and the damping of the suspension system 70, improving the accuracy of cooperative control. When the electric vehicle 10 is driving, through the cooperative control of the drive system 50, brake system 60, and suspension system 70, the tire force can be closer to the friction circle limit, expanding the boundary of the available friction force range and enhancing the handling performance.

[0100] Compared with being controlled by multiple independent controllers 20 respectively, the cooperative control by the controller 20 for chassis domain integration improves the integration degree and accuracy of control. After multiple independent controllers 20 obtain sensor signals, they perform separate calculations and send control signals to the actuators. Due to the differences in the processing time of each independent controller 20 and the signal transmission time, there may be errors in the cooperation between multiple actuators, resulting in a lower control accuracy of the electric vehicle 10. At the same time, each actuator independently interacts with other domain controls, with too many communication nodes, complex redundant design, and the controller 20 may repeatedly read and use the same sensor signal and separately perform vehicle state calculation and estimation within its own controller, which will cause an increase in computational complexity and waste of existing hardware resources. The integrated control by the controller 20 for chassis domain integration can reduce the number of control boxes for each actuator and integrate them into a control box of the controller 20 for chassis domain integration, reducing the requirements for vehicle layout and lowering the cost.

[0101] According to the solution of the present application, the signals of multiple sensors are connected to the controller 20 for chassis domain integration, and the controller 20 for chassis domain integration controls the drive, brake, and suspension according to the signals, with high integration degree, fast real-time response, and improved control accuracy of the electric vehicle 10.

[0102] In one embodiment, the multiple control interfaces 24 include a drive control interface for connecting to the motor controller 40 of the powertrain via at least two internal controller area network buses of the internal controller 20. The multiple control interfaces 24 include a brake control interface for connecting to four wheel-end braking devices via at least two internal controller area network buses of the internal controller 20.

[0103] The multiple control interfaces 24 of the chassis domain integrated controller 20 include a drive control interface and a brake control interface. The drive control interface is used to connect to the motor controller 40 of the powertrain, and the brake control interface is used to connect to four wheel-end braking devices. The chassis domain integrated controller 20 is connected to each motor controller 40 and each wheel-end braking device via 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 are used for connection.

[0104] When one CAN bus fails, another CAN bus can be used to maintain the connection between the controller 20 and the actuator, and maintain the control of the electric vehicle 10 by the controller 20.

[0105] In one embodiment, the multiple control interfaces 24 include a suspension control interface, and the controller 20 is used to connect to the suspension controller 20 of the electric vehicle 10 via the suspension control interface. The control circuit 22 is used to send a suspension signal to the suspension controller 20, and the suspension signal is used to instruct the suspension controller 20 to drive the suspension actuator to adjust the suspension damping.

[0106] The multiple control interfaces 24 of the chassis domain integrated controller 20 include a suspension control interface. The controller 20 is used to control an independent suspension controller 20 via the suspension control interface 24, and the suspension controller 20 is used to drive the suspension actuator to adjust the suspension damping. For suspension actuators in the form of CDC, air springs or active suspension oil pump actuators, the chassis domain integrated controller 20 controls an independent suspension drive board via a suspension signal. The suspension controller 20 sends a PWM solenoid valve drive to the CDC, or sends a PWM solenoid valve drive to the air spring, or sends a control instruction to the oil pump actuator via a communication instruction, so as to adjust the suspension damping.

[0107] In another embodiment, the multiple control interfaces 24 include a suspension control interface, and the controller 20 is used to connect to the suspension actuator via the suspension control interface. The control circuit 22 directly controls the suspension actuator via the suspension control interface to adjust the suspension damping.

[0108] The multiple control interfaces 24 of the chassis domain integrated controller 20 include a suspension control interface, and the control circuit 22 is used to directly control the suspension actuator through the suspension control interface. The drive circuit of the suspension is included in the chassis domain integrated controller 20, and the PWM solenoid valve drive can be directly sent from the chassis domain integrated controller 20 to the CDC, or the PWM solenoid valve drive can be sent to the air spring, or control commands can be sent to the oil pump actuator through communication commands, so as to adjust the suspension damping.

[0109] In one embodiment, the multiple control interfaces 24 include a steering control interface, and the controller 20 is used to connect to the rear-wheel steering system of the electric vehicle 10 through the steering control interface. The control circuit 22 is used to control the rear-wheel steering system through the steering control interface to adjust the steering angle of the rear wheels of the electric vehicle 10.

[0110] The multiple control interfaces 24 of the chassis domain integrated controller 20 include a steering control interface, and the control circuit 22 is used to control the rear-wheel steering system of the electric vehicle 10 through the steering control interface to adjust the steering angle of the rear wheels of the electric vehicle 10. Integrating the control of rear-wheel steering and coordinating with the control of drive, braking and suspension can more effectively improve the handling performance and comfort of the electric vehicle 10.

[0111] In one embodiment, the multiple sensor interfaces 23 further include a parking switch interface, the parking switch interface is used to connect to the switch of the electronic parking brake system 60 of the electric vehicle 10, the multiple control interfaces 24 further include a parking control interface, and the controller 20 is used to connect to the electronic parking brake system 60 of the electric vehicle 10 through the parking control interface. The control circuit 22 is used to control the electronic parking brake system 60 of the electric vehicle 10 through the parking control interface to output the parking braking force.

[0112] The multiple sensor interfaces 23 of the chassis domain integrated controller 20 include a parking switch interface, and the controller 20 is connected to the switch of the electronic parking brake system 60 of the electric vehicle 10 through the parking switch interface. The switch of the electronic parking brake system 60 is used to control the electronic parking system of the electric vehicle 10, and the driver can perform parking braking through the switch of the electronic parking brake system 60. The multiple control interfaces 24 of the chassis domain integrated controller 20 include a parking control interface, and the control circuit 22 is used to control the electronic parking brake system 60 through the parking control interface. When the switch of the electronic parking brake system 60 indicates that the electric vehicle 10 needs to park, the control circuit 22 controls the electronic parking brake system 60 to output the parking braking force.

[0113] In one embodiment, the plurality of sensor interfaces 23 further includes an accelerator pedal sensor interface and a brake pedal sensor interface. The accelerator pedal sensor interface is configured to receive at least two accelerator pedal signals from an accelerator pedal sensor, and the brake pedal sensor interface is configured to receive at least two brake pedal signals from a brake pedal sensor.

[0114] The chassis domain integrated controller 20 receives the accelerator pedal signals of the accelerator pedal sensor through the accelerator pedal sensor interface, and the chassis domain integrated controller 20 receives the brake pedal signals of the brake pedal sensor through the brake pedal sensor interface. The accelerator pedal usually has two sensor outputs, and the 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 controller 20 receives the brake pedal signals output by the two groups of brake pedal sensors respectively.

[0115] The signals output by the sensors in this application, 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.

[0116] In one embodiment, the plurality of sensor interfaces 23 further includes a body acceleration sensor interface. The body acceleration sensor interface is configured to receive an acceleration signal from a body acceleration sensor, and the acceleration signal is used to indicate the vertical acceleration of the body of the electric vehicle 10.

[0117] The plurality of sensor interfaces 23 of the chassis domain integrated controller 20 includes a body acceleration sensor interface. The controller 20 is connected to the body acceleration sensor through the body acceleration sensor interface. The body acceleration sensor is used to sense the vertical acceleration of the body of the electric vehicle 10, and the control circuit 22 is configured to receive the acceleration signal of the body acceleration sensor so as to obtain the vertical acceleration of the body. The controller 20 controls the suspension system 70 of the electric vehicle 10 to adjust the suspension damping according to the acceleration signal.

[0118] In one embodiment, the plurality of sensor interfaces 23 further includes a wheel speed sensor interface. The wheel speed sensor interface is configured to receive a wheel speed signal from a wheel speed sensor, and the wheel speed signal is used to indicate the rotational speed of the wheels of the electric vehicle 10.

[0119] The multiple sensor interfaces 23 of the chassis domain integrated controller 20 include wheel speed sensor interfaces. The controller 20 is used to connect to wheel speed sensors through the wheel speed sensor interfaces. The control circuit 22 receives wheel speed signals from multiple wheel speed sensors through the wheel speed sensor interfaces, and the wheel speed signals are used to indicate the rotational speeds of each wheel of the electric vehicle 10. The controller 20 controls the torque output by the powertrain of the electric vehicle 10 and the braking force output by the wheel end braking device according to the rotational speeds of the wheels indicated by the wheel speed signals.

[0120] In one embodiment, the surface of the housing 21 further includes an intelligent driving signal input interface, which is used to receive intelligent driving signals from the intelligent driving controller 80 of the electric vehicle 10, and the intelligent driving signals are used to control the drive system 50, the braking system 60, and the suspension system 70 of the electric vehicle 10.

[0121] The intelligent driving controller 80 realizes the driving calculation of the electric vehicle 10 and sends it to the chassis domain integrated controller 20 through intelligent driving signals, and the chassis domain integrated controller 20 realizes the control of each actuator. Compared with the multiple actuators being controlled by independent controllers 20 respectively, the intelligent driving controller 80 only needs to communicate with the chassis domain integrated controller 20, reducing the connection of communication lines, avoiding the time delay error of communicating with each independent controller 20, and improving the responsiveness and accuracy of control.

[0122] The controller 20 is connected to the upper-layer intelligent driving controller 80, such as an advanced driving assistance system (ADAS) controller, through a redundant bus CAN.

[0123] In one embodiment, the control circuit 22 is used to output torque signals, braking signals, and suspension control signals respectively through the drive control interface, the braking control interface, and the suspension control interface according to the indication of the intelligent driving signals. The torque signals are used to control the powertrain to output the torque indicated by the intelligent driving signals, the braking signals are used to control the four wheel end braking devices to output the braking force indicated by the intelligent driving signals, and the suspension control signals are used to control the suspension system 70 to adjust the suspension damping to the damping indicated by the intelligent driving signals.

[0124] Suspension system 70.

[0125] According to the solution of the present application, the chassis domain integrated controller 20 uniformly sends control signals to the drive system 50, the braking system 60, and the suspension system 70. Each system responds quickly, cooperates more synergistically, and improves the accuracy of the control of the electric vehicle 10.

[0126] Figures 5 to 7 Schematic diagrams of several other architectures of the electric vehicle 10 provided by the embodiments of the present application are shown.

[0127] In one implementation, the electric vehicle 10 further includes a standby controller 21, which is used to connect to the controller 20 through at least two internal controller area network buses. The standby controller 21 is used to take over from the controller 20 to control the drive system 50, the braking system 60, the suspension system 70, and the steering system when the controller 20 fails.

[0128] The controller 20 is connected to the accelerator pedal sensor, the brake pedal sensor, the vehicle body acceleration sensor, the height sensor, and the wheel speed sensor. The standby controller 21 is at least connected to the brake pedal sensor. The controller 20 integrates the control of the drive system 50, the braking system 60, the rear-wheel steering system, and the suspension system 70 as a computing center. The standby controller 21 takes over the control in the event of a failure of the controller 20 and sends control instructions to the lower-level actuators.

[0129] According to the solution of the present application, the standby controller 21 is used as the hardware redundancy of the controller 20, takes over the control in the event of a failure of the controller 20, and sends control instructions to the actuator, improving the safety of the vehicle.

[0130] In one embodiment, as Figure 5 shown, the electric vehicle 10 includes two drive motors and two motor controllers. The motor controller 41 controls the drive motor 31 to drive two front wheels, and the motor controller 42 controls the drive motor 32 to drive two rear wheels. The controller 20 integrated in the chassis domain and the motor controller 41 and the motor controller 42 are connected through at least one set of communication lines. The standby controller 21 is also connected to the motor controller 41 and the motor controller 42 through at least one set of communication lines.

[0131] In one embodiment, as Figure 6 shown, the electric vehicle 10 includes three drive motors and three motor controllers. The motor controller 41 controls the drive motor 31 to drive the left front wheel, the motor controller 42 controls the drive motor 32 to drive the right front wheel, and the motor controller 43 controls the drive motor 33 to drive two rear wheels. The controller 20 integrated in the chassis domain and the motor controller 41, the motor controller 42, and the motor controller 43 are connected through two sets of communication lines. The standby controller 21 is also connected to the motor controller 41, the motor controller 42, and the motor controller 43 through two sets of communication lines.

[0132] In one embodiment, as Figure 7As shown, the electric vehicle 10 includes four drive motors. The motor controller 41 controls the drive motor 31 to drive the left front wheel, the motor controller 42 controls the drive motor 32 to drive the right front wheel, the motor controller 43 controls the drive motor 33 to drive the left rear wheel, and the motor controller 44 controls the drive motor 34 to drive the right rear wheel. The controller 20 integrated in the chassis domain and the motor controllers 41, 42, 43, and 44 are connected by two sets of communication lines. The spare controller 21 is also connected to the motor controllers 41, 42, 43, and 44 by two sets of communication lines.

[0133] 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.

[0134] Figure 8 It is a schematic connection diagram of the controller 20 integrated in the chassis domain and the spare controller 21 provided by the embodiments of the present application.

[0135] In one embodiment, the spare controller 21 is configured to receive at least two brake pedal signals from the brake pedal sensor, and the brake pedal signals are used to indicate the opening degree of the brake pedal of the electric vehicle 10.

[0136] The spare controller 21 also receives the brake pedal signals sent by the brake pedal sensor. After the controller 20 fails, the spare controller 21 can implement a complete braking function, including an antilock brake system (ABS), a traction control system (TCS), and a vehicle dynamic control (VDC).

[0137] In one embodiment, the electric vehicle 10 includes four wheel hub assemblies. One of the four wheel hub assemblies is configured to receive the brake pedal signals from the brake pedal sensor, and the brake pedal signals are used to indicate the opening degree of the brake pedal of the electric vehicle 10. The wheel hub assembly is configured to take over the controller 20 to control the brake system 60 to output braking force to brake the electric vehicle 10 when the controller 20 fails.

[0138] In another embodiment, the electric vehicle includes four wheel hub assemblies. One of the four wheel hub assemblies is configured to receive one brake pedal signal from the brake pedal sensor, and another one of the four wheel hub assemblies is configured to receive another brake pedal signal from the brake pedal sensor. The brake pedal signals are used to indicate the opening degree of the brake pedal of the electric vehicle. The wheel hub assembly is configured to take over the controller to control the brake system to output braking force to brake the electric vehicle when the controller fails.

[0139] Integrate the electro-mechanical brake control backup control into the wheel-end assembly, which includes a set of brake pedal sensor signal samplings. The electro-mechanical brake control function integrated into the wheel-end at least includes basic braking, and according to the actual chip resources and costs, it also includes an anti-lock braking system, a traction control system, a vehicle dynamics control function or partial functions.

[0140] Exemplarily, the accelerator pedal usually has two sensor outputs, and the accelerator pedal sensors 1 / 2 are connected to the controller 20. The brake pedal sensors 1 / 2 are a set, and 3 / 4 are a set. The brake pedal sensor signal 1 is (5V power supply 1, sent signal 1, GND1); the brake pedal sensor signal 2 is (5V power supply 2, sent signal 2, GND2); the brake pedal sensor signal 3 is (5V power supply 3, sent signal 3, GND3); the brake pedal sensor signal 4 is (5V power supply 4, sent signal 4, GND4). Among them, the brake pedal sensor signals 1 / 2 are connected to the controller 20; the brake pedal sensor signals 3 / 4 are connected to the backup controller 21. Or, among them, the brake pedal sensor signals 1 / 2 are connected to the controller 20, and the brake pedal sensor signals 3 / 4 are connected to a wheel-end assembly, and the wheel-end assembly integrates the EMB backup control function. Or, among them, the brake pedal sensor signals 1 / 2 are connected to the controller 20, the brake pedal sensor signal 3 is connected to a wheel-end assembly, and the brake pedal sensor signal 4 is connected to another wheel-end assembly, and the wheel-end assembly integrates the EMB backup control function.

[0141] In one implementation, the backup controller 21 is exactly the same as the controller 20. When there are backups for the sensors of the electric vehicle 10, the throttle sensor and the vehicle body height sensor also support being connected to the backup controller 21.

[0142] In one embodiment, there is also an internal communication CAN9 between the controller 20 integrated in the chassis domain and the backup controller 21. The suspension system 70 and the rear-wheel steering system share this communication cable, and the controller 20 and the backup controller 21 send control instructions through the communication cable.

[0143] In one embodiment, the wheel speed sensor outputs two groups of redundant signals, one group is connected to the wheel-end braking device, and the other is connected to the controller 20. If the wheel speed sensor has only one group of outputs, it is connected to the wheel-end braking device.

[0144] According to the solution of the present application, set the wheel-end assembly to integrate the electro-mechanical brake function, and achieve redundant backup at the intelligent driving L3 level at low cost.

[0145] As described above, it is only the specific implementation manner 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 all 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 described above.

Claims

1. A chassis domain integrated controller, characterized in that, The controller is used to control the drive system, braking system and suspension system of an electric vehicle according to sensor signals from an accelerator pedal sensor, a brake pedal sensor and a height sensor. The controller includes a housing and a control circuit, where: The surface of the housing includes a plurality of sensor interfaces and a plurality of control interfaces. The plurality of sensor interfaces are respectively used to connect the accelerator pedal sensor, the brake pedal sensor and the height sensor. The plurality of control interfaces are used to connect the powertrain, four wheel-end braking devices and the suspension system of the electric vehicle respectively; The control circuit is used to receive an accelerator pedal signal from the accelerator pedal sensor through an internal circuit, receive a brake pedal signal from the brake pedal sensor through the internal circuit and receive a height signal from the height sensor through the internal circuit; The control circuit is used to control the powertrain to drive the wheels of the electric vehicle according to the accelerator pedal opening indicated by the accelerator pedal signal, control the four wheel-end braking devices to brake the four wheels of the electric vehicle according to the brake pedal opening indicated by the brake pedal signal and control the suspension system to adjust the suspension damping according to the vehicle body height indicated by the height signal.

2. The controller according to claim 1, wherein The plurality of control interfaces include a drive control interface, and the drive control interface is used to connect the motor controller of the powertrain through at least two internal controller area network buses; The plurality of control interfaces include a brake control interface, and the brake control interface is used to connect the four wheel-end braking devices through at least two internal controller area network buses; 3. The controller according to claim 1 or 2, characterized in that, The plurality of control interfaces include a suspension control interface, and the controller is used to connect the suspension controller of the electric vehicle through the suspension control interface; The control circuit is used to send a suspension signal to the suspension controller, and the suspension signal is used to instruct the suspension controller to drive a suspension actuator to adjust the suspension damping.

4. The controller according to claim 1 or 2, characterized in that, The plurality of control interfaces include a suspension control interface, and the controller is used to connect a suspension actuator through the suspension control interface; The control circuit directly controls the suspension actuator to adjust the suspension damping through the suspension control interface.

5. The controller according to any one of claims 1-4, characterized in that, The plurality of control interfaces include a steering control interface, and the controller is used to connect the rear-wheel steering system of the electric vehicle through the steering control interface; The control circuit is used to control the rear-wheel steering system to adjust the steering angle of the rear wheels of the electric vehicle through the steering control interface.

6. The controller according to any one of claims 1-5, characterized in that, The plurality of sensor interfaces further include a parking switch interface, and 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, and the controller is used to connect the electronic parking brake system of the electric vehicle through the parking control interface. The control circuit is used to control the electronic parking brake system of the electric vehicle to output a parking braking force through the parking control interface.

7. The controller according to any one of claims 1-6, characterized in that, The multiple sensor interfaces further include an accelerator pedal sensor interface and a brake pedal sensor interface. The accelerator pedal sensor interface is used to receive at least two accelerator pedal signals from an accelerator pedal sensor, and the brake pedal sensor interface is used to receive at least two brake pedal signals from a brake pedal sensor.

8. The controller according to any one of claims 1-7, characterized in that, The multiple sensor interfaces further include a vehicle body acceleration sensor interface. The vehicle body acceleration sensor interface is used to receive an acceleration signal from a vehicle body acceleration sensor, and the acceleration signal is used to indicate the vertical acceleration of the vehicle body of the electric vehicle.

9. The controller according to any one of claims 1-8, characterized in that, The multiple sensor interfaces further include a wheel speed sensor interface. The wheel speed sensor interface is used to receive a wheel speed signal from the wheel speed sensor, and the wheel speed signal is used to indicate the rotational speed of the wheels of the electric vehicle.

10. The controller according to any one of claims 1-9, characterized in that, The surface of the housing further includes an intelligent driving signal input interface. The intelligent driving signal input interface is used to receive an intelligent driving signal from an intelligent driving controller of the electric vehicle, and the intelligent driving signal is used to control the drive system, the braking system, and the suspension system of the electric vehicle.

11. The controller according to claim 10, characterized in that, The control circuit is configured to: Output a torque signal, a braking signal, and a suspension control signal through the drive control interface, the braking control interface, and the suspension control interface respectively according to the indication of the intelligent driving signal; The torque signal is used to control the power assembly to output the torque indicated by the intelligent driving signal, the braking signal is used to control the four wheel end braking devices to output the braking force indicated by the intelligent driving signal, and the suspension control signal is used to control the suspension system to adjust the suspension damping to the damping indicated by the intelligent driving signal.

12. An electric vehicle that realizes the integration of the intelligent driving execution layer, characterized in that, The electric vehicle includes a drive system, a braking system, a suspension system, a steering system, and a controller as described in any one of claims 1-11. The controller is used to receive an intelligent driving signal from an intelligent driving controller of the electric vehicle. The controller is further used to control the drive system to output the torque indicated by the intelligent driving signal, control the braking system to output the braking force indicated by the intelligent driving signal, control the suspension system to adjust the suspension damping to the damping indicated by the intelligent driving signal, and control the steering system to adjust the wheel steering angle of the electric vehicle to the angle indicated by the intelligent driving signal.

13. The electric vehicle according to claim 12, characterized in that, The electric vehicle further includes a standby controller. The standby controller is used to be connected to the controller through at least two internal controller area network buses. The standby controller is used to: When the controller fails, take over the controller to control the drive system, the braking system, the suspension system, and the steering system.

14. The electric vehicle according to claim 13, characterized in that, The standby controller is used to receive at least two brake pedal signals from a brake pedal sensor, and the brake pedal signals are used to indicate the opening degree of the brake pedal of the electric vehicle.

15. The electric vehicle according to claim 12, characterized in that, The electric vehicle includes four wheel side assemblies. One of the four wheel side assemblies is used to receive two brake pedal signals from a brake pedal sensor, and the brake pedal signals are used to indicate the opening degree of the brake pedal of the electric vehicle. The wheel side assembly is used to: When the controller fails, take over the controller to control the braking system to output a braking force to brake the electric vehicle.

16. The electric vehicle according to claim 12, characterized in that, The electric vehicle includes four wheel hub motor assemblies. One of the four wheel hub motor assemblies is used to receive a brake pedal signal from a brake pedal sensor, and another one of the four wheel hub motor assemblies is used to receive another brake pedal signal from the brake pedal sensor. The brake pedal signal is used to indicate the opening degree of the brake pedal of the electric vehicle. The wheel hub motor assembly is used to: When the controller fails, take over from the controller to control the brake system to output braking force to brake the electric vehicle.

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