Vehicle chassis domain controller and vehicle

Abstract

The invention provides a vehicle chassis domain controller and a vehicle. The vehicle chassis domain controller comprises at least one single chip microcomputer, a motor driving module and a shock absorber electromagnetic coil driving module. The input end of the motor driving module is connected with the single-chip microcomputer, the output end of the motor driving module is connected with a motor in a vehicle brake circuit, and the motor driving module is used for driving and controlling the working state of the motor so as to adjust the brake pressure of wheels. The input end of the shock absorber electromagnetic coil driving module is connected with the single-chip microcomputer, the output end of the shock absorber electromagnetic coil driving module is connected with a shock absorber, and the shock absorber electromagnetic coil driving module is used for driving and controlling the target current of an electromagnetic coil of the shock absorber according to the first driving control signal received from the single-chip microcomputer so as to adjust the damping force of the shock absorber. The motor driving module and the shock absorber electromagnetic coil driving module are integrated in one controller, so that the performance of the electric control shock absorber system can be improved, and meanwhile, the original functions of the electric control braking system and the electric control shock absorber system cannot be influenced.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to the field of vehicle chassis domain controller technology. Background Technology

[0002] Vehicles utilize electronically controlled braking systems to achieve functions such as brake assist, ABS, and vehicle stability control, while electronically controlled shock absorber systems provide chassis damping. In related technologies, the vehicle's electronically controlled braking system and electronically controlled shock absorber system use different controllers and are separately located in different parts of the vehicle. This results in higher manufacturing costs and occupies a larger portion of the vehicle's space.

[0003] Application content

[0004] This application provides a vehicle chassis domain controller and a vehicle, which reduces the manufacturing cost of the whole vehicle and improves the performance of the electronically controlled shock absorber system, without affecting the original functions of the electronically controlled braking system and the electronically controlled shock absorber system.

[0005] In a first aspect, embodiments of this application provide a vehicle chassis domain controller, comprising: at least one microcontroller, a motor drive module, and a shock absorber electromagnetic coil drive module; wherein: the input terminal of the motor drive module is connected to the microcontroller, and the output terminal is connected to a motor in the vehicle braking circuit, for driving and controlling the working state of the motor to adjust the braking pressure of the wheels; the input terminal of the shock absorber electromagnetic coil drive module is connected to the microcontroller, and the output terminal is connected to the shock absorber, for driving and controlling the target current of the electromagnetic coil of the shock absorber according to a first drive control signal received from the microcontroller, to adjust the damping force of the shock absorber.

[0006] In one implementation of the first aspect, an isolation circuit is further included; the isolation circuit is connected between the microcontroller and the vibration damper electromagnetic coil drive module, and is used to disconnect the connection between the microcontroller and the vibration damper electromagnetic coil drive module after the vibration damper electromagnetic coil drive module fails or malfunctions.

[0007] In one implementation of the first aspect, the storage module of the vehicle chassis domain controller includes: a first storage area and a second storage area, respectively used to store software data corresponding to the motor drive module and the shock absorber electromagnetic coil drive module.

[0008] In one implementation of the first aspect, the motor drive module includes: a brushless motor drive module and a brushed motor drive module; the input terminal of the brushless motor drive module is connected to the output terminal of the microcontroller, and the output terminal is connected to the brushless motor, for driving and controlling the working state of the brushless motor according to a second drive control signal received from the microcontroller; the input terminal of the brushed motor drive module is connected to the output terminal of the microcontroller, and the output terminal is connected to the brushed motor, for driving and controlling the working state of the brushed motor according to a third drive control signal received from the microcontroller.

[0009] In one implementation of the first aspect, the microcontroller includes a main microcontroller and / or an auxiliary microcontroller, and the main microcontroller and the auxiliary microcontroller are communicatively connected.

[0010] In one implementation of the first aspect, the vehicle chassis domain controller includes a brake circuit board, and the microcontroller, the motor drive module, and the shock absorber electromagnetic coil drive module are integrated on the brake circuit board; or the vehicle chassis domain controller includes a brake circuit board and at least one drive circuit board integrated with the brake circuit board; the shock absorber electromagnetic coil drive module is disposed on the drive circuit board.

[0011] In one implementation of the first aspect, the method further includes: a first switch selection circuit; the first switch selection circuit is connected to the main microcontroller, the auxiliary microcontroller, and the vibration damper electromagnetic coil drive module respectively, and is used to select the main microcontroller or the auxiliary microcontroller to drive and control the vibration damper electromagnetic coil drive module; and a second switch selection circuit; the second switch selection circuit is connected to the main microcontroller, the auxiliary microcontroller, and the brushed motor drive module respectively, and is used to select the main microcontroller or the auxiliary microcontroller to drive and control the brushed motor drive module.

[0012] In one implementation of the first aspect, the motor drive module and the vibration damper electromagnetic coil drive module are respectively composed of a high-side switch, a low-side switch, and a current detection circuit.

[0013] In one implementation of the first aspect, the motor drive module and the vibration damper electromagnetic coil drive module adopt PWM mode closed-loop control or switch mode closed-loop control.

[0014] In one implementation of the first aspect, the method further includes: a solenoid valve driving module; the input end of the solenoid valve driving module is connected to the microcontroller, and the output end is connected to the braking system solenoid valve, for driving and controlling the braking system solenoid valve to work according to the fourth driving control signal received from the microcontroller.

[0015] Secondly, embodiments of this application provide a vehicle, the vehicle including the vehicle chassis domain controller as described above.

[0016] The vehicle chassis domain controller and vehicle provided in this application have the following beneficial effects:

[0017] This application integrates the motor drive module and the vibration damper electromagnetic coil drive module into a single controller, which can improve the performance of the electronically controlled vibration damper system without affecting the original functions of the electronically controlled braking system and the electronically controlled vibration damper system. Attached Figure Description

[0018] Figure 1 The diagram shown is a schematic diagram of the principle structure of a vehicle chassis domain controller according to an embodiment of this application.

[0019] Figure 2 The diagram shown is a schematic representation of software isolation in a vehicle chassis domain controller according to an embodiment of this application.

[0020] Figure 3 The diagram shown is an example structural schematic of a vehicle chassis domain controller according to an embodiment of this application.

[0021] Figure 4 The diagram shown is a schematic representation of another example of a vehicle chassis domain controller according to an embodiment of this application. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this application more apparent, exemplary embodiments according to this application will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments of this application. It should be understood that this application is not limited to the exemplary embodiments described herein. Based on the embodiments of this application described herein, all other embodiments obtained by those skilled in the art without inventive effort should fall within the protection scope of this application.

[0023] The following description provides numerous specific details to offer a more thorough understanding of this application. However, it will be apparent to those skilled in the art that this application can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with this application.

[0024] It should be understood that this application can be implemented in various forms and should not be construed as being limited to the embodiments set forth herein. Rather, providing these embodiments will make the disclosure thorough and complete, and will fully convey the scope of this application to those skilled in the art.

[0025] To fully understand this application, a detailed structure will be presented in the following description to illustrate the technical solution proposed in this application. Optional embodiments of this application are described in detail below; however, in addition to these detailed descriptions, this application may have other implementation methods.

[0026] The following is in conjunction with the appendix Figure 1 To be continued Figure 4 This application provides a detailed description of some embodiments. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0027] This embodiment provides a vehicle chassis domain controller. Figure 1 The diagram shown is a schematic representation of the principle structure of a vehicle chassis domain controller 10 according to an embodiment of this application. Figure 1 As shown, the vehicle chassis domain controller 10 in this embodiment includes: at least one microcontroller 102, a motor drive module, and a shock absorber electromagnetic coil drive module 113; wherein: the input terminal of the motor drive module is connected to the microcontroller 102, and the output terminal is connected to the motor in the vehicle braking circuit, for driving and controlling the working state of the motor to adjust the braking pressure of the wheel; the input terminal of the shock absorber electromagnetic coil drive module 113 is connected to the microcontroller 102, and the output terminal is connected to the shock absorber 114, for driving and controlling the target current of the electromagnetic coil of the shock absorber 114 according to the first drive control signal received from the microcontroller 102, so as to adjust the damping force of the shock absorber 114. In this embodiment, the vehicle chassis domain controller 10 may include a circuit board. The microcontroller 102, the motor drive module, and the shock absorber electromagnetic coil drive module 113 can be integrated on the circuit board to simplify the structure of the vehicle chassis domain controller, reduce the number of circuit boards and external wiring, reduce the overall size of the chassis domain controller 10, and reduce the risk of failure caused by loose wiring, poor contact, etc.

[0028] Alternatively, the vehicle chassis domain controller 10 may include a circuit board as a main circuit board and at least one sub-circuit board integrated with the main circuit board; the shock absorber electromagnetic coil drive module 113 is disposed on the sub-circuit board, and the microcontroller 102 and the motor drive module are disposed on the main circuit board. Separating the brake drive and shock absorber drive onto different circuit boards eliminates the need for a single circuit board to carry too many modules, simplifies wiring, and reduces electromagnetic interference. Especially since the drive module has high power, separating it from the control module reduces signal interference to the microcontroller 102 and facilitates flexible expansion of the drive circuit board number to accommodate different vehicle models (e.g., multi-wheel shock absorbers). Furthermore, since the electromagnetic coil drive may generate significant heat, the separate board design distributes the heat dissipation pressure. During later maintenance, faulty circuit boards can be replaced selectively; for example, if only the shock absorber electromagnetic coil drive module 113 fails, the entire circuit board does not need to be replaced.

[0029] In this embodiment, the microcontroller 102, the motor drive module, and the shock absorber electromagnetic coil drive module 113 of the vehicle chassis domain controller 10 can be housed in a single housing, forming a compact, integrated packaged controller. Alternatively, the microcontroller 102, the motor drive module, and the shock absorber electromagnetic coil drive module 113 can be combined or independently housed in different housings. For example, some modules can be packaged together, while others remain independent; for instance, the microcontroller 102 and the motor drive module can be housed in one housing, while the shock absorber electromagnetic coil drive module 113 can be independently housed in another housing, balancing integration and functional partitioning.

[0030] Integrated housings reduce housing material and assembly costs, and shrink the overall size; separate housings facilitate the design of separate heat dissipation structures for high-power drive modules, or the enhancement of electromagnetic shielding for sensitive control modules such as the 102 microcontroller, thus optimizing performance. Moreover, with separate or combined housings, a faulty module can be disassembled and replaced individually without overall disassembly, reducing maintenance costs and time.

[0031] In this embodiment, the motor drive module and the shock absorber electromagnetic coil drive module 113 in the vehicle chassis domain controller 10 are integrated into one controller, which improves the performance of the electronically controlled shock absorber system without affecting the original functions of the electronically controlled braking system and the electronically controlled shock absorber system.

[0032] Because the microcontroller 102 controls both braking and vibration damping functions (114), the safety requirements of the electrically controlled braking system are higher than those of the electrically controlled vibration damping system. Furthermore, the two systems have different functions. If the controllers of the two systems are integrated, the design must isolate the two systems from each other. In a preferred embodiment, to avoid interference, the two systems are isolated. This isolation consists of two parts: physical isolation and software isolation, to address the issue of mutual interference between the two systems.

[0033] In one implementation of this embodiment, physical isolation is as follows: the vehicle chassis domain controller 10 includes an isolation circuit 121; the isolation circuit 121 is connected between the microcontroller 102 and the shock absorber electromagnetic coil drive module 113, and is used to disconnect the connection between the microcontroller 102 and the shock absorber electromagnetic coil drive module 113 after the shock absorber electromagnetic coil drive module 113 fails or malfunctions.

[0034] For example, the isolation circuit 121 consists of a switch, which is actively controlled by the microcontroller 102. After the microcontroller 102 detects a fault or receives fault feedback, the isolation circuit 121 disconnects the connection between the microcontroller 102 and the vibration damper 114, preventing a fault in the vibration damper 114 branch from affecting the normal control of the braking system by the microcontroller 102.

[0035] In this embodiment, software isolation is achieved by using an isolation circuit 121 to isolate the shock absorber electromagnetic coil drive module 113 from the braking system circuit, preventing the shock absorber electromagnetic coil drive module 113 from affecting the function of the electronically controlled braking system after failure. The isolation circuit 121 actively disconnects the shock absorber 114 system from the microcontroller 102, avoiding interference from the microcontroller 102 due to shock absorber system failure, thereby preventing the shock absorber 114 system failure from interfering with the normal operation of the braking system. This achieves the requirement of minimizing the failure probability of the braking system and preventing shock absorber 114 failure from affecting the braking system function.

[0036] In one implementation of this embodiment, the storage module of the vehicle chassis domain controller 10 includes a first storage area and a second storage area, respectively used to store software data corresponding to the motor drive module and the shock absorber electromagnetic coil drive module 113. When the chassis domain controller executes the shock absorber 114 function or braking function, data interaction between the electronically controlled shock absorber system function software and the electronically controlled braking system function software is performed through a software middleware layer.

[0037] like Figure 2 As shown, the storage modules of the electronically controlled shock absorber system functional software 401 and the electronically controlled braking system functional software 403 within the vehicle chassis domain controller 10 are each allocated a separate ROM area and are isolated from each other; they interact through the runtime environment 402. The data stream 14012 contains the input and output data of the electronically controlled shock absorber system functional software system, which is acquired or sent through the runtime environment 402, thereby realizing data interaction between the system and the electronically controlled braking system functional software 403.

[0038] Data stream 24032 The electronic control braking system function software processes the input and output data related to the electronic control vibration damper system function software 401, and acquires or sends them through the runtime environment 402, thereby realizing data interaction between the electronic control vibration damper system function software 401.

[0039] Control flow 14011 is for the electronically controlled vibration damper system function software 401 to call the services provided by the electronically controlled braking system function software system, which is completed through the runtime environment 402. The electronically controlled vibration damper system function software 401 cannot directly call the internal services of the electronically controlled braking system function software.

[0040] Control flow 24031 is for the electric braking system function software 403 to call the services of the electric vibration damper system function software 401, which is completed through the runtime environment 402. The electric braking system function software 403 cannot directly call the internal services of the electric vibration damper system function software 401. This embodiment achieves software isolation in the above manner.

[0041] In this embodiment, a storage protection control method is used to isolate the control function of the electromagnetic coil drive module 113 of the shock absorber and the control function of the braking system circuit, so as to prevent the electromagnetic coil drive control function of the electronically controlled shock absorber 114 from interfering with the control function of the electronically controlled braking system.

[0042] like Figure 3 As shown, in one implementation of this embodiment, the motor drive module includes: a brushless motor drive module 115 and a brushed motor drive module 117; the input terminal of the brushless motor drive module 115 is connected to the output terminal of the microcontroller 102, and the output terminal is connected to the brushless motor 122, for driving and controlling the working state of the brushless motor 122 according to the second drive control signal received from the microcontroller 102; the input terminal of the brushed motor drive module 117 is connected to the output terminal of the microcontroller 102, and the output terminal is connected to the brushed motor 124, for driving and controlling the working state of the brushed motor 124 according to the third drive control signal received from the microcontroller 102.

[0043] Specifically, the brushless motor drive module 115 controls the operation of the brushless motor 122 and receives the second drive control signal from the microcontroller 102. This drives components in the vehicle that require precise control, such as fans, water pumps, and air conditioning compressors.

[0044] Specifically, the brushed motor drive module 117 controls the operation of the brushed motor 124, receives the third drive control signal from the microcontroller 102, and drives some devices with low cost and complexity requirements, such as window regulators and windshield wipers.

[0045] An example structure of the vehicle chassis domain controller 10 in this embodiment includes: a brushless motor drive module 115, a brushed motor drive module 117, a shock absorber electromagnetic coil drive module 113, and a microcontroller 102 integrated into a single controller for the electric braking system. The motor drive module of the electric braking system drives the motor in the braking circuit to adjust the braking pressure of the wheels. The shock absorber electromagnetic coil drive module 113 controls the target current of the electromagnetic coil of the vehicle shock absorber 114 to adjust the damping force of the electronically controlled shock absorber 114. The microcontroller 102 executes a control algorithm based on received information and outputs corresponding first, second, third, and fourth drive control signals. An isolation circuit 121 isolates the shock absorber electromagnetic coil drive module 113 from the braking system circuit to prevent the failure of the shock absorber electromagnetic coil drive module 113 from affecting the function of the electric braking system.

[0046] The controller of the electronically controlled shock absorber system needs to use signals from the electronically controlled braking system, such as brake master cylinder pressure and brake pedal position. In related technologies, these signals are communicated through the vehicle's CAN bus. Due to the limitations of the vehicle's CAN bus load, the signal transmission rate is generally 10ms or 20ms, which has an adverse effect on the timeliness of the electronically controlled shock absorber system.

[0047] In this embodiment, the microcontroller 102 is used to implement data processing and external output control functions. It can be implemented using one or two microcontrollers. When two microcontrollers 102 are used, they are designated as a master and a slave microcontroller 119 to implement master and slave control functions. In one implementation of this embodiment, the microcontroller includes a master microcontroller 102 and / or a slave microcontroller 119, and the master microcontroller 102 and the slave microcontroller 119 are communicatively connected. The master microcontroller 102 and the slave microcontroller 119 can be integrated onto one circuit board of the vehicle chassis domain controller 10, or they can be distributed across the main circuit board and the sub-circuit board of the vehicle chassis domain controller 10.

[0048] In this embodiment, the chassis domain controller 10 uses one or two microcontrollers to control the motor drive module and the shock absorber electromagnetic coil drive module 113 of the electric braking system. The controller for the electric shock absorber system needs to change the signal transmission from the vehicle's CAN bus to internal controller signals, saving 10ms or 20ms of the original communication cycle. This integration saves the cost of one controller while reducing the signal delay of the electric shock absorber 114 control system, thus improving performance.

[0049] As an example, the microcontroller 102 can also be electrically connected to the ignition switch 118, the pedal position sensor 119, and the instrument switch 120 to acquire relevant signals and send relevant control signals in real time.

[0050] It should be noted that the microcontroller 102 serves as the "brain" of the entire vehicle chassis domain controller 10. The microcontroller 102 receives data from various sensors and switches, executes complex control algorithms, and then outputs corresponding drive signals to each actuator. These algorithms may include various functions such as vehicle stability control, energy management, and driver assistance.

[0051] In one implementation of this embodiment, a first switch selection circuit 125 is further included; the first switch selection circuit 125 is connected to the main microcontroller 102, the auxiliary microcontroller 119 and the vibration damper electromagnetic coil drive module 113 respectively, and is used to select the main microcontroller 102 or the auxiliary microcontroller 119 to drive and control the vibration damper electromagnetic coil drive module 113.

[0052] like Figure 4 As shown, in one implementation of this embodiment, a second switch selection circuit 126 is further included. The second switch selection circuit 126 is connected to the main microcontroller 102, the auxiliary microcontroller 119, and the brushed motor drive module 117, respectively, and is used to select whether the main microcontroller 102 or the auxiliary microcontroller 119 drives and controls the brushed motor drive module 117. Specifically, the auxiliary microcontroller 119 is used to provide brushed motor 124 drive function when the main microcontroller 102 fails.

[0053] In one implementation of this embodiment, the motor drive module and the damper electromagnetic coil drive module 113 are respectively composed of a high-side switch, a low-side switch, and a current detection circuit. The high-side switch and the low-side switch are used to control the current on and off, realizing current closed-loop drive. The current detection circuit is used to detect and collect the operating current of the braking system motor or the operating current of the damper 114. The motor drive module and the damper electromagnetic coil drive module 113 use a current closed-loop control method to control the braking system motor and the damper 114. Based on the collected operating current information and the corresponding control target current information, the operating current of the braking system motor or the operating current of the damper 114 is controlled through current closed-loop control, thereby achieving effective and accurate control of braking and chassis vibration reduction.

[0054] In one implementation of this embodiment, the motor drive module and the damper electromagnetic coil drive module 113 adopt PWM mode closed-loop control or switch mode closed-loop control, which can realize current closed-loop control, circuit fault monitoring and protection.

[0055] In one implementation of this embodiment, the system further includes: a solenoid valve driving module 116; the input terminal of the solenoid valve driving module 116 is connected to the microcontroller 102, and the output terminal is connected to the braking system solenoid valve 123, and is used to drive and control the braking system solenoid valve 123 to work according to the fourth driving control signal received from the microcontroller 102.

[0056] Specifically, the solenoid valve drive module 116 controls the opening and closing of the solenoid valve and receives the fourth drive control signal from the microcontroller 102, enabling precise fluid control in various applications such as braking systems, gear shifting mechanisms, and cooling systems.

[0057] In addition, the chassis domain controller has a built-in basic data acquisition module, which is used to collect vehicle data required for the chassis domain controller to operate. Its output is connected to the I / O input of the microcontroller 102. Figure 3 and Figure 4 As shown, the basic data acquisition module in the vehicle chassis domain controller 10 of this embodiment specifically includes: a CAN transceiver module 101, a CAN bus 103, a wheel speed sensor interface module 104, a wheel speed sensor 105, a switch detection module 106, a parking switch detection module 107, a power management module 108, a battery 109, an acceleration sensor interface module 110, an acceleration sensor 111, a gyroscope 112, an electronically controlled shock absorber 114, and a current drive module 113, etc. Each module in the basic data acquisition module can be integrated onto one circuit board of the vehicle chassis domain controller 10, or it can be distributed across the main circuit board and the sub-circuit boards of the vehicle chassis domain controller 10.

[0058] In this embodiment, the CAN transceiver module 101 is connected to the microcontroller 102 and the CAN bus 103, used for data transmission and reception between the CAN bus 103 and the microcontroller 102 to obtain vehicle information from the vehicle's CAN network. Specifically, the CAN transceiver module 101 acts as a bridge between the vehicle controller area network (CAN bus 103) and the microcontroller 102, responsible for data reception and transmission. The CAN bus 103 is a widely used communication network within vehicles, used for data exchange between different control units. The CAN transceiver module 101 enables high-speed, reliable data transmission, supporting collaborative operation between various vehicle systems.

[0059] In this embodiment, the wheel speed sensor interface module 104 is connected to the microcontroller 102 and the wheel speed sensor 105, and is used to transmit the wheel speed data detected by the wheel speed sensor 105 to the microcontroller 102.

[0060] Specifically, wheel speed sensors 105 monitor the rotational speed of the wheels and transmit the signal to the microcontroller 102 via interface module 104. This provides basic data for vehicle dynamic control systems (such as ABS and ESP) to help maintain vehicle stability and safety. As an example, the number of wheel speed sensors 105 is four.

[0061] In this embodiment, the switch detection module 106 is connected to the microcontroller 102 and the parking switch 107, and is used to detect the switch status of the parking switch 107 and send the switch status to the microcontroller 102.

[0062] Specifically, the status (whether it is activated) of the parking switch 107 is detected, and the status information is sent to the microcontroller 102 to control the vehicle's parking system and ensure the safety of the vehicle when it is parked.

[0063] In this embodiment, the power management module 108 is connected between the microcontroller 102 and the battery 109 for power distribution and management. Specifically, it is responsible for the power distribution and management of the microcontroller 102 and other components of the vehicle chassis domain controller 10, ensuring that each component operates under appropriate voltage and current, thereby improving energy efficiency and protecting the system from voltage fluctuations and short circuits.

[0064] In this embodiment, the accelerometer interface module 110 is connected to the microcontroller 102 and to the accelerometer 111, and is used to transmit the acceleration data detected by the accelerometer 111 to the microcontroller 102.

[0065] Specifically, the accelerometer 111 measures the vehicle's acceleration in various directions and sends the data to the microcontroller 102 via the interface module 110. This provides crucial data for systems such as vehicle dynamics analysis and collision warning.

[0066] In this embodiment, the gyroscope 112 is connected to the microcontroller 102 to detect changes in the vehicle's attitude, speed, and acceleration in various directions, and transmits the changes to the microcontroller 102.

[0067] Specifically, the gyroscope 112 is directly connected to the microcontroller 102 to detect changes in the vehicle's attitude (such as tilting and rolling) as well as changes in velocity and acceleration in various directions. This enhances the accuracy of vehicle attitude control and improves driving stability and safety.

[0068] A gyroscope can be a six-axis gyroscope, which combines a three-axis gyroscope and a three-axis accelerometer. It can simultaneously measure the angular velocity and linear acceleration of an object in three axes, thus providing more comprehensive and accurate motion state information.

[0069] The specific working process includes: the three-axis gyroscope in the six-axis gyroscope is responsible for measuring the angular velocity changes of the object around the X, Y, and Z axes; while the three-axis accelerometer measures the linear acceleration of the object along these three axes. These data are simultaneously acquired and transmitted to the microcontroller 102. After receiving the data from the gyroscope and accelerometer, the microcontroller 102 first performs data verification and preprocessing (such as noise reduction and filtering) to improve the accuracy and reliability of the data. Then, it uses specific algorithms (such as Kalman filtering and complementary filtering) to fuse the data from the two sensors to eliminate errors and obtain more accurate attitude information. Using the fused data, the microcontroller 102 can calculate the vehicle's real-time attitude. Based on the calculated attitude information and other relevant parameters (such as wheel speed data and vehicle speed data), the microcontroller 102 can generate corresponding control signals and adjust the vehicle's performance through actuators (such as the shock absorber 114 and the braking system). As an example, the microcontroller 102 can adjust the damping value of the shock absorber 114 based on the attitude information provided by the six-axis gyroscope to improve the vehicle's ride comfort and handling stability.

[0070] In this embodiment, the current drive module 113 of the electronically controlled shock absorber 114 is connected to the microcontroller 102 of the isolation circuit 121 and to the shock absorber 114. It is used to adjust the damping of the shock absorber 114 according to the first drive control signal provided by the microcontroller 102, so as to realize active or semi-active suspension control, thereby improving the ride comfort and handling of the vehicle under different road conditions.

[0071] Specifically, the current drive module 113 of the electronically controlled shock absorber 114 adjusts the damping of the shock absorber 114 according to the first drive control signal issued by the microcontroller 102, so as to realize active or semi-active suspension control, thereby improving the ride comfort and handling of the vehicle under different road conditions.

[0072] This application also provides a vehicle, which includes the vehicle chassis domain controller 10 as described above. The vehicle chassis domain controller 10 has already been described above and will not be repeated here.

[0073] In summary, the vehicle chassis domain controller of this embodiment reduces the overall vehicle manufacturing cost and occupies less space within the vehicle, saves communication time between controllers, improves the control performance of the electronically controlled shock absorbers, and aligns with the technological development trend of intelligent automotive chassis and integrated control systems. Therefore, this application effectively overcomes the various shortcomings of the prior art and has high industrial applicability.

[0074] Although exemplary embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above exemplary embodiments are merely illustrative and are not intended to limit the scope of this application. Various changes and modifications can be made therein by those skilled in the art without departing from the scope and spirit of this application. All such changes and modifications are intended to be included within the scope of this application as claimed in the appended claims.

[0075] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0076] In the several embodiments provided in this application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed.

[0077] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of this application may be practiced without these specific details. In some instances, well-known structures and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0078] Similarly, it should be understood that, in order to streamline this application and aid in understanding one or more aspects of the application, various features of this application may sometimes be grouped together in a single embodiment, figure, or description thereof in the description of exemplary embodiments of this application. However, the structure of this application should not be interpreted as reflecting an intention that the claimed application requires more features than are expressly recited in each claim. Rather, as reflected in the corresponding claims, the point of application is that the corresponding technical problem can be solved with fewer features than all of a single disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of this application.

[0079] Those skilled in the art will understand that, apart from the mutual exclusion of features, any combination can be used to combine all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any device so disclosed. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0080] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features included in other embodiments but not others, combinations of features from different embodiments are intended to be within the scope of this application and form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

[0081] The various component embodiments of this application can be implemented in hardware, or as software modules running on one or more processors, or a combination thereof. Those skilled in the art will understand that microprocessors or digital signal processors (DSPs) can be used in practice to implement some or all of the functions of some modules according to the embodiments of this application. This application can also be implemented as an apparatus program (e.g., a computer program and computer program product) for performing part or all of the methods described herein. Such an implementation of this application can be stored on a computer-readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.

[0082] It should be noted that the above embodiments are illustrative of this application and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. This application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

[0083] The above description is merely a specific embodiment or illustration of the embodiments of this application. The scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. The scope of protection of this application shall be determined by the scope of the claims.

Claims

1. A vehicle chassis domain controller, characterized in that, include: At least one microcontroller, a motor drive module, and a vibration damper electromagnetic coil drive module; wherein: The input terminal of the motor drive module is connected to the microcontroller, and the output terminal is connected to the motor in the vehicle braking circuit. It is used to drive and control the working state of the motor to adjust the braking pressure of the wheels. The input terminal of the vibration damper electromagnetic coil drive module is connected to the microcontroller, and the output terminal is connected to the vibration damper. It is used to drive and control the target current of the electromagnetic coil of the vibration damper according to the first drive control signal received from the microcontroller, so as to adjust the damping force of the vibration damper.

2. The vehicle chassis domain controller according to claim 1, characterized in that, Also includes: Isolation circuit; The isolation circuit is connected between the microcontroller and the vibration damper electromagnetic coil drive module, and is used to disconnect the connection between the microcontroller and the vibration damper electromagnetic coil drive module after the vibration damper electromagnetic coil drive module fails or malfunctions.

3. The vehicle chassis domain controller according to claim 1, characterized in that, The storage module of the vehicle chassis domain controller includes a first storage area and a second storage area, which are used to store the software data corresponding to the motor drive module and the shock absorber electromagnetic coil drive module, respectively.

4. The vehicle chassis domain controller according to claim 1, characterized in that, The motor drive module includes: a brushless motor drive module and a brushed motor drive module; The input terminal of the brushless motor drive module is connected to the output terminal of the microcontroller, and the output terminal is connected to the brushless motor. It is used to drive and control the working state of the brushless motor according to the second drive control signal received from the microcontroller. The input terminal of the brushed motor drive module is connected to the output terminal of the microcontroller, and the output terminal is connected to the brushed motor. It is used to drive and control the working state of the brushed motor according to the third drive control signal received from the microcontroller.

5. The vehicle chassis domain controller according to claim 2, characterized in that, The microcontroller includes a main microcontroller and / or an auxiliary microcontroller, and the main microcontroller and the auxiliary microcontroller are communicatively connected.

6. The vehicle chassis domain controller according to claim 1 or 5, characterized in that, The vehicle chassis domain controller includes a brake circuit board, and the microcontroller, the motor drive module, and the shock absorber electromagnetic coil drive module are integrated on the brake circuit board. Alternatively, the vehicle chassis domain controller may include a brake circuit board and at least one drive circuit board integrated with the brake circuit board; the shock absorber electromagnetic coil drive module may be disposed on the drive circuit board.

7. The vehicle chassis domain controller according to claim 5, characterized in that, Also includes: First switch selection circuit; the first switch selection circuit is connected to the main microcontroller, the auxiliary microcontroller and the shock absorber electromagnetic coil drive module respectively, and is used to select the main microcontroller or the auxiliary microcontroller to drive and control the shock absorber electromagnetic coil drive module; The second switch selection circuit is connected to the main microcontroller, the auxiliary microcontroller, and the brushed motor drive module, respectively, and is used to select whether the main microcontroller or the auxiliary microcontroller drives the brushed motor drive module.

8. The vehicle chassis domain controller according to claim 1, characterized in that, The motor drive module and the vibration damper electromagnetic coil drive module are respectively composed of a high-side switch, a low-side switch, and a current detection circuit.

9. The vehicle chassis domain controller according to claim 8, characterized in that, The motor drive module and the vibration damper electromagnetic coil drive module adopt PWM mode closed-loop control or switch mode closed-loop control.

10. The vehicle chassis domain controller according to claim 1, characterized in that, Also includes: Solenoid valve drive module; The input terminal of the solenoid valve drive module is connected to the microcontroller, and the output terminal is connected to the solenoid valve of the braking system. It is used to drive and control the solenoid valve of the braking system to work according to the fourth drive control signal received from the microcontroller.

11. A vehicle, characterized in that, The vehicle includes the vehicle chassis domain controller as described in any one of claims 1-10.

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