Vehicle chassis domain controller

Abstract

According to the vehicle chassis domain controller provided by the utility model, the remote control end sends a control instruction to the main control module through the data radio wireless transmission sub-module, and the main control module can control the rotating speed and the steering of wheels according to the control instruction. The Ethernet module is connected with the Ethernet with the intelligent driving domain, that is, the main control module is connected with the intelligent driving domain through the Ethernet, and when the intelligent driving domain sends a control instruction to the main control module through the Ethernet, the Ethernet module sends the control instruction to the main control module. And the main control module can control the rotating speed and the steering of the wheels according to the control instruction. The control instruction can be the steering of the wheels and the rotating speed of the wheels. Therefore, according to the utility model, a control instruction is sent to the main control module for controlling the chassis domain of the vehicle through two data transmission modes, namely wireless remote control and Ethernet network connection control, so that remote transmission can be realized, and the vehicle chassis domain control system is suitable for remote control.

Description

Technical Field

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

[0002] Drive-by-wire based distributed electric drive control systems improve vehicle control flexibility and dynamic response performance, representing a future direction for unmanned vehicle development. Split-type amphibious unmanned platforms mainly consist of three parts: a ground vehicle, an aerial platform, and an intelligent cabin, capable of free separation and combination. Researching a ground vehicle controller adaptable to omnidirectional four-wheel independent drive control while also possessing wireless data link communication is fundamental to achieving collaborative control of split-type amphibious unmanned platforms. Utility Model Content

[0003] In view of this, the purpose of this utility model is to propose a vehicle chassis domain controller to solve some or all of the technical problems in the background art.

[0004] To achieve the above objectives, this utility model provides a vehicle chassis domain controller, comprising: a main control module, a data transmission radio antenna module, an Ethernet module, and a communication module;

[0005] The data transmission radio antenna module includes a data transmission radio wireless transmission submodule and a remote control terminal; the main control module is connected to the remote control terminal through the data transmission radio wireless transmission submodule.

[0006] The main control module is connected to an Ethernet network with an intelligent driving domain through the Ethernet module;

[0007] The main control module communicates with the wheel control terminal via the communication module. Under the control of the remote control terminal or the intelligent driving domain, the main control module controls the operation of the wheels.

[0008] Optionally, the data transmission radio wireless transmission submodule includes a data transmission radio antenna end and a data transmission radio interface end. The data transmission radio antenna end includes a ground end and an aerial end, which are connected by an antenna. One end of the data transmission radio interface is connected to the ground end, and the other end of the data transmission radio interface is connected to the main control module. The aerial end is connected to the remote control end.

[0009] Optionally, the Ethernet module includes an Ethernet peripheral submodule, and the main control module is connected to the Ethernet network through the Ethernet peripheral submodule.

[0010] Optionally, it also includes a power supply module, which is connected to the main control module, the data transmission radio antenna module, the Ethernet module, and the communication module, respectively.

[0011] Optionally, it also includes an SWD simulation module, which includes an SWD simulation acquisition interface submodule and an SWD simulator, wherein the SWD simulator is connected to the main control module through the SWD simulation acquisition interface submodule.

[0012] Optionally, the communication module includes an RS-communication submodule, an RS-communication submodule, a USB communication submodule, and a USB-to-serial port submodule, and the main control module connects to the peripherals corresponding to each submodule through the RS-communication submodule, RS-communication submodule, USB communication submodule, and USB-to-serial port submodule;

[0013] The communication module also includes a CAN bus communication submodule, through which the main control module is connected to the steering motor.

[0014] Optionally, it also includes an angle sensor acquisition module, one end of which is connected to the main control module, and the other end is connected to the angle sensor chip via a line.

[0015] Optionally, it also includes a GPS acquisition module, one end of which is connected to the main control module and the other end of which is connected to the GPS chip.

[0016] Optionally, it also includes an SBUS signal acquisition module, through which the main control module is connected to the peripheral device.

[0017] Optionally, it also includes an LED light group module, a buzzer module, and a push-button switch group, all of which are connected to the main control module.

[0018] As described above, the vehicle chassis domain controller provided by this utility model includes a data link system, where the data transmission radio antenna module can be understood as such. This data link system enables remote control of the chassis domain, including a remote control terminal. The remote control terminal sends control commands to the main control module via the data transmission radio wireless transmission submodule. The main control module can then control the wheel speed and steering according to these control commands. The Ethernet module connects to an Ethernet network with an intelligent driving domain, meaning the main control module connects to the intelligent driving domain via Ethernet. When the intelligent driving domain sends control commands to the main control module via the Ethernet network and Ethernet module, the main control module can control the wheel speed and steering according to these commands. These control commands can be wheel steering and wheel speed. Thus, this utility model, through both wireless remote control and Ethernet network connection control, sends control commands to the main control module of the vehicle chassis domain, enabling long-distance transmission and making it suitable for long-distance control. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in this utility model or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the control principle structure of a vehicle chassis domain controller according to an embodiment of the present utility model;

[0021] Figure 2 This is a schematic diagram of the internal framework structure of a vehicle chassis domain controller according to an embodiment of the present invention;

[0022] Figures 3-4 This is a schematic diagram of the main control module circuit of an embodiment of the present utility model;

[0023] Figure 5 This is a schematic diagram of the data transmission radio interface circuit according to an embodiment of the present invention;

[0024] Figure 6 This is a schematic diagram of the data transmission radio transmission principle according to an embodiment of the present utility model;

[0025] Figure 7 This is a circuit diagram of the Ethernet module according to an embodiment of the present invention;

[0026] Figure 8 This is a circuit diagram of the power module according to an embodiment of the present utility model;

[0027] Figure 9 This is the SD simulation module of this utility model embodiment;

[0028] Figure 10 This is a circuit diagram of the RS-232 communication submodule according to an embodiment of the present invention;

[0029] Figure 11 This is a circuit diagram of the RS-485 communication submodule according to an embodiment of the present invention;

[0030] Figure 12 This is a circuit diagram of the USB communication submodule according to an embodiment of the present invention;

[0031] Figure 13 This is a circuit diagram of the USB-to-serial communication submodule according to an embodiment of the present invention;

[0032] Figure 14 This is a circuit diagram of the CAN bus communication submodule according to an embodiment of the present invention;

[0033] Figure 15This is a circuit diagram of the angle sensor acquisition circuit according to an embodiment of the present invention;

[0034] Figure 16 This is a circuit diagram of the GPS acquisition module according to an embodiment of the present invention;

[0035] Figure 17 This is a circuit diagram of the FLSH storage module according to an embodiment of the present invention;

[0036] Figure 18 This is a circuit diagram of the buzzer module according to an embodiment of the present invention;

[0037] Figure 19 This is a circuit diagram of the LED lamp assembly module according to an embodiment of the present utility model;

[0038] Figure 20 This is a circuit diagram of the push-button switch module according to an embodiment of the present invention;

[0039] Figure 21 This is a circuit diagram of the SBUS signal acquisition module according to an embodiment of the present invention;

[0040] Figure 22 This is a schematic diagram of the CAN bus control principle according to an embodiment of the present invention.

[0041] In the attached image:

[0042] 1. Main control module; 3. Ethernet module; 2. Data transmission radio antenna module; 13. Power supply module; 5. SWD simulation module; 4. Communication module; 45. RS-232 communication sub-module; 42. RS-485 communication sub-module; 43. USB communication sub-module; 44. USB to serial port sub-module; 41. CAN bus communication sub-module; 6. Angle sensor acquisition module; 7. GPS acquisition module; 12. SBUS signal acquisition module; 10. LED light group module; 9. Buzzer module; 11. Push button switch group; 8. FLASH storage module. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0044] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this utility model should have the ordinary meaning understood by one of ordinary skill in the art to which this utility model pertains. The terms "first," "second," and similar words used in the embodiments of this utility model do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word covers the element or object listed after the word and its equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are only used to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0045] The embodiments of this utility model are described below with reference to the accompanying drawings.

[0046] like Figure 1 As shown, this utility model provides a reference. Figure 1 and Figure 2 As shown, a vehicle chassis domain controller is characterized by comprising: a main control module 1, a data transmission radio antenna module 2, an Ethernet module 3, and a communication module;

[0047] The data transmission radio antenna module 2 includes a data transmission radio wireless transmission submodule and a remote control terminal; the main control module 1 is connected to the remote control terminal through the data transmission radio wireless transmission submodule.

[0048] The main control module 1 is connected to an Ethernet network with an intelligent driving domain through the Ethernet module 3;

[0049] The main control module 1 communicates with the wheel control terminal via the communication module. Under the control of the remote control terminal or the intelligent driving domain, the main control module 1 controls the operation of the wheels.

[0050] The communication module includes a communication module 4, and the main control module 1 is connected to the corresponding peripheral device through the communication module 4.

[0051] Specifically, the data transmission radio antenna module 2 can be understood as a data link system. This data link system enables remote control of the chassis domain, including a remote control terminal. The remote control terminal sends control commands to the main control module 1 via the data transmission radio wireless transmission submodule. The main control module 1 can then control the wheel speed and steering according to these control commands. The Ethernet module 3 is connected to an Ethernet network with an intelligent driving domain. This means the main control module 1 connects to the intelligent driving domain via Ethernet. When the intelligent driving domain sends control commands to the main control module 1 via the Ethernet network and Ethernet module 3, the main control module 1 can control the wheel speed and steering according to these commands. These control commands can be wheel steering and wheel speed. Thus, this invention uses both wireless remote control and Ethernet network connection to send control commands to the main control module 1 for vehicle chassis domain control, enabling long-distance transmission and making it suitable for long-distance control.

[0052] Furthermore, the main control module 1 includes a U1 chip, which is an STM32F407 microcontroller chip.

[0053] This invention uses the STM32F407IGT6 microcontroller as the core processor of the system. This chip is a high-performance ARM Cortex-M4 microcontroller manufactured by STMicroelectronics, belonging to the STM32F4 series. It is equipped with 1MB of Flash memory and 192KB of SRAM, operates at a frequency of up to 168MHz, and integrates an adaptive real-time ART accelerator.

[0054] The controller uses an STM32F407 microcontroller and achieves speed and steering control of the four wheels through CAN bus-based drive-by-wire technology. Simultaneously, the controller integrates a data link and GPS module, enabling remote control. Research was conducted on longitudinal speed PID control algorithms, angle-based PID Ackerman steering control algorithms, in-situ steering control algorithms, and wedge motion control algorithms, improving the flexibility and dynamic response performance of unmanned vehicle control. This utility model primarily protects the chassis and control system; specific algorithms are studied based on actual conditions and are not described in detail here.

[0055] In some embodiments, such as Figure 3 , Figure 4 , Figure 5 , Figure 6As shown, the data transmission radio wireless transmission submodule includes a data transmission radio antenna end and a data transmission radio interface end. The data transmission radio antenna end includes a ground end and an aerial end, which are connected by an antenna. One end of the data transmission radio interface is connected to the ground end, and the other end of the data transmission radio interface is connected to the main control module 1. The aerial end is connected to the remote control end.

[0056] Specifically, the data transmission radio interface includes a CN0105 socket, which is connected to the main control chip U1 of the main control module 1 via PC6 and PC7 pins. The CN0105 socket is a single-row 4-hole socket. The ground end of the data transmission radio antenna is plugged into the CN0105 socket, using existing corresponding socket and plug connection methods, which will not be described in detail here. The specific connections between the data transmission radio antenna and the data transmission radio interface with the main control module 1 and the remote control terminal are as follows: Figure 4 As shown.

[0057] For example, the data link system comprises three parts: a host computer, a data transmission radio, and a controller. In the entire system, the host computer acts as a remote control terminal, capable of sending motion commands or instructions. The data transmission radio serves as the intermediary in the transmission, acting as a bridge between the host and controllers. In this patent, the data transmission radio primarily handles unidirectional data transmission—from the host computer to the controller. After receiving instructions from the data transmission radio, the controller processes the data according to a fixed parsing protocol and then uses this data to control the movement and stopping of the unmanned vehicle.

[0058] Figure 6 The demonstrated communication principle of the data radio is as follows: Data is sent from the TX port of the main control module 1 (serial port device A) to the ground terminal of the data radio. The ground terminal receives the data, converts it into radio waves, and transmits it through an antenna. The overhead terminal receives the radio wave signal using its antenna. The received signal is then analyzed, and the analysis result is transmitted from the overhead terminal's TX port to the RX port of the remote control terminal (serial port device B). This completes a full transmission and reception process. Similarly, the serial port device can wirelessly transmit data from its TX port to the RX port of serial port device A.

[0059] In some embodiments, such as Figure 2 , Figure 3 , Figure 4 , Figure 7 As shown, the Ethernet module 3 includes an Ethernet peripheral submodule, and the main control module 1 is connected to the Ethernet network through the Ethernet peripheral submodule.

[0060] Specifically, the Ethernet peripheral submodule includes a U2 chip and a CN0201 chip. The U2 chip and the CN0201 chip are connected via ETH_RXN, ETH_PXP, ETH_TXN, ETH_TXP, ETH_LINKLED, and ETH_SPEEDLED interfaces. The U2 chip is connected to the U1 chip via PA2, PC1, PG13, PG14, PC4, PC5, PA7, PA1, and PB2 interfaces. A VCC_ETH interface is provided between the U2 chip and the CN0201 chip, and the Ethernet peripheral submodule connects to the Ethernet network via the VCC_ETH interface. In essence, the Ethernet peripheral submodule is equivalent to an ETH peripheral.

[0061] The STM32F407 integrates an Ethernet peripheral that uses DMA control for Media Access Control (MAC), fulfilling MAC layer tasks. Through this Ethernet peripheral, the STM32F407 can access the PHTY chip registers, thus handling the physical layer of the network. The Ethernet peripheral connects to the LAN8720A chip via the RMII interface.

[0062] In some embodiments, such as Figure 2 , Figure 3 , Figure 4 , Figure 8 As shown, it also includes a power module 13, which is connected to the main control module 1, the data transmission radio antenna module 2, the Ethernet module 3 and the communication module respectively.

[0063] Specifically, the power module 13 includes: a battery CN1101, a battery management chip CN1102, a switching regulator chip LM2596S-5.0, a sliding card switch SW1101, and a converter chip V12. The battery CN1101, the switching regulator chip LM2596S-5.0, the sliding card switch SW1101, the converter chip V12, and the battery management chip CN1102 are connected in series to form a series power module 13. The series circuit is provided with a 5V power interface and a 3.3V power interface. The 5V power interface and the 3.3V power interface supply power to the other modules, and the corresponding power interfaces are connected.

[0064] It can provide both +5V and +3.3V power supply voltages. An external 7~36V power supply is used, which is converted to 5V by the onboard DC-DC power supply chip. The power supply chip used is the LM2596-5.0, which can output a maximum current of 3A, sufficient for general driving requirements. The 3.3V power supply is obtained from the 5V power supply using the LD1117-3.3 chip.

[0065] In some embodiments, such as Figure 2 , Figure 3 , Figure 4 , Figure 9 As shown, it also includes an SWD simulation module 5, which includes an SWD simulation acquisition interface submodule and an SWD simulator. The SWD simulator is connected to the main control module 1 through the SWD simulation acquisition interface submodule.

[0066] Specifically, the SWD simulation acquisition interface submodule includes a CN0101 chip, which is connected to the U1 chip of the main control module 1 through the SWCLLK, SWDIO, and NRST interfaces.

[0067] The SWD emulation acquisition interface submodule, also known as the SWD debug serial port, requires six pins. RESET is the hardware reset pin for the STM32F407 chip. The ST-Link emulator uses this pin to control the hardware reset. The circuit board powers the emulator via the VCC_3V3 power supply pin, but for the ST-Link emulator, this power supply pin is not required. The SWDIO (PA13) and SWCLK (PA14) pins are the data and clock lines for the SWD debug interface; the data line is bidirectional. SWO (PB3) is used for the debug (TRACE) function and is generally not connected.

[0068] In some embodiments, such as Figure 2 , Figure 3 , Figure 4 , Figure 10 , Figure 11 , Figure 12 , Figure 13 As shown, the communication module 4 includes an RS-232 communication submodule 45, an RS-485 communication submodule 42, a USB communication submodule 43, and a USB-to-serial port submodule 44. The main control module 1 connects to the peripherals corresponding to each submodule through the RS-232 communication submodule 45, the RS-485 communication submodule 42, the USB communication submodule 43, and the USB-to-serial port submodule 44.

[0069] Specifically, the RSX-232 communication submodule 4 includes a connected U6 chip and a CN0601 connector. The U6 chip is connected to the U1 chip via PC12 and PD2 interfaces. The U6 chip is connected to the 3V3 interface of the power module 13 via a 3V3 interface. The RS-485 communication submodule 42 includes a connected U5 chip and a CN0501 connector. The U5 chip is connected to the U1 chip via interfaces PB11, PH8, and PB10. The U5 chip is connected to the 3V3 interface of the power module 13 via a 3V3 interface. The USB communication submodule 43 includes a USB1 connector, which is connected to the U1 chip via interfaces PA11 and PA12. The USB1 connector is connected to the 5V interface of the power module 13 via a 5V interface. The SUB-to-serial port submodule includes a connected U4 chip and a USB2 connector. The U4 chip is connected to the U1 chip via interfaces PB6 and PB7 of connector JP2. Its U4 chip and USB2 connector are connected to the 135V power interface of the power module via the USB-5V interface.

[0070] USB-to-serial communication is used, allowing the microcontroller to communicate with other devices. Here, the CH340G is used to convert the serial port to USB communication. During debugging, a USB data cable connects the microcontroller to the computer, enabling communication between the computer and the circuit board, allowing direct output of debugging information via the serial port. RS-485 interface communication is used. This interface employs differential signal logic; a voltage difference of +(2~6)V between the two lines represents logic "0"; a voltage difference of -(2~6)V represents logic "1". The SP3072E chip is used to achieve compatibility with the STM32F407 interface. The SP3072E chip has +15kV ESD protection and uses a 3.3V, 1 / 8 load. The transmit and receive enable lines required by the SP3072E chip are directly connected to the PH8 interface via these two pins. When PH8 is active, a high level enables the RS-485 transmit function, and a low level enables data reception. In the circuit, R45 is the terminating resistor, and R44 and R46 are bias resistors used to ensure that the RS-485 bus maintains logic 1 in the silent state. Communication is via an RS-232 interface. Using a standard RS-232 interface, a voltage of -3 to -15V between the transmit terminal TXD and the receive terminal RXD represents logic "1", and similarly, a voltage of +3 to +15V represents logic "0". To resolve the incompatibility issue with the STM32's TTL levels, a level conversion chip SP3232E is used in the circuit design.

[0071] In some embodiments, such as Figure 2 , Figure 3 , Figure 4 , Figure 14As shown, the communication module 4 also includes a CAN bus communication submodule 41, through which the main control module 1 is connected to the steering motor.

[0072] Specifically, the CAN bus communication submodule 41 includes a U7 chip, which is connected to the PH13 and PI9 pins of the U1 chip via the CAN_TX and CAN_RX interfaces. The U7 chip is also connected to the steering motor via the CAN_H and CAN_L interfaces. In other words, the main control chip connects to the steering motor via the CAN bus to achieve precise control of the steering motor. Its CAN controller uses an SN65HVD230 as the CAN driver. The CAN interface uses 5.08mm pitch terminals. When pin 8 (RS pin) of the SN65HVD230 chip is high, the IC will disable transmission and can only receive CAN bus data. If the voltage at pin 8 is below 1.2V, the transceiver is in a transmit-enabled state (acceptable at this time). The resistance value of resistor R36 controls the slope of the waveform. The smaller the resistance value, the steeper the rising and falling edges of the waveform. The SN65HVD230 has a maximum design baud rate of 1 Mbps, which is the same as the maximum baud rate of the CAN controller built into the STM32F407 microprocessor. Pin 4 of the SN65HVD230 is used as the received signal output, and it operates in push-pull mode, meaning no external pull-up resistor is required when connecting it to the STM32F407 microprocessor.

[0073] This utility model adopts a wired control system based on the CAN bus. See attached document for details. Figure 22 As shown, CAN (Controller Area Network Bus) is a serial communication protocol bus used for real-time data transmission. When a node on the CAN bus needs to send data, it broadcasts the message to all nodes connected to the bus. Simultaneously, each node receives all the data. The identifier is the first 11 (29) characters of each message group; it not only defines the message priority but also uses content-oriented addressing, ensuring the identifier is unique within the same control system. When a node needs to send data to other nodes, its central processing unit transmits the data to be sent and its own identifier to the node's controller CAN chip, entering a ready-to-send state. When the CAN chip receives the bus allocation, it switches to the message sending state and sends the data according to the specified protocol format. Meanwhile, other nodes on the bus enter the receiving state. Nodes in the receiving state check the received messages to identify whether they were intended for them, thus confirming receipt. The entire process is broadcast.

[0074] In some embodiments, such as Figure 2 , Figure 3 , Figure 4 , Figure 15 As shown, it also includes an angle sensor acquisition module 6, one end of which is connected to the main control module 1, and the other end is connected to the angle sensor chip via a line.

[0075] Specifically, for example, the angle sensor can be the TLE5014P16DXUMA1 model: an automotive GMR angle sensor with a PWM interface, used for measuring angle, linearity, and rotation. The TLE5014S16DXUMA1 signal: an automotive GMR angle sensor with a SENT interface, also used for measuring angle, linearity, and rotation. The TLE5014SP16DE0002XUMA1 model: a 360° angle measurement automotive GMR angle sensor with 12-bit resolution and sensitivity. Other models include the TLE5014C16 model, the TMAG6180-Q1 model, and the Asm-sensor PTAM2 / PTDM2 tilt sensor. This embodiment is not specifically limited to these models; other unlisted models can also be used, selected according to the actual situation. The angle sensor acquisition module 6 includes a CN0103 chip. The CN0103 chip is connected to the U1 chip through interfaces PA0, PA3, PA4, PA6, PB0, and PB1. The CN0103 chip can be a connector that connects to the angle sensor via a connector cable. The main control chip can acquire data from the angle sensor chip through the angle sensor acquisition module 6, and process and store the data to facilitate precise vehicle control.

[0076] In some embodiments, such as Figure 2 , Figure 3 , Figure 4 , Figure 16 As shown, it also includes a GPS acquisition module 7, one end of which is connected to the main control module 1, and the other end is connected to the GPS chip.

[0077] Specifically, the GPS acquisition module includes a CN0104 socket, on which a GPS chip is plugged. The CN0104 can also be a GPS chip, directly connected to the U1 chip of the main control module 1. The CN0104 chip and the U1 chip are connected via PC11 and PC10 interfaces. Specifically, the U1 chip of the main control module 1 can acquire GPS data through the GPS acquisition module 7, process and analyze the data, and determine the wheel's position information.

[0078] In some embodiments, such as Figure 2 , Figure 3 , Figure 4 , Figure 17 As shown, it also includes a FLASH storage module 8, which is connected to the main control module 1.

[0079] Specifically, the FLASH storage module 8 includes a U3 chip, also known as a storage chip. The U3 chip is connected to the U1 chip of the main control module 1 via PI0, PC2, PI1, and PI3 interfaces. The storage chip, connected to the main control module 1, stores the data acquired and processed by the main control module 1, facilitating control of the controller and avoiding the need to retrieve external data, thus improving the controller's operating speed.

[0080] In some embodiments, such as Figure 2 , Figure 3 , Figure 4 , Figure 18 As shown, it also includes a buzzer module 9, which is connected to the main control module 1.

[0081] Specifically, the buzzer module 9 includes a buzzer U8, which is connected to the U1 chip of the main control module 1 via a PI10 interface. The buzzer is used to receive control signals sent by the main control module 1 and to sound an alarm. When the main control module 1 sends an alarm command to the buzzer, the buzzer sounds an alarm, which can help users troubleshoot problems.

[0082] In some embodiments, such as Figure 2 , Figure 3 , Figure 4 , Figure 19 As shown, it also includes an LED light group module 10, which is connected to the main control module 1.

[0083] Specifically, the exemplary LED light group module 10 includes a first LED D1, a second LED D2, and a third LED D3. One end of the first LED D1 is connected to the U1 chip via a PH9 interface, and the other end of the first LED D1 is connected to one end of the second LED D2 and the third LED D3, respectively. The other end of the second LED D2 is connected to the U1 chip via a PE5 interface, and the other end of the third LED D3 is connected to the U1 chip via a PE6 interface. The LED light group is used to display the operating status of the main control module 1.

[0084] In some embodiments, such as Figure 2 , Figure 3 , Figure 4 , Figure 20 As shown, it also includes a button switch group 11, which is connected to the main control module 1.

[0085] Specifically, the push-button switch group 11 includes a first switch K1, a second switch K2, a third switch K3, a fourth switch K4, and a fifth switch K5. The first switch K1 is connected to the U1 chip via interface PE0. The second switch K2 is connected to the U1 chip via interface PE1. The third switch K3 is connected to the U1 chip via interface PE2. The fourth switch K4 is connected to the U1 chip via interface PE3. The fifth switch K5 is connected to the U1 chip via interface PE4. The push-button switch group 11 is used to send switch signals to the main control module 1, enabling the main control module to control each module according to the switch signals.

[0086] In some embodiments, such as Figure 2 , Figure 3 , Figure 4 , Figure 21 As shown, it also includes an SBUS signal acquisition module 12, and the main control module 1 is connected to the peripheral device through the SBUS signal acquisition module 12.

[0087] Specifically, the SBUS signal acquisition module 12 includes a CN0102 socket, which is connected to the U1 chip via PD5 and PD6 interfaces. The CN0102 socket is connected to other devices, enabling the main control module 1 to receive SBUS signals through the CN0102 socket for vehicle control.

[0088] It should be noted that the above description describes some embodiments of the present invention. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in a different order than that shown in the above embodiments and still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0089] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of the present invention (including the claims) is limited to these examples; within the framework of the present invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of the present invention as described above, which are not provided in the details for the sake of brevity.

[0090] Although the present invention has been described in conjunction with specific embodiments thereof, many substitutions, modifications, and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures may be used with the embodiments discussed.

[0091] The embodiments of this utility model are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the embodiments of this utility model should be included within the protection scope of this utility model.

Claims

1. A vehicle chassis domain controller, characterized by, Include: Master module (1), data radio antenna module (2), Ethernet module (3) and communication module (4); The data radio antenna module (2) includes a data radio wireless transmission sub-module and a remote control end; The master module (1) is connected with the remote control end through the data radio wireless transmission sub-module; The master module (1) is connected with the Ethernet network having intelligent driving domain through the Ethernet module (3); The master module (1) is connected with the wheel control end through the communication module (4), and under the control of the remote control end or the intelligent driving domain, the master module (1) controls the wheel to run.

2. The vehicle chassis domain controller of claim 1, wherein, The data radio wireless transmission sub-module includes a data radio antenna end and a data radio interface end, the data radio antenna end includes a ground end and a sky end, and the ground end and the sky end are connected through an antenna; One end of the data radio interface is connected with the ground end, and the other end of the data radio interface is connected with the master module (1); The sky end is connected with the remote control end.

3. The vehicle chassis domain controller of claim 1, wherein, The Ethernet module (3) includes an Ethernet peripheral sub-module, and the master module (1) is connected with the Ethernet network through the Ethernet peripheral sub-module.

4. The vehicle chassis domain controller of claim 1, wherein, Further include power module (13), the power module (13) is connected with the master module (1), data radio antenna module (2), Ethernet module (3) and communication module respectively.

5. The vehicle chassis domain controller of claim 1, wherein, Further include SWD simulation module (5), the SWD simulation module (5) includes SWD simulation acquisition interface sub-module and SWD simulator, and the SWD simulator is connected with the master module (1) through the SWD simulation acquisition interface sub-module.

6. The vehicle chassis domain controller of claim 1, wherein, The communication module (4) includes RS-232 communication sub-module (45), RS-485 communication sub-module (42), USB communication sub-module (43) and USB-to-serial sub-module (44), and the master module (1) is connected with the peripheral corresponding to each sub-module through the RS-232 communication sub-module (45), RS-485 communication sub-module (42), USB communication sub-module (43) and USB-to-serial sub-module (44); The communication module (4) further includes CAN bus communication sub-module (41), and the master module (1) is connected with the steering motor through the CAN bus communication sub-module (41).

7. The vehicle chassis domain controller of claim 1, wherein, Further include angle sensor acquisition module (6), one end of the angle sensor acquisition module (6) is connected with the master module (1), and the other end is connected with the angle sensor chip through a line.

8. The vehicle chassis domain controller of claim 1, wherein, Further include GPS acquisition module (7), one end of the GPS acquisition module (7) is connected with the master module (1), and the other end is connected with the GPS chip.

9. The vehicle chassis domain controller of claim 1, wherein, Further include SBUS signal acquisition module (12), and the master module (1) is connected with the peripheral through the SBUS signal acquisition module (12).

10. The vehicle chassis domain controller of claim 1, wherein, Also include LED lamp group module (10), buzzer module (9) and key switch group (11), LED lamp group module (10), buzzer module (9) and key switch group (11) are connected with the main control module (1).

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