阅读说明：本技术 一种底盘域控制系统及汽车 (Chassis domain control system and automobile ) 是由 谷玉川 谢常云 李齐丽 于 2019-08-23 设计创作，主要内容包括：本发明公开一种底盘域控制器系统及汽车,其包括底盘域控制器,分别通过网络总线或硬线连接所述底盘域控制器的至少一个执行装置、至少一个传感器和至少一个开关,所述底盘域控制器用于根据接收的所述传感器采集的信号、开关信号及协同域控制器发送的请求指令,结合车辆的底盘及车身零件特性固有参数,进行车辆动力学运算、子零件功能仲裁和智能驾驶辅助协调,生成执行控制指令,控制所述执行装置执行相应的操作,并将车辆运动状态反馈到网络总线。实施本发明,提高了整车的安全性,减少各零件电控单元的开发范围,降低了整车成本和维护成本。(The invention discloses a chassis domain controller system and an automobile, wherein the chassis domain controller system comprises a chassis domain controller, at least one execution device, at least one sensor and at least one switch which are respectively connected with the chassis domain controller through a network bus or a hard wire, and the chassis domain controller is used for carrying out vehicle dynamics operation, sub-part function arbitration and intelligent driving auxiliary coordination according to received signals collected by the sensor, switch signals and request instructions sent by a cooperative domain controller and by combining intrinsic parameters of the chassis and body part characteristics of the automobile, generating execution control instructions, controlling the execution device to execute corresponding operations and feeding back the motion state of the automobile to the network bus. By implementing the invention, the safety of the whole vehicle is improved, the development range of the electric control unit of each part is reduced, and the cost of the whole vehicle and the maintenance cost are reduced.)

1. A chassis domain control system, characterized in that it comprises a chassis domain controller, and at least one execution device, at least one sensor and at least one switch connected to the chassis domain controller via a network bus or hard wires, respectively,

and the chassis domain controller is used for performing vehicle dynamics operation, sub-part function arbitration and intelligent driving assistance coordination according to the received signals acquired by the sensor, the signals of the switch and the request instruction sent by the cooperative domain controller and by combining the intrinsic parameters of the characteristics of the chassis and the body parts of the vehicle, generating an execution control instruction and controlling the execution device to execute corresponding operation.

2. The chassis domain controller system of claim 1, wherein the sensor comprises:

the wheel speed sensor is used for measuring the wheel speed of the wheel, the rotating pulse of the wheel and the rotating direction of the wheel;

the steering wheel rotating angle sensor is used for measuring the rotating angle and the angular speed of a steering wheel;

a yaw angle sensor for measuring a lateral acceleration and a longitudinal acceleration of the vehicle;

the inertial sensor is used for measuring the acceleration and the angular velocity in three directions, namely a transverse direction, a longitudinal direction and a vertical direction;

the vehicle body acceleration sensor is used for measuring the vertical acceleration of a set measuring point of the sprung mass of the vehicle body;

the wheel acceleration sensor is used for measuring the vertical acceleration of a wheel unsprung mass set measuring point;

the sensor shares the signals to a network bus or hard line for the chassis domain controller to receive.

3. The chassis domain controller system of claim 1, wherein the switch comprises:

the brake pedal switch is used for detecting whether a driver steps on a brake pedal;

the electronic parking switch is used for detecting whether a driver operates the electronic parking pull-up or release;

the electronic stability control function switch is used for detecting whether to start the related additional functions of the electronic stability system;

the four-wheel drive mode switch is used for distributing the torque of the front wheels and the torque of the rear wheels in real time according to the requirement of a driver and the running condition of the vehicle;

the all-terrain mode switch is used for switching different control modes according to different terrain roads;

the driving style mode switch is used for switching different driving style modes according to different driver preferences;

and the chassis domain controller is used for controlling the vehicle to carry out function setting and performance control according to the intention of a driver according to the state of the switch.

4. The chassis domain controller system of claim 1, wherein the actuator includes an actuator including an electronic control unit that controls operation of an actuator motor, the actuator including the electronic control unit including:

the electric control power-assisted steering execution device further comprises a controller unit, a power-assisted motor, a motor position sensor, a torque sensor and a steering transmission mechanism, and is used for receiving an instruction of a motor direct torque control interface, executing steering action and outputting steering torque to a wheel end;

the electric control power-assisted brake execution device further comprises a controller unit, a power-assisted motor, a motor position sensor, a pedal stroke sensor, a brake transmission mechanism and a brake master cylinder, and is used for receiving an instruction of a motor direct torque control interface, executing brake action and outputting hydraulic pressure to a brake;

the electronic stability control execution device further comprises a controller unit, a motor, a master cylinder hydraulic pressure sensor, an electromagnetic coil, a hydraulic valve and a pump structure, and is used for receiving a control interface command of the wheel cylinder hydraulic pressure, executing the actions of the motor and the valve body and outputting the hydraulic pressure to the brake.

5. The chassis domain controller system of claim 1, wherein the actuator includes an actuator without an electronic control unit, the actuator without an electronic control unit comprising:

the electronic parking execution device further comprises a motor, a transmission mechanism and a hydraulic caliper mechanism, wherein a terminal of the motor is connected to the chassis domain controller through a hard wire, and the chassis domain controller drives the motor to rotate forwards or backwards through an internal integrated electric control unit;

the four-wheel drive control execution device further comprises an electromagnetic coil and a clutch mechanism, wherein a terminal of the electromagnetic coil is connected to the chassis domain controller through a hard wire, and the chassis domain controller controls the current of the electromagnetic coil through an internally integrated electronic control unit;

the suspension electric control execution device further comprises at least four shock absorbers with continuously adjustable damping, terminals of electromagnetic valve coils of the shock absorbers are connected to the chassis domain controller through hard wires, and the chassis domain controller controls the current of the electromagnetic valve coils through an internally integrated electric control unit.

6. The chassis domain controller system of claim 1, wherein the chassis domain controller is in command communication with a cooperative domain controller via a network bus, the cooperative domain controller comprising a smart drive domain controller, a power domain controller, and an inter-body area controller.

7. The chassis domain controller system of claim 6, wherein the instructions comprise:

the intelligent driving domain controller sends a request instruction which specifically comprises braking deceleration data, steering wheel end angle data, intelligent driving mode data, visible road condition information data and visible near point track data;

the request instruction sent by the power domain controller specifically comprises P-gear linkage data, energy recovery feedback data and brake protection request data;

the request instruction sent by the vehicle body interconnection domain controller specifically comprises monitoring data, display information data and mode data;

the output instruction of the chassis domain controller specifically comprises working state and working capacity data of each executing device of the vehicle, signal data of each sensor of the vehicle, control mode data of each chassis electric control system, power demand request data, braking energy recovery request data, data output to the vehicle body interconnection domain controller, visual near point track check feedback data and far point vehicle speed estimation track data.

8. The chassis domain controller system of claim 1, wherein the chassis and body part characteristic intrinsic parameters include modeling parameters of a vehicle and modeling parameters of chassis parts.

9. The chassis domain controller system of claim 1, wherein the performing vehicle dynamics calculations specifically comprises: performing dynamic simulation according to an operation numerical table combining the transverse direction and the longitudinal direction of the vehicle, outputting a callable track, judging the motion state of the vehicle according to the read sensor numerical value in real time, and adjusting each part or performing safety protection control;

the intelligent driving assistance coordination specifically comprises: between the command of intelligent driving and the executing device, making adaptive compensation or deviation on the related control to output the command capable of directly controlling the executing device;

the performing of the function arbitration of the sub-parts specifically comprises: and on the basis of the output of intelligent driving assistance coordination and vehicle dynamics calculation, unified calculation and logic combination are carried out, and a unified control command is output.

10. An automobile, characterized in that it comprises a chassis domain control system according to any one of claims 1-9.

Technical Field

The invention belongs to the technical field of automobiles, and particularly relates to a chassis domain control system and an automobile.

Background

With the continuous increase of electric control products, the development of new electronic and electric systems becomes a necessary trend, and the domain division of the electric control products with strong vehicle relevance is adapted to the requirements of new functions and performances. The chassis domain, the intelligent driving domain and the power domain become strongly-associated core domain control systems, the chassis domain is mainly characterized in the development of a dynamic model of a vehicle, dynamics and kinematics are combined to be associated to a coordination control strategy of each chassis electric control product, the part standardization and the cost reduction of suppliers can be achieved, the technical core belongs to the internal operation of a chassis domain controller, the integration characteristic of quickly calibrating chassis electric control parts can be realized, and control optimized parameters are output to the intelligent driving domain controller and the power domain controller in an interface mode.

However, the current chassis domain has the following problems:

1. the association characteristics of all parts in the chassis cannot be quickly coordinated, the parts cannot be standardized, development suppliers of all parts can be different, and unified coordination and development of a control algorithm for transverse and longitudinal characteristics are difficult to realize;

2. each part of the chassis is independently interacted with other domains in control, so that excessive communication nodes are generated, the redundant design is complex, the software is difficult to update, and the chassis is not suitable for a new electronic and electrical system.

Disclosure of Invention

The technical problem to be solved by the embodiment of the invention is to provide a chassis domain control system and an automobile, wherein through the design and application of a new electronic and electrical system, algorithm fusion is carried out on scattered electric control systems, and each part is standardized and platformized through a chassis domain controller.

In order to solve the above technical problem, the present invention provides a chassis domain controller system, which comprises a chassis domain controller, and at least one execution device, at least one sensor and at least one switch which are respectively connected with the chassis domain controller through a network bus or a hard wire,

and the chassis domain controller is used for performing vehicle dynamics operation, sub-part function arbitration and intelligent driving assistance coordination according to the received signals collected by the sensor, the signals of the switch and the request instruction sent by the cooperative domain controller and by combining the intrinsic parameters of the characteristics of the chassis and the body parts of the vehicle, generating an execution control instruction and controlling the execution device to execute corresponding operation.

Preferably, the sensor comprises:

a wheel speed sensor for measuring a wheel speed of a wheel of the vehicle and a pulse of wheel rotation and a wheel rotation direction;

the steering wheel rotating angle sensor is used for measuring the rotating angle and the angular speed of a steering wheel;

a yaw angle sensor for measuring lateral acceleration and longitudinal acceleration of the vehicle, i.e., acceleration in X and Y directions;

the inertial sensor is used for measuring the acceleration and the angular velocity in three directions, namely a transverse direction, a longitudinal direction and a vertical direction, namely X, Y and a Z direction;

the vehicle body acceleration sensor is used for measuring the vertical acceleration of a set measuring point of the sprung mass of the vehicle body, namely the acceleration in the Z direction;

the wheel acceleration sensor is used for measuring the vertical acceleration of a set measuring point of the unsprung mass of the wheel, namely the acceleration in the Z direction;

the sensor shares the signals to a network bus or hard line for the chassis domain controller to receive.

Preferably, the switch comprises:

the brake pedal switch is used for detecting whether a driver steps on a brake pedal;

the electronic parking switch is used for detecting whether a driver operates the electronic parking pull-up or release;

the electronic stability control function switch is used for detecting whether to start the related additional functions of the electronic stability system;

the four-wheel drive mode switch is used for distributing the torque of the front wheels and the torque of the rear wheels in real time according to the requirement of a driver and the running condition of the vehicle;

the all-terrain mode switch is used for switching different control modes according to different terrain roads;

the driving style mode switch is used for switching different driving style modes according to different driver preferences;

and the chassis domain controller is used for controlling the vehicle to carry out function setting and performance control according to the intention of a driver according to the state of the switch.

Preferably, the execution device comprises an execution device with an electric control unit, the electric control unit controls the execution motor to work, and the execution device with the electric control unit comprises:

the electric control power-assisted steering execution device further comprises a controller unit, a power-assisted motor, a motor position sensor, a torque sensor and a steering transmission mechanism, and is used for receiving an instruction of a motor direct torque control interface, executing steering action and outputting steering torque to a wheel end;

the electric control power-assisted brake execution device further comprises a controller unit, a power-assisted motor, a motor position sensor, a pedal stroke sensor, a brake transmission mechanism and a brake master cylinder, and is used for receiving an instruction of a motor direct torque control interface, executing brake action and outputting hydraulic pressure to a brake;

the electronic stability control execution device further comprises a controller unit, a motor, a master cylinder hydraulic pressure sensor, an electromagnetic coil, a hydraulic valve and a pump structure, and is used for receiving a control interface command of the wheel cylinder hydraulic pressure, executing the actions of the motor and the valve body and outputting the hydraulic pressure to the brake.

Preferably, the executing device comprises an executing device without an electronic control unit, and the executing device without the electronic control unit comprises:

the electronic parking execution device further comprises a motor, a transmission mechanism and a hydraulic caliper mechanism, wherein a terminal of the motor is connected to the chassis domain controller through a hard wire, and the chassis domain controller drives the motor to rotate forwards or backwards through an internal integrated electric control unit;

the four-wheel drive control execution device further comprises an electromagnetic coil and a clutch mechanism, wherein a terminal of the electromagnetic coil is connected to the chassis domain controller through a hard wire, and the chassis domain controller controls the current of the electromagnetic coil through an internally integrated electronic control unit;

the suspension electric control execution device further comprises at least four shock absorbers with continuously adjustable damping, terminals of electromagnetic valve coils of the shock absorbers are connected to the chassis domain controller through hard wires, and the chassis domain controller controls the current of the electromagnetic valve coils through an internally integrated electric control unit.

Preferably, the chassis domain controller is in command communication with the cooperative domain controller through a network bus, and the cooperative domain controller includes an intelligent driving domain controller, a power domain controller and a vehicle body interconnection domain controller.

Preferably, the instructions comprise:

the intelligent driving domain controller sends a request instruction which specifically comprises braking deceleration data, steering wheel end angle data, intelligent driving mode data, visible road condition information data and visible near point track data;

the request instruction sent by the power domain controller specifically comprises P-gear linkage data, energy recovery feedback data and brake protection request data;

the request instruction sent by the vehicle body interconnection domain controller specifically comprises monitoring data, display information data and mode data;

the output instruction of the chassis domain controller specifically comprises working state and working capacity data of each executing device of the vehicle, signal data of each sensor of the vehicle, control mode data of each chassis electric control system, power demand request data, braking energy recovery request data, data output to the vehicle body interconnection domain controller, visual near point track check feedback data and far point vehicle speed estimation track data.

Preferably, the intrinsic parameters of the characteristics of the chassis and the parts of the body comprise modeling parameters of a vehicle and modeling parameters of the parts of the chassis.

Preferably, the performing the vehicle dynamics calculation specifically includes: performing dynamic simulation according to an operation numerical table combining the transverse direction and the longitudinal direction of the vehicle, outputting a callable track, judging the motion state of the vehicle according to the read sensor numerical value in real time, and adjusting each part or performing safety protection control;

the intelligent driving assistance coordination specifically comprises: between the command of intelligent driving and the executing device, making adaptive compensation or deviation on the related control to output the command capable of directly controlling the executing device;

the performing of the function arbitration of the sub-parts specifically comprises: and on the basis of the output of intelligent driving assistance coordination and vehicle dynamics calculation, unified calculation and logic combination are carried out, and a unified control command is output.

Correspondingly, the invention further provides an automobile comprising the chassis domain control system.

The embodiment of the invention has the following beneficial effects:

the electric control system of the chassis is integrated, standardized and platformized, so that the safety of the whole vehicle is improved, the development range of electric control units of all parts is reduced, and the cost and the maintenance cost of the whole vehicle are reduced.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a system diagram of a chassis domain control system according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of a software system of a chassis domain controller according to an embodiment of the present invention.

Detailed Description

The following description of the embodiments refers to the accompanying drawings, which are included to illustrate specific embodiments in which the invention may be practiced.

Referring to fig. 1, an embodiment of the present invention provides a chassis domain controller system, which includes a chassis domain controller, and at least one execution device, at least one sensor, and at least one switch, which are respectively connected to the chassis domain controller via a network bus or a hard wire,

and the chassis domain controller is used for performing vehicle dynamics operation, sub-part function arbitration and intelligent driving assistance coordination according to the received signals collected by the sensor, the signals of the switch and the request instruction sent by the cooperative domain controller and by combining the intrinsic parameters of the characteristics of the chassis and the body parts of the vehicle, generating an execution control instruction and controlling the execution device to execute corresponding operation.

Preferably, the sensor comprises:

a wheel speed sensor for measuring a wheel speed of a wheel of the vehicle and a pulse of wheel rotation and a wheel rotation direction;

the steering wheel rotating angle sensor is used for measuring the rotating angle and the angular speed of a steering wheel;

a yaw angle sensor for measuring lateral acceleration and longitudinal acceleration of the vehicle, i.e., accelerations in X (i.e., vehicle width direction) and Y (i.e., vehicle length direction) directions;

inertial sensors for measuring acceleration and angular velocity in three directions, lateral, longitudinal and vertical, X, Y and Z (i.e. vehicle height direction);

the vehicle body acceleration sensor is used for measuring the vertical acceleration of a set measuring point of the sprung mass of the vehicle body, namely the acceleration in the Z direction;

the wheel acceleration sensor is used for measuring the vertical acceleration of a set measuring point of the unsprung mass of the wheel, namely the acceleration in the Z direction;

the sensor shares the signals to a network bus or a hard wire, and is also used for module algorithm input and functional logic control of chassis domain control.

It will be appreciated that the vehicle suspension is mounted between the vehicle body and the running gear and serves to support the vehicle body and reduce vibrations, if the upper part of the suspension carries the entire vehicle body and a part of the chassis parts, seen in both the up and down directions from the resilient elements (springs, dampers) of the suspension, and the lower part presses another part of the chassis parts (e.g. the wheels, the wheel hubs, a part of the axles and suspension parts, etc.) towards the ground, the upper part of the mass being the sprung mass and the lower part being the unsprung mass. By arranging a measuring point on the sprung mass, the vertical acceleration of the measuring point can be measured by a vehicle body acceleration sensor to be taken as the vehicle body acceleration; a measurement point is provided at the unsprung mass, and the vertical acceleration of this measurement point can be measured by the wheel acceleration sensor as the wheel acceleration.

Specifically, the switch includes:

the brake pedal switch is used for detecting whether the driver steps on the brake pedal or not and judging the brake intention condition of the driver according to the signal;

the electronic parking switch is used for detecting whether a driver operates the electronic parking pull-up or release or not and detecting whether the driver intends to operate the electronic parking pull-up or release instruction or not;

the electronic stability control function switch is used for detecting whether to start related additional functions of the electronic stability system, such as an automatic parking function, a steep descent function and a stability control function;

the four-wheel-drive mode switch is used for distributing the torque of the front wheels and the torque of the rear wheels in real time according to the requirements of a driver and the running condition of the vehicle, improving the passing performance of the vehicle, combining with a stability system and simultaneously improving the stability and the controllability of the vehicle;

the all-terrain mode switch is used for switching different control modes including road condition modes of common/snowfield/mud field/sand field according to different terrain roads so as to adapt to corresponding terrains;

the driving style mode switch is used for switching different driving style modes according to different driver preferences, further concretely comprises that the economic mode is generally suitable for urban roads, and suspension is soft, middle steering hand feeling and middle brake pedal feeling are adopted; two drive mode, low shift point power demand; the comfortable mode is generally suitable for cities or high speeds, and adopts a comfortable steering hand feeling and a comfortable brake pedal; the cross-country mode is generally suitable for mountain roads and sand, and adopts the power requirements of soft suspension, comfortable steering hand feeling, comfortable brake pedal feeling, maximum four-wheel drive preloading torque, high rotating speed and low gear; the motion mode is generally suitable for snowfields, and the power requirements of a suspension frame with hard, heavy steering hand feeling, light and hard brake pedal feeling, maximum four-wheel drive preloading torque and high gear shifting point are adopted;

and the chassis domain controller is used for controlling the vehicle to carry out function setting and performance control according to the intention of a driver according to the state of the switch.

Specifically, the executing device includes an executing device including an electronic control unit, the electronic control unit controls an executing motor to work, and the executing device including the electronic control unit includes:

the electric control power-assisted steering execution device further comprises a controller unit, a power-assisted motor, a motor position sensor, a torque sensor and a steering transmission mechanism, and is used for receiving an instruction of a motor direct torque control interface, executing steering action and outputting steering torque to a wheel end;

the electric control power-assisted brake execution device further comprises a controller unit, a power-assisted motor, a motor position sensor, a pedal stroke sensor, a brake transmission mechanism and a brake master cylinder, and is used for receiving an instruction of a motor direct torque control interface, executing brake action and outputting hydraulic pressure to a brake;

the electronic stability control execution device further comprises a controller unit, a motor, a master cylinder hydraulic sensor, an electromagnetic coil, a hydraulic valve and a pump structure, and is used for receiving a control interface instruction of the wheel cylinder hydraulic pressure, executing the actions of the motor and the valve body and outputting the hydraulic pressure to the brake;

and the chassis domain controller outputs control instructions to control the electric control power-assisted steering executing device, the electric control power-assisted braking executing device and the electronic stability control executing device.

Specifically, the executing device includes an executing device without an electronic control unit, and the executing device without the electronic control unit includes:

the electronic parking execution device further comprises a motor, a transmission mechanism and a hydraulic caliper mechanism, wherein a terminal of the motor is connected to the chassis domain controller through a hard wire, and the chassis domain controller drives the motor to rotate forwards or backwards through an internal integrated electric control unit;

the four-wheel drive control execution device further comprises an electromagnetic coil and a clutch mechanism, wherein a terminal of the electromagnetic coil is connected to the chassis domain controller through a hard wire, and the chassis domain controller controls the current of the electromagnetic coil through an internally integrated electronic control unit;

the suspension electronic control execution device further comprises at least four continuous damping-adjustable shock absorbers, terminals of electromagnetic valve coils of the shock absorbers are connected to the chassis domain controller through hard wires, and the chassis domain controller controls the current of the electromagnetic valve coils through an internally integrated electronic control unit;

the chassis domain controller is connected with the electronic parking executing device, the four-wheel drive control executing device and the suspension electronic control executing device through hard wires respectively, the chassis domain controller drives a motor or an electromagnetic coil through an internal integrated electronic control unit, the chassis domain controller controls the forward rotation and the reverse rotation of the motor to realize electronic parking and electronic parking removal, the chassis domain controller controls the current of the electromagnetic coil, and the distribution of 0-100% of driving force combined with torque and the continuous adjustment of hardness of vibration reduction are realized.

Therefore, in the embodiment, the chassis domain controller outputs the control command to the execution device, and if the execution device does not contain the ECU, the execution device is directly connected with the chassis domain controller through a hard wire; if the execution device comprises the ECU, the network bus connection is formed between the execution device and the chassis domain controller.

As shown in fig. 2, specifically, the chassis domain controller performs command communication with the cooperative domain controller through a network bus, and the cooperative domain controller includes an intelligent driving domain controller, a power domain controller, and a vehicle body interconnection domain controller.

Further in a particular embodiment, the instructions include:

the intelligent driving domain controller sends a request instruction which specifically comprises braking deceleration data, steering wheel end angle data, intelligent driving mode data, visible road condition information data and visible near point track data;

the request instruction sent by the power domain controller specifically comprises P-gear linkage data, energy recovery feedback data and brake protection request data;

the request instruction sent by the vehicle body interconnection domain controller specifically comprises monitoring data, display information data and mode data;

the output instruction of the chassis domain controller specifically comprises working state and working capacity data of each executing device of the vehicle, signal data of each sensor of the vehicle, control mode data of each chassis electric control system, power demand request data, braking energy recovery request data, data output to the vehicle body interconnection domain controller, visible near point track check feedback data and far point vehicle speed estimation track data;

further, the braking deceleration is the braking deceleration which is finally needed to be executed by the intelligent driving system according to the internal operation and is sent to the chassis domain controller by the intelligent driving domain controller, and the related operation instruction which aims at not changing the braking deceleration is executed by the chassis domain controller. The steering wheel end angle refers to a steering wheel end angle which is finally required to be executed by the vehicle and obtained by internal operation of the intelligent driving system, the steering wheel end angle is sent to the chassis domain controller by the intelligent driving domain controller, and the chassis domain controller executes a related operation instruction which aims at unchanging the steering wheel end angle. The intelligent driving mode is divided according to the intelligent driving function and can be divided into a man-machine common driving mode or a full-automatic driving mode. The visual road condition information is the road condition information condition in a front visual range obtained by processing according to an intelligent driving vision system, and comprises straight road or curve curvature information, obstacle information, peripheral traffic flow information, road surface condition information, speed limit information and ramp change information; the information is input into a dynamics module of a chassis domain controller, visible near point track check feedback and far point vehicle speed estimated track information are provided for an intelligent driving domain controller after operation is carried out, and the intelligent driving domain controller carries out final braking and steering instructions to drive a vehicle. The visual near-point track refers to a motion track drawn by the intelligent driving domain controller according to a decision calculation rule integrated in the intelligent driving domain controller, the motion track is output to the chassis domain controller for verification, and whether the motion track exceeds a comfort control range or enters an unstable control range is determined.

The method comprises the steps that a request instruction sent by a power domain controller comprises P-gear linkage data, energy recovery feedback data and brake protection request data, wherein the P-gear linkage data are used for realizing a P-gear engaging position, namely a parking function, by an executing mechanism needing electronic parking according to a control strategy of a power domain, the energy recovery feedback data are used for executing corresponding feedback of response recovery torque information according to a brake energy recovery request sent by a chassis domain controller and comprise maximum energy recovery capacity and real-time recovery values, and the brake protection request data are used for performing the function of liquid pressure protection by braking under the special condition of matching of starting and gradient according to different characteristics of power;

the vehicle body interconnection domain controller comprises a request instruction sent by a vehicle body interconnection domain controller, wherein the request instruction comprises monitoring data, display information data and mode data, the monitoring data is the monitoring data of each chassis system in the chassis domain controller and needs to be uploaded in a background, the display information data is the information of state display and fault display of each chassis system in the chassis domain controller to an instrument or a central control screen, and the mode data is a set of selection modes which are internally set, stored and recorded according to personal preference of a driver so as to automatically enter a default mode of the driver when the driver is replaced or the vehicle is restarted;

the chassis domain controller outputs instructions, including working state and working capacity data of each executing device of the vehicle, signal data of each sensor of the vehicle, control mode data of each chassis electric control system, power demand request data, braking energy recovery request data and data output to the vehicle body interconnection domain controller.

Further, the working state of the executing device refers to the existing state of the executing device, such as the electronic parking state or the releasing state, so as to provide corresponding requirement control for other systems; the working capacity of the execution device refers to the condition of the execution device, and the performance of the execution device is changed under the conditions of temperature, durability and the like; each sensor signal of the vehicle sends sensor signals required by other systems to a network bus for broadcasting, so that the sensor signals are convenient to apply; the control mode data of the chassis electric control system feeds back the currently set control modes of all systems, so that the correction and the display are convenient; power demand request data including torque value demand of the drive motor, gear shift demand, and setting request of driving style; the method comprises the steps of requesting braking energy recovery request data to request an energy recovery implementation value of a power system; the visual near point track verification feedback is realized, the vehicle dynamics module is verified according to the visual road condition information and the visual near point track signal of the intelligent driving area controller, and then an available recommended track is output; and (3) estimating the remote point vehicle speed track, verifying a vehicle dynamics module according to the visible road condition information of the intelligent driving area controller, and outputting an available recommended vehicle speed motion track.

As shown in fig. 2, the characteristic intrinsic parameters of the chassis and the body components include modeling parameters of the vehicle and modeling parameters of the chassis components. It will be appreciated that the modeled parameters of the vehicle are typically parameters that establish a vehicle dynamics model, such as vehicle yaw angle, vehicle pitch angle, vehicle roll angle (relative to the ground), suspension roll angle, wheel steer angle, wheel camber angle, wheel rotation angle, aerodynamic roll angle, and the like; the modeling parameters of each chassis part are parameters required for establishing a model of each chassis part, such as dimensions, assembly relation and the like, and in the case of a steel plate spring, the modeling parameters comprise a curvature radius value of a main leaf spring under an unloaded condition, a clamping length, a lifting lug length, positions of front and rear fixing points of the leaf spring and the like.

In a specific embodiment, the performing the vehicle dynamics calculation specifically includes: carrying out dynamic simulation according to an operation numerical table combining the transverse direction and the longitudinal direction of the vehicle, outputting a track which can be called, and judging the motion state of the vehicle according to the read sensor numerical value in real time to adjust each part or carry out safety protection control;

the intelligent driving assistance coordination specifically comprises: between the command of intelligent driving and the executing device, making adaptive compensation or deviation on the related control to output the command capable of directly controlling the executing device; the intelligent driver can only debug the performance according to the execution condition of the current execution state, but after the performance of the actuator is changed after the performance is endured, adaptive compensation or deviation is needed to be carried out so as to ensure that the signal of the intelligent driver interface is not influenced by the performance of the actuator to generate the situations of inaccurate control direction, snaking and other poor control, and the conditions of detection and the like of whether the driver is out of hand are all in the interaction area between the intelligent driver and the performance of the actuator, a control algorithm is needed to carry out butt joint processing, so that the actuator only receives the interface work influenced by few variables, and the functional logic designs related to the system performance and debugged are all placed in a chassis area controller.

The performing of the function arbitration of the sub-parts specifically comprises: on the basis of the output of intelligent driving assistance coordination and vehicle dynamics calculation, unified calculation and logic combination are carried out, and a unified control command is output; for requests sent by multiple parties, situations of contradiction, repetition, mutual exclusion and the like may exist, and the embodiment performs unified calculation and logic combination through function arbitration of the sub-parts, and finally outputs a unified control instruction.

In this embodiment, the chassis domain controller also feeds back the vehicle motion state to the network bus.

Corresponding to the first embodiment of the invention, the second embodiment of the invention further provides an automobile, which comprises the chassis domain control system in the first embodiment of the invention. The constitution and the working principle of the present invention are described with reference to the first embodiment of the present invention, and are not described in detail.

The embodiment of the invention has the following beneficial effects:

the electric control system of the chassis is integrated, standardized and platformized, so that the safety of the whole vehicle is improved, the development range of electric control units of all parts is reduced, and the cost and the maintenance cost of the whole vehicle are reduced.

The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the invention is not limited by the scope of the appended claims.