CN-121973585-A - Integrated chassis control system, vehicle and control method

CN121973585ACN 121973585 ACN121973585 ACN 121973585ACN-121973585-A

Abstract

The embodiment of the application provides an integrated chassis control system, a vehicle and a control method, wherein the integrated chassis control system comprises an integrated controller, a first sensor interface group, a second sensor interface group, a central processing unit, a plurality of wheel end controllers and a special communication link, wherein a local processor, a motor driving circuit, an input end of which is connected with the local processor, an output end of which is used for being connected with a brake actuator, a solenoid valve driving circuit, an input end of which is connected with the local processor, an output end of which is used for being connected with a shock absorber actuator, and a special communication link are integrated on a circuit board where the integrated controller is located. The embodiment of the application can improve the integration level and reduce the hardware cost.

Inventors

ZHANG TIANLIANG
TAO SIYU
TONG ZIWEN

Assignees

芜湖伯特利电子控制系统有限公司

Dates

Publication Date: 20260505
Application Date: 20260313

Claims (16)

1. An integrated chassis control system, the integrated chassis control system comprising: the integrated controller is integrated on a circuit board where the integrated controller is located: A first sensor interface group having an electrical interface for connecting a plurality of brake sensors, and a second sensor interface group having an electrical interface for connecting a plurality of suspension sensors; The input pin of the central processing unit is connected with the circuit output ends of the first sensor interface group and the second sensor interface group; the circuit board of each wheel end controller is integrated with: A local processor; The input end of the motor driving circuit is connected with the local processor, and the output end of the motor driving circuit is used for connecting with a brake actuator; the input end of the electromagnetic valve driving circuit is connected with the local processor, and the output end of the electromagnetic valve driving circuit is used for connecting with the damper executing element; and a special communication link connects the integrated controller and each wheel end controller.
2. The integrated chassis control system of claim 1, wherein the integrated controller further comprises: A body posture sensor configured to acquire body posture information; And the output end of the vehicle body posture sensor is connected with the input pin of the central processing unit.
3. The integrated chassis control system of claim 2, wherein the shock absorber actuator is a solenoid valve, The local processor comprises: a pulse width modulation signal output end for outputting electromagnetic valve control signal and, The input end of the analog-to-digital converter is used for receiving a feedback signal of the driving current of the electromagnetic valve; The solenoid valve drive circuit includes: the input end of the grid driver is connected with the output end of the pulse width modulation signal; A driving power supply connected to a power input terminal of the gate driver; The grid electrode of the power switch tube is connected with the output end of the grid electrode driver, the drain electrode of the power switch tube is connected to the power ground, and the source electrode of the power switch tube is connected with one end of the electromagnetic valve and is used as the output end of the electromagnetic valve driving circuit; The sampling resistor is connected in series between the positive electrode of the driving power supply and the electromagnetic valve loop; and the positive input end and the negative input end of the differential amplifier circuit are respectively connected with two ends of the sampling resistor in a bridging way, and the output end of the differential amplifier circuit is connected with the input end of the analog-to-digital converter.
4. The integrated chassis control system of claim 3, wherein the integrated chassis control system further comprises: and the anode of the follow current diode is connected to the source electrode of the power switch tube, and the cathode of the follow current diode is connected to the node of the sampling resistor connected with the positive electrode of the driving power supply.
5. The integrated chassis control system of claim 4, wherein the wheel end controller further comprises: The system comprises a public power input port, an input filtering and protecting circuit, a power distribution node, a power distribution circuit and a power distribution circuit, wherein the public power input port is configured to receive a vehicle-mounted power supply; A first power branch leading from the power distribution node configured to provide a first voltage to the local processor and the gate driver; A second power supply branch, led out from the power supply distribution node, configured to supply a second voltage to the motor drive circuit and the solenoid valve drive circuit; A ground network, the ground network comprising: a power ground network as a return path for power current in the motor drive circuit and the solenoid valve drive circuit; a signal ground network as a reference ground for a control circuit in the wheel end processor; wherein the power ground network is physically isolated from the signal ground network on a circuit routing layer and is single-point connected to a common ground point by independent routing.
6. The integrated chassis control system of claim 5, wherein the common ground is at a negative terminal of a filter capacitor in the input filter and protection circuit.
7. The integrated chassis control system of any of claims 1-6, The integrated controller further includes: a timer configured to generate a periodic hardware trigger signal; An analog-to-digital converter unit comprising: a plurality of physical input channels, each of which is connected to the first sensor interface group and the second sensor interface group via a corresponding differential amplifier circuit, for receiving a brake sensor signal and a suspension sensor signal output by the differential amplifier circuit, respectively, and An external trigger pin connected to the timer; Wherein the analog-to-digital converter unit is configured to synchronously initiate sampling of the plurality of physical input channels and analog-to-digital conversion operations to obtain sampled data in response to the hardware trigger signal received via the external trigger pin.
8. The integrated chassis control system of claim 7, wherein the brake sensors include four wheel speed sensors and one electronic brake pedal sensor, and the suspension sensors include four sprung acceleration sensors and four unsprung acceleration sensors.
9. The integrated chassis control system of claim 7, The integrated controller further includes: a direct memory access controller, the trigger end is associated with the analog-to-digital converter unit, the data transmission channel is connected with the system memory and is configured to respond to an analog-to-digital conversion completion event and automatically transmit sampling data obtained through analog-to-digital conversion to a designated area of the system memory; an interrupt controller, coupled to the direct memory access controller, configured to generate an interrupt request in response to the direct memory access controller completing a frame of data transfer to the designated area; Wherein the central processor is coupled to the interrupt controller and the direct memory access controller and is configured to exchange data access pointers to the first buffer and the second buffer, respectively, and update a target address register of the direct memory access controller in response to the interrupt request such that subsequent data writes and algorithm reads alternate between the two buffers.
10. A vehicle, characterized in that the vehicle comprises: the integrated chassis control system of any of claims 1-9; A plurality of brake actuators, each brake actuator being connected to an output of a motor drive circuit in the integrated chassis control system; And each shock absorber executing element is connected with the output end of the electromagnetic valve driving circuit in the integrated chassis control system.
11. A method of cooperatively controlling vehicle braking and suspension, performed by the integrated chassis control system of any of claims 1-9, the method comprising: synchronously acquiring sensing signals from a plurality of brake sensors and a plurality of suspension sensors; in the same central processing unit in the integrated controller, carrying out cooperative decision according to the sensing signals and generating an integrated control instruction, wherein the integrated control instruction comprises a braking control component and a suspension damping control component aiming at the same wheel; Issuing the integrated control instruction to a wheel end controller of the controlled wheel through a special communication link; and driving a brake actuator and/or a damper actuator of the controlled wheel by the wheel end controller according to the integrated control instruction.
12. The method of claim 11, wherein, The synchronously collecting sensing signals from a plurality of brake sensors and a plurality of suspension sensors includes: generating a periodic hardware trigger signal by a timer in the integrated controller; and in response to the periodic hardware trigger signal, controlling synchronous starting sampling of analog-to-digital converter units associated with all brake sensors and suspension sensors to acquire digital quantities with consistent time stamps, and obtaining the sensing signal.
13. The method of claim 12, wherein the method further comprises: And automatically storing the sensing signal into a designated area of a system memory in a direct memory access mode.
14. The method of claim 13, wherein the designated area is configured as a double buffer structure, and the double buffer structure comprises a first buffer and a second buffer; The method further comprises the steps of: When one frame of complete acquired data is written into a current writing buffer zone in the double-buffer structure, exchanging logic pointers pointing to the first buffer zone and the second buffer zone, wherein the current writing buffer zone is the first buffer zone or the second buffer zone; The collaborative decision is performed according to the sensing signal, and an integrated control instruction is generated, wherein the collaborative decision is performed according to sampling data in one buffer zone switched to a reading state, and the other buffer zone is used for writing sampling data of the next frame.
15. The method of any one of claims 11-14, wherein the shock absorber actuator is a solenoid valve; The wheel end controller drives a brake actuator and/or a shock absorber actuator of the controlled wheel according to the integrated control instruction, and the brake actuator and/or the shock absorber actuator comprise: analyzing the integrated control command, and separating out the braking control component and the suspension damping control component; in the same control period, a first driving signal is generated according to the brake control component to control the brake actuator, and a second driving signal is generated according to the suspension damping control component to control the electromagnetic valve.
16. The method of claim 15, wherein the method further comprises: Monitoring a drive current flowing through the solenoid valve; comparing the monitored driving current with a target current value corresponding to the suspension damping control component to obtain a comparison result; And adjusting the second driving signal according to the comparison result so as to control the electromagnetic valve.

Description

Integrated chassis control system, vehicle and control method Technical Field The application relates to the field of automobile control, in particular to an integrated chassis control system, a vehicle and a control method. Background Currently, a distributed architecture is generally adopted for controlling the chassis of an automobile, namely, braking, suspension and steering are respectively controlled by a plurality of mutually independent control systems. For example, the prior art system for performing brake control is a brake-by-wire system, and the prior art system for performing suspension control is an electronically controlled damping system, i.e., the prior art brake-by-wire system and the electronically controlled damping system are two independent sets of control systems. The brake-by-wire system EMB is provided with a central controller, a wheel speed sensor, an electronic brake pedal and a wheel end controller. The electronic control damping system EDC is provided with a sprung acceleration sensor, an unsprung acceleration sensor, an independent controller and an electromagnetic valve. At least more technical defects exist in the brake control and the shock absorption control respectively by adopting two independent systems. For example, brake and suspension products are provided by different suppliers, with different degrees of interface openness, affecting coordinated control. The priority decisions taken in the event of control signal collisions in a multi-controller system are complex. The sensor signals are respectively received by the respective main controllers, and the signals are transmitted through the CAN network with time delay. The hardware cost of the repeated universal modules of the two sets of controllers is high. Disclosure of Invention An object of embodiments of the present application is to provide an integrated chassis control system, a vehicle, and a control method, where in some embodiments of the present application, a sensor interface circuit of a brake-by-wire system and an electronic control damping system are integrated into the same integrated controller, and a solenoid valve driving circuit of the electronic control damping system is integrated into a wheel end controller included in the brake-by-wire system, and a dedicated communication link is provided to connect the integrated controller and the wheel end controller. On one hand, the architecture can share the processor and the vehicle body attitude sensor, and can reduce one independent controller shell, so that the hardware cost is reduced while the product integration level is improved. On the other hand, the structure enables the large current path of the electromagnetic valve to be shortened from the long-distance vehicle body wire harness to the wheel end part due to the fact that the electromagnetic valve driving circuit is arranged on the wheel end controller near the wheels, and therefore the signal attenuation and interference are effectively reduced, and the chassis control effect is improved. In a first aspect, an embodiment of the present application provides an integrated chassis control system, including an integrated controller, wherein a first sensor interface group is integrated on a circuit board where the integrated controller is located, and the integrated controller has an electrical interface for connecting a plurality of brake sensors; the system comprises a first sensor interface group, a second sensor interface group, a central processing unit, a plurality of wheel end controllers, a motor driving circuit, an electromagnetic valve driving circuit and a special communication link, wherein the first sensor interface group is provided with an electric interface for connecting a plurality of suspension sensors, an input pin is connected with circuit output ends of the first sensor interface group and the second sensor interface group, a local processor is integrated on a circuit board of each wheel end controller, the input end of the motor driving circuit is connected with the local processor, the output end of the motor driving circuit is used for connecting a brake actuator, the electromagnetic valve driving circuit is connected with the local processor, the input end of the motor driving circuit is used for connecting a shock absorber executing element, and the special communication link is connected with the integrated controller and each wheel end controller. According to the embodiment of the application, the sensor interface circuit in the electric control damping system is integrated in the centralized controller through the hardware structure and the connection relation, and the electromagnetic valve driving circuit of the electric control damping system is integrated in the wheel end controller, so that the independently arranged electric control damping system is canceled. The structure has the technical advantages that hardware cost is reduced and product integration leve