The invention provides a drive-by-wire chassis system based on vehicle cloud cooperation and a control method thereof. The drive-by-wire chassis system comprises a cloud controller, a vehicle-mounted controller, a trajectory planning controller, a drive-by-wire steering execution mechanism and a drive-by-wire brake execution mechanism. Precise cooperative control over all components of the drive-by-wire chassis is achieved based on vehicle cloud cooperation, the maneuverability, driving stability and redundancy safety of the vehicle are improved, and therefore the steering characteristic of the vehicle under the full working condition is improved, and the performance and safety boundary of the vehicle are widened. According to the system, a cloud controller located in a remote server receives information such as state parameters sent by a vehicle and information sent by other network connection devices through wireless network communication, and the information is calculated by the cloud controller with a high-precision vehicle model in the remote server; according to the invention, coordination control of active front and rear axle steering and four-wheel yawing moment of a drive-by-wire chassis of a vehicle can be realized, and control output is sent to a vehicle-mounted controller and is switched with output of the vehicle-mounted controller, so that optimal control and fault-tolerant control are achieved.
本发明提供一种基于车云协同的线控底盘系统及其控制方法,包括云端控制器、车载控制器、轨迹规划控制器、线控转向执行机构和线控制动执行机构;本发明基于车云协同实现线控底盘各组成部分的精准协同控制,提高车辆的机动性、行驶稳定性和冗余安全,从而提升车辆的全工况下的转向特性,拓宽汽车性能及安全边界。本发明系统中位于远程服务器的云端控制器通过无线网络通讯接收车辆发送的状态参数等信息和其他网联设备发送的信息,在远程服务器中经过具有高精度车辆模型的云端控制器计算后,能够实现车辆线控底盘的主动前、后轴转向和四轮横摆力矩的协调控制,并将控制输出发送至车载控制器,与车载控制器的输出进行切换,达成最优控制和容错控制。
Drive-by-wire chassis system based on vehicle cloud cooperation and control method thereof
一种基于车云协同的线控底盘系统及其控制方法
18.08.2023
Patent
Elektronische Ressource
Chinesisch
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