CN110549871A - vehicle control unit based on distributed driving vehicle and control method - Google Patents

Abstract

The invention discloses a vehicle controller and a control method based on a distributed drive vehicle. The vehicle controller includes an external sensor signal processing module, an external communication signal processing module, an external sensor and indicator light power supply module, and an external switch state identification Module, first power supply module, second power supply module, MCU, first information storage module and second information storage module, in which external sensor signal processing module, external communication signal processing module, external sensor and indicator light power supply module, external switch status The identification module, the first information storage module and the second information storage module are all connected to the MCU. The control method is as follows: the software architecture is a layered structure, which is divided into three layers. From top to bottom, it is the application layer, the signal transmission layer and the Driving layer; Beneficial effect: Provides a brand-new vehicle controller and control method applied to distributed drive vehicles.

Description

A vehicle controller and control method based on a distributed drive vehicle

technical field

The invention relates to a vehicle controller and a control method, in particular to a vehicle controller and a control method based on a distributed drive vehicle.

Background technique

At present, with the increasingly serious environmental pollution, the pollution problems caused by traditional fuel vehicles cannot be ignored, and new energy vehicles are in the process of rapid development. For electric vehicles in new energy vehicles, according to the different drive schemes of electric vehicles, they can be divided into single-axis drive electric vehicles, dual-axis drive electric vehicles and distributed drive electric vehicles. Distributed drive electric vehicle means that the driving motor of the car is integrated into the four wheels of the car, and the four hub motors drive the wheels to rotate respectively to drive the vehicle. Due to the huge difference between distributed drive vehicles and traditional vehicles, traditional vehicle controllers cannot meet the needs of distributed drive vehicles. Therefore, it is necessary to propose a vehicle controller based on distributed drive vehicles to realize the control of distributed vehicles Driving, braking, steering and active safety control of drive vehicles.

At present, there are few studies on the vehicle controller based on distributed drive vehicles, and there is no more detailed controller topology for distributed drive vehicles, especially the research on vehicle controllers based on distributed drive vehicles is limited to the vehicle controller only. The upper computer controls the four hub motor controllers, but does not perform upper computer control on the vehicle's braking system and steering system, which is not conducive to the dynamic control of the vehicle.

Invention CN 108482364 proposes a distributed drive controller for electric vehicles. The distributed drive controller involved in this invention only performs host computer control on the wheel motor controller of the vehicle, and is not a vehicle controller in the strict sense.

At present, the vehicle controller of the vehicle performs information interaction with other controllers of the vehicle through the vehicle CAN bus. Because the vehicle controller of the distributed drive vehicle transmits a huge amount of information at the same time, the reliability of information transmission is high, and the information interaction is limited. The method is not limited to the CAN bus of the vehicle, but can also be CAN FD, Ethernet and other methods.

Contents of the invention

The object of the present invention is to provide a vehicle controller and control method based on distributed drive vehicles in order to solve many problems existing in the use process of the current vehicle controllers of distributed drive vehicles.

The vehicle controller based on the distributed driving vehicle provided by the present invention includes an external sensor signal processing module, an external communication signal processing module, an external sensor and indicator light power supply module, an external switch state identification module, a first power supply module, and a second power supply module. Module, MCU, first information storage module and second information storage module, wherein external sensor signal processing module, external communication signal processing module, external sensor and indicator light power supply module, external switch status recognition module, first information storage module and the second The two information storage modules are connected to the MCU, the external sensor signal processing module is electrically connected to the vehicle sensor, the external sensor signal processing module can receive and process the signal of the vehicle sensor, and the external sensor signal processing module transmits the processed vehicle sensor signal to the MCU , the MCU is responsible for receiving the processed vehicle sensor signals and performing logic operations to further judge the driver's intention and current vehicle status. The external communication signal processing module receives external communication signals from other vehicle controllers on the one hand, and processes them through the external communication signal processing module. After that, it is passed to the MCU, and the MCU synthesizes the external communication signals sent by other vehicle controllers for logical judgment; the external communication signal processing module receives the communication signals from the MCU, and sends them to other vehicle controllers after being processed by the external communication signal processing module. The vehicle controller receives the host computer signal sent by the MCU and responds accordingly. The external sensor and indicator light power supply module are electrically connected to the vehicle sensor and the indicator light respectively. Lamp power supply, the external switch state identification module is connected with the external switch, the first power supply module and the second power supply module are external sensor signal processing module, external communication signal processing module, external sensor and indicator light power supply module, external switch state identification module , MCU, the first information storage module and the second information storage module supply power, the first power supply module is connected to the first external power supply circuit, and the second power supply module is connected to the second external power supply circuit.

Both the first power supply module and the second power supply module are ECU power supply modules.

Both the first information storage module and the second information storage module are ECU information storage modules.

Vehicle sensors include vehicle key sensor, left front wheel speed sensor, right front wheel speed sensor, left rear wheel speed sensor, right rear wheel speed sensor, steering wheel angle sensor, brake pedal opening sensor, accelerator pedal opening sensor, vehicle Acceleration sensor and vehicle angular acceleration sensor, vehicle key sensor, left front wheel speed sensor, right front wheel speed sensor, left rear wheel speed sensor, right rear wheel speed sensor, steering wheel angle sensor, brake pedal opening sensor, accelerator pedal opening sensor The degree sensor, the vehicle acceleration sensor and the vehicle angular acceleration sensor are all connected to the external sensor signal processing module and the external sensor and indicator light power supply module.

Other vehicle controllers include front axle electronic power steering controller, rear axle electronic power steering controller, left front electronic mechanical brake controller, right front electronic mechanical brake controller, left rear electronic mechanical brake controller, right rear electronic Mechanical brake controller, left front hub motor controller, right front hub motor controller, left rear hub motor controller, right rear hub motor controller, gear position controller and vehicle power battery controller, front axle electronic power steering controller , rear axle electronic power steering controller, left front electromechanical brake controller, right front electromechanical brake controller, left rear electromechanical brake controller, right rear electromechanical brake controller, left front hub motor controller, right front The hub motor controller, the left rear hub motor controller, the right rear hub motor controller, the gear position controller and the vehicle power battery controller can all communicate with the external communication signal processing module by using external communication signals.

The external communication signals include CAN signals, CAN FD signals and Ethernet signals, and the CAN signals, CAN FD signals and Ethernet signals can all communicate with the external communication signal processing module.

The indicator lights include instrument indicator lights and switch indicator lights. The instrument indicator lights are installed on the vehicle instrument to serve as alarms and work reminders. The switch indicator lights are installed on external switches to play the role of work reminders. Connects to external sensor and indicator light supply modules.

The external switches include a parking switch, a VDC switch, a reset tire pressure monitoring switch and a driving mode switch, and the parking switch, the VDC switch, a reset tire pressure monitoring switch and a driving mode switch are all connected to the external switch state identification module.

The control method based on the distributed drive vehicle provided by the present invention, its control method is as follows:

The vehicle controller controls the vehicle through the software architecture. The software architecture is a layered structure, which is divided into three layers. From top to bottom, it is the application layer, signal transmission layer and driver layer;

The application layer in the software architecture is the core part of the vehicle controller software. The application layer in the software architecture includes the application layer control algorithm software, which integrates the control strategies and control algorithms of all vehicle controllers;

The signal transmission layer in the software architecture provides a real-time operating environment for the vehicle controller software, provides signal interfaces for the application layer and the driver layer, and realizes real-time monitoring of vehicle controller faults. The signal transmission layer in the software architecture includes fault monitoring software, signal The transmission software and the fault monitoring software monitor the fault status of the vehicle controller in real time and give an alarm in time. The signal transmission software is responsible for building the signal interface between the application layer and the driver layer to realize the communication between the application layer and the driver layer. The software of the controller runs in the signal transmission layer in real time. When the software task of the vehicle controller runs to the point where the application layer software or the underlying driver software is required to work, the application layer software or the underlying driver software performs calculations, and then transmits the calculation results to the The signal transmission layer, the signal transmission layer integrates the received information, monitors the fault status, and completes the information transmission. Then the signal transmission layer will wait until the vehicle controller needs to perform the next software task, and the signal transmission layer will start the next working cycle;

The driver layer in the software architecture controls the hardware drive of the vehicle controller, processes external signals, supplies power to external sensors and indicators, supplies power to the ECU, realizes diagnosis and software refresh of the vehicle controller, and recognizes the status of external switches. The driver layer includes external sensor signal processing software, external sensor and indicator light power supply software, ECU power supply software, external communication signal processing software, diagnosis and refresh software, and external switch state recognition software. The external sensor signal processing module of the controller realizes the corresponding relationship between software and hardware. The external sensor and indicator light power supply software and the external sensor and indicator light power supply module of the vehicle controller realize the corresponding relationship between software and hardware. The external communication signal processing module of the vehicle controller realizes the corresponding relationship between software and hardware, the external switch state recognition software and the external switch state recognition module of the vehicle controller realize the corresponding relationship between software and hardware, in addition, the ECU power supply software and the vehicle control The first power supply module and the second power supply module of the device realize the corresponding relationship between software and hardware.

The application layer in the software architecture is the core part of the vehicle controller software. The application layer control algorithm software integrates the control strategies and control algorithms of all vehicle controllers. The specific methods are as follows:

The application layer control algorithm software receives the external input signal of the vehicle controller from the driving layer and the alarm signal of the vehicle controller from the signal transmission layer, and the external input signal is first transmitted to the driver's driving intention recognition module and the driver's braking intention recognition module , the driver's driving intention recognition module judges the current driver's driving intention to the vehicle by processing external input signals, and then the driver's driving intention recognition module passes the vehicle driving mode to the driving mode discrimination module; the driver's braking intention recognition module processes the external The input signal judges the current driver's braking intention on the vehicle, and then the driver's braking intention recognition module transmits the vehicle braking mode to the driving mode discrimination module;

The driving mode discrimination module receives external input signals, the vehicle driving mode from the driver's driving intention recognition module, and the vehicle braking mode from the driver's braking intention recognition module, and judges the current driving mode of the vehicle through logical operations. The vehicle driving mode is divided into P/N gear mode, D gear driving mode, R gear driving mode, braking mode, parking mode, flameout mode, and limp mode. Coasting mode, the R gear driving mode is also divided into R gear idle mode and R gear coasting mode. The driving mode discrimination module will calculate the preliminary target braking torque, preliminary target driving torque and preliminary wheel speed according to the driving mode entered by the vehicle. Corner angle, preliminary target parking torque and preliminary parking state flag, the driving mode discrimination module transmits the preliminary target braking torque signal to the braking module, transmits the preliminary target driving torque signal to the driving module, and transfers the preliminary target braking torque signal to the driving module. The target wheel angle signal is transmitted to the steering module, and the preliminary target parking torque and preliminary parking status flag are transmitted to the parking module;

The braking module receives external input signals and the preliminary target braking torque from the driving mode discrimination module. The braking module includes a regenerative braking module, a coasting braking module, a braking anti-lock braking For the power torque coordination module, when the software runs to the braking module, it first runs the innermost module, and then runs the external modules in turn. The regenerative braking module and the coasting braking module are two software modules of the same level. According to the status of the vehicle, the same Only one of the two software modules will be run at any time. The braking module finally obtains the target electromechanical braking torque of each wheel and the target regenerative braking torque of each wheel through calculation. The braking module converts the target The electromechanical braking torque signal and the target regenerative braking torque signal of each wheel are sent to the output signal integration module;

The drive module receives external input signals and the preliminary target drive torque from the driving mode discrimination module. The drive module includes the drive anti-skid module, the drive electronic differential module, and the four-wheel drive torque coordination module from the inside to the outside. When the software runs to the drive module , the innermost module is run first, and then the external modules are run sequentially. The drive module finally obtains the target drive torque of each wheel through calculation, and the drive module sends the target drive torque signal of each wheel to the output signal integration module;

The steering module receives external input signals and the preliminary target wheel angle signal from the driving mode discrimination module. The steering module includes the steering electronic differential module and the VDC module in turn from the inside to the outside. When the software runs to the steering module, it first runs the innermost module, and then run the external modules in turn, the steering module finally obtains the front axle wheel angle and the rear axle wheel angle through calculation, and the steering module sends the front axle wheel angle signal and the rear axle wheel angle signal to the output signal integration module;

The parking module receives external input signals, as well as the preliminary target parking torque and preliminary parking status flags from the driving mode discrimination module. The parking module includes a static parking module, a dynamic parking module, a static parking module and a dynamic parking module. The module is two software modules of the same level. According to the state of the vehicle, only one of the two software modules will be run at the same time. The parking module finally obtains the target parking torque and the parking status flag through calculation. Further, the parking The car module sends the target parking torque signal and the parking state flag signal to the output signal integration module;

The tire pressure monitoring module receives external input signals, including the reset tire pressure monitoring switch signal, wheel speed signal, gear position signal, ignition signal and motor torque signal in the external input signal. The speed signal is used to judge whether the four wheels of the current vehicle are in the state of lack of air. If it is recognized that a certain wheel or several wheels of the vehicle are in the state of lack of air, the tire pressure monitoring module will immediately give an alarm. In addition, the tire pressure monitoring module passes Identify and reset the tire pressure monitoring switch signal to determine whether the driver needs to re-calibrate the initial tire pressure. If the tire pressure monitoring module recognizes that the reset tire pressure monitoring switch is pressed, the tire pressure monitoring module will start to re-calibrate the initial tire pressure until the calibration Completed, the tire pressure monitoring module sends the tire pressure alarm flag of each wheel to the output signal integration module after judging the lack of air of the wheels;

The output signal integration module receives signals from the brake module, drive module, steering module, parking module, and tire pressure monitoring module. The output signal integration module classifies and integrates all the received signals into appropriate signal interfaces, and then transmits them to the signal transmission Layer, the signal transmission layer allocates the signal interface, and further transmits the signal to the driver layer, and the driver layer executes the signal transmission, so as to realize the control of the upper computer of the vehicle controller to other controllers of the vehicle.

Working principle of the present invention:

The vehicle controller based on the distributed driving vehicle provided by the present invention is electrically connected with vehicle sensors, indicator lights and external switches respectively. The vehicle controller supplies power to the vehicle sensors that need power supply and the meters and switch indicators that need power supply. The vehicle controller receives the electrical signal from the vehicle sensor. Further, the vehicle controller judges the driver's intention and the current vehicle state after processing the electrical signal of the vehicle sensor, and sends the control command to other control systems of the vehicle through logical operation. device. In addition, the vehicle controller also judges the status of the external switch in real time, and activates the corresponding function of the vehicle controller according to the switch status.

The vehicle controller and other controllers of the vehicle can communicate in real time. The communication method is any signal form that can ensure stable communication quality, including CAN (Controller Area Network) signal, CAN FD (CAN with Flexible Data-Rate) signal, Ethernet signal, etc.

The vehicle controller communicates with the electronic power steering controller of the front axle and the electronic power steering controller of the rear axle respectively in real time. The front axle electronic power steering controller controls the front axle electronic steering booster of the vehicle, drives the two wheels of the front axle of the vehicle to rotate around the kingpin, and realizes the front wheel steering of the vehicle; the rear axle electronic power steering controller controls the rear axle electronic steering of the vehicle. The steering booster drives the two wheels of the rear axle of the vehicle to rotate around the kingpin to realize the steering of the rear wheels of the vehicle. The vehicle controller calculates the front axle wheel angle and rear axle wheel angle required by the current vehicle by receiving the signal from the steering wheel angle sensor, and the vehicle controller sends the target front axle wheel angle signal to the front axle electronic power steering controller. The front axle electronic power steering controller controls the vehicle's front axle electronic power steering booster to drive the wheels to rotate to reach the target front axle wheel angle. At the same time, the vehicle controller sends the target rear axle wheel angle signal to the rear axle electronic power steering controller, and the rear axle The axle electronic power steering controller controls the vehicle's rear axle electric power steering to drive the wheels to rotate to achieve the target rear axle wheel angle. In addition, the front axle electronic power steering controller and the rear axle electronic power steering controller respectively receive the electrical signals from the steering wheel angle sensor. When the vehicle controller cannot communicate with the front axle electronic power steering controller or the rear axle , the front axle electronic power steering controller and the rear axle electronic power steering controller can respectively calculate the front axle wheel angle and the rear axle wheel angle required by the vehicle by receiving the steering wheel angle signal, and realize the steering of the vehicle by controlling the electronic steering booster. That is, the redundant backup of the vehicle steering control system is realized.

The left front electro-mechanical brake controller controls the action of the electro-mechanical brake caliper located on the side of the left front wheel to provide braking torque for the left front wheel of the vehicle, so that the left front wheel of the vehicle reduces its speed until it stops rotating, and at the same time the left front electro-mechanical brake The dynamic controller can also control the action of the electromechanical brake caliper of the left front wheel to lock the left front wheel of the vehicle so that it cannot rotate, thereby realizing the parking of the vehicle. In order to avoid the failure of a certain circuit braking system to prevent the vehicle from decelerating, a corresponding electromechanical brake controller and an electromechanical brake caliper are configured for each wheel, and the other three electromechanical brake controllers and electromechanical brake calipers The working principle of the brake caliper is consistent with the working principle of the left front wheel brake circuit described above, and will not be repeated here.

The vehicle controller communicates in real time with the left front electromechanical brake controller, the right front electromechanical brake controller, the left rear electromechanical brake controller, and the right rear electromechanical brake controller respectively. The vehicle controller receives the signal from the brake pedal opening sensor and combines the current vehicle status information and the regenerative braking capability of the hub motor to obtain the current target electromechanical braking torque that should be distributed to each wheel. The vehicle controller will The target electro-mechanical braking torque is sent to the left front electro-mechanical brake controller, right front electro-mechanical brake controller, left rear electro-mechanical brake controller, right rear electro-mechanical brake controller, and the electro-mechanical brake controller The electromechanical calipers are controlled to decelerate the vehicle. In addition, the vehicle controller judges the state of the parking switch and combines the current vehicle state information to know whether the current vehicle needs to be parked or released. The vehicle controller sets the target parking torque and the target parking state flag respectively Send to the left front electronic mechanical brake controller, right front electronic mechanical brake controller, left rear electronic mechanical brake controller, right rear electronic mechanical brake controller, the electronic mechanical brake controller controls the electronic mechanical caliper to realize the vehicle Park and unpark.

In addition to the above vehicle braking and parking modes, the left front electro-mechanical brake controller, right front electro-mechanical brake controller, left rear electro-mechanical brake controller, and right rear electro-mechanical brake controller also receive braking If any one of the electronic mechanical brake controllers cannot receive the control signal from the vehicle controller, the electronic mechanical brake controller will control the electronic mechanical calipers by receiving the signal from the brake pedal opening sensor to make the vehicle slow down. In addition, the left front electro-mechanical brake controller, the right front electro-mechanical brake controller, the left rear electro-mechanical brake controller, and the right rear electro-mechanical brake controller are respectively electrically connected to the parking switch. The automatic controller monitors the state of the parking switch in real time. If any one of the electromechanical brake controllers cannot receive the control signal from the vehicle controller, the electronic mechanical brake controller controls the electromechanical calipers by judging the state of the parking switch to make the vehicle realize Park or unpark.

The left front hub motor controller drives the left front hub motor located in the rim of the left front wheel. The left front hub motor is embedded in the wheel. The motor controller can also control the left front hub motor to provide regenerative braking torque for the vehicle to decelerate the vehicle. Configure corresponding hub motors for each wheel, including left front hub motor, right front hub motor, left rear hub motor, right rear hub motor, hub motor controller and hub motor work in the same principle, right front hub motor controller, left rear hub motor The working principles of the motor controller and the right rear hub motor controller will not be described repeatedly.

The vehicle controller communicates in real time with the left front hub motor controller, the right front hub motor controller, the left rear hub motor controller, and the right rear hub motor controller respectively. The vehicle controller receives the signal of the accelerator pedal opening sensor and the signal of the brake pedal opening sensor, and combines the current vehicle status information and the regenerative braking capability of the hub motor to calculate the current target drive torque that should be distributed to each wheel and the target regenerative braking torque. The vehicle controller sends the target driving force and the target regenerative braking torque to the left front hub motor controller, the right front hub motor controller, the left rear hub motor controller, and the right rear hub motor controller, and the hub motor controller controls the hub The electric motor drives the vehicle or slows it down.

The left front hub motor controller, the right front hub motor controller, the left rear hub motor controller, and the right rear hub motor controller also receive the signal from the accelerator pedal opening sensor respectively. If any hub motor controller cannot receive the signal from the vehicle controller control signal, the hub motor controller controls the hub motor to drive the vehicle by receiving the signal from the accelerator pedal opening sensor.

The vehicle controller communicates with the gear controller in real time, and the vehicle controller receives the gear signal sent by the gear controller, and integrates the vehicle gear information to realize real-time control of distributed driving vehicles.

The vehicle controller also communicates with the vehicle power battery controller in real time. The vehicle controller receives information such as the vehicle's remaining battery power and vehicle battery failure from the vehicle power battery controller, and uses it to judge the regenerative braking capability of the in-wheel motor and realize Real-time control of distributed drive vehicles.

Vehicle sensor components include vehicle key sensor, left front wheel speed sensor, right front wheel speed sensor, left rear wheel speed sensor, right rear wheel speed sensor, steering wheel angle sensor, brake pedal opening sensor, accelerator pedal opening sensor, vehicle Acceleration sensor, vehicle angular acceleration sensor. The vehicle sensor collects vehicle status information and sends it to the vehicle controller that needs to receive it, including the vehicle controller, hub motor controller, electromechanical brake controller, etc.

The indicator light consists of instrument indicator light and switch indicator light. The instrument indicator light and switch indicator light are powered by the vehicle controller. When the instrument indicator light and switch indicator light need to be lit, the vehicle controller turns on to supply power for the instrument indicator light and switch indicator light. When the light needs to be extinguished, the vehicle controller cuts off the power supply for the instrument indicator light and the switch indicator light.

The external switch consists of a parking switch, a VDC switch, a reset tire pressure monitoring switch, and a driving mode switch, and the above-mentioned external switches are electrically connected to the vehicle controller of the present invention. The parking switch is used to control the vehicle to complete parking, release the parking or realize the deceleration of the vehicle in an emergency; the VDC switch is used to turn on or off the VDC function of the vehicle; the reset tire pressure monitoring switch is used to control the tire pressure of the vehicle controller. The pressure monitoring module works to recalibrate the initial tire pressure; the driving mode switch is used to control the switching of the driving mode of the vehicle. The driving mode of the vehicle includes energy-saving mode, normal mode, and sports mode. Different vehicle driving modes should correspond to different vehicle control strategies. The car controller knows the current driving mode of the vehicle by identifying the state of the driving mode switch, so as to realize a freely switchable vehicle control strategy.

Beneficial effects of the present invention:

The present invention provides a brand new vehicle controller and control method applied to distributed drive vehicles; the present invention provides a brand new application layer control algorithm software architecture applied to the distributed drive vehicle vehicle controller. In other studies on the vehicle controller of distributed drive vehicles, the vehicle controller communicates with other vehicle controllers through the CAN network. The present invention proposes that the vehicle controller and other vehicle controllers can communicate through any Communication in the form of signals, including CAN (ControllerAreaNetwork), CAN FD (CAN with FlexibleData-Rate), Ethernet, etc.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the vehicle controller of the present invention.

Fig. 2 is a schematic diagram of the topology structure of the vehicle controller according to the present invention.

Fig. 3 is a schematic diagram of the software architecture of the vehicle controller of the present invention.

Fig. 4 is a schematic diagram of the software architecture of the application layer control algorithm of the vehicle controller according to the present invention.

Fig. 5 is a schematic diagram of the composition and structure of vehicle sensors in other vehicle components of the present invention.

Fig. 6 is a schematic diagram of the composition and structure of the indicator lights in other vehicle components according to the present invention.

Fig. 7 is a schematic diagram of the composition and structure of an external switch in other vehicle components according to the present invention.

The annotations in the above figure are as follows:

1. Vehicle controller 2. External sensor signal processing module 3. External communication signal processing module

4. External sensor and indicator light power supply module 5. External switch state recognition module

6. The first power supply module 7. The second power supply module 8. MCU 9. The first information storage module

10. Second information storage module 11. Vehicle sensor 12. External communication signal 13. Indicator light

14. External switch 15. First external power supply circuit 16. Second external power supply circuit

17. Vehicle key sensor 18. Left front wheel speed sensor 19. Right front wheel speed sensor

20. Left rear wheel speed sensor 21. Right rear wheel speed sensor 22. Steering wheel angle sensor

23. Brake pedal opening sensor 24. Accelerator pedal opening sensor

25. Vehicle acceleration sensor 26. Vehicle angular acceleration sensor

27. Front axle electronic power steering controller 28. Rear axle electronic power steering controller

29. Left front electro-mechanical brake controller 30. Right front electro-mechanical brake controller

31. Left rear electro-mechanical brake controller 32. Right rear electro-mechanical brake controller

33. Left front hub motor controller 34. Right front hub motor controller

35. Left rear hub motor controller 36. Right rear hub motor controller 37. Gear position controller

38. Vehicle power battery controller 39. Instrument indicator light 40. Switch indicator light

41. Parking switch 42. VDC switch 43. Reset tire pressure monitoring switch

44. Driving mode switch.

Detailed ways

Please refer to Figure 1 to Figure 7:

The vehicle controller 1 based on the distributed driving vehicle provided by the present invention includes an external sensor signal processing module 2, an external communication signal processing module 3, an external sensor and indicator light power supply module 4, an external switch state identification module 5, and a first power supply module. Module 6, second power supply module 7, MCU8, first information storage module 9 and second information storage module 10, wherein external sensor signal processing module 2, external communication signal processing module 3, external sensor and indicator light power supply module 4, external The switch state recognition module 5, the first information storage module 9 and the second information storage module 10 are all connected to the MCU 8, the external sensor signal processing module 2 is electrically connected to the vehicle sensor 11, and the external sensor signal processing module 2 can receive and process the vehicle sensor 11 signal, the external sensor signal processing module 2 transmits the processed vehicle sensor 11 signal to the MCU8, and the MCU8 is responsible for receiving the processed vehicle sensor 11 signal and performing logical operations to further judge the driver's intention and the current vehicle state, external communication signal The processing module 2 receives the external communication signal 12 sent by other vehicle controllers on the one hand, and passes it to the MCU8 after being processed by the external communication signal processing module 3, and the MCU8 synthesizes the external communication signal 12 sent by other vehicle controllers for logical judgment; On the other hand, module 3 receives the communication signal from MCU8, and sends it to other vehicle controllers after being processed by external communication signal processing module 3. Other vehicle controllers receive the host computer signal sent by MCU8 and respond accordingly. 4 are respectively electrically connected to the vehicle sensor 11 and the indicator light 13, the external sensor and indicator light power supply module 4 supplies power to the vehicle sensor 11 and the indicator light 13 that need power supply, and the external switch state identification module 5 is connected to the external switch 14, The first power supply module 6 and the second power supply module 7 are both an external sensor signal processing module 2, an external communication signal processing module 3, an external sensor and indicator light power supply module 4, an external switch state identification module 5, an MCU 8, and a first information storage module 9 and the second information storage module 10 supply power, the first power supply module 6 is connected to the first external power supply line 15 , and the second power supply module 7 is connected to the second external power supply line 16 .

Both the first power supply module 6 and the second power supply module 7 are ECU power supply modules.

Both the first information storage module 9 and the second information storage module 10 are ECU information storage modules.

Vehicle sensor 11 includes vehicle key sensor 17, left front wheel speed sensor 18, right front wheel speed sensor 19, left rear wheel speed sensor 20, right rear wheel speed sensor 21, steering wheel angle sensor 22, brake pedal opening sensor 23 , accelerator pedal opening sensor 24, vehicle acceleration sensor 25 and vehicle angular acceleration sensor 26, vehicle key sensor 17, left front wheel speed sensor 18, right front wheel speed sensor 19, left rear wheel speed sensor 20, right rear wheel speed sensor 21. The steering wheel angle sensor 22, the brake pedal opening sensor 23, the accelerator pedal opening sensor 24, the vehicle acceleration sensor 25 and the vehicle angular acceleration sensor 26 are all connected to the external sensor signal processing module 2 and the external sensor and indicator light power supply module 4. connect.

Other vehicle controllers include front axle electronic power steering controller 27, rear axle electronic power steering controller 28, left front electronic mechanical brake controller 29, right front electronic mechanical brake controller 30, left rear electronic mechanical brake controller 31. Right rear electronic mechanical brake controller 32, left front hub motor controller 33, right front hub motor controller 34, left rear hub motor controller 35, right rear hub motor controller 36, gear position controller 37 and vehicle power Battery controller 38, front axle electronic power steering controller 27, rear axle electronic power steering controller 28, left front electromechanical brake controller 29, right front electromechanical brake controller 30, left rear electromechanical brake controller 31 , rear right electronic mechanical brake controller 32, left front hub motor controller 33, right front hub motor controller 34, left rear hub motor controller 35, right rear hub motor controller 36, gear position controller 37 and vehicle power battery The controllers 38 can communicate with the external communication signal processing module 3 by using the external communication signal 12 .

The external communication signal 12 includes a CAN signal, a CAN FD signal and an Ethernet signal, all of which can communicate with the external communication signal processing module 3 .

Indicator light 13 comprises instrument indicator light 39 and switch indicator light 40, and instrument indicator light 39 is installed on the vehicle instrument, plays alarm function and work reminder effect, and switch indicator light 40 is installed on the external switch 14, plays work prompt effect, and instrument indication Both the lamp 39 and the switch indicator light 40 are connected with the external sensor and the indicator light power supply module 4 .

The external switch 14 includes a parking switch 41, a VDC switch 42, a reset tire pressure monitoring switch 43 and a driving mode switch 44. The switch state recognition module 5 is connected.

The control method based on the distributed drive vehicle provided by the present invention, its control method is as follows:

The vehicle controller 1 controls the vehicle through the software architecture. The software architecture is a layered structure, which is divided into three layers. From top to bottom, it is the application layer, the signal transmission layer and the driver layer;

The application layer in the software architecture is the core part of the vehicle controller 1 software, and the application layer in the software architecture includes the application layer control algorithm software, which integrates all the control strategies and control algorithms of the vehicle controller 1;

The signal transmission layer in the software architecture provides a real-time operating environment for the vehicle controller 1 software, provides signal interfaces for the application layer and the driver layer, and realizes real-time fault monitoring of the vehicle controller 1. The signal transmission layer in the software architecture includes fault monitoring software , Signal transmission software, fault monitoring software monitors the fault status of the vehicle controller 1 in real time, and gives an alarm in time, and the signal transmission software is responsible for building the signal interface between the application layer and the driver layer to realize the communication between the application layer and the driver layer , the software of the vehicle controller 1 runs in the signal transmission layer in real time. When the software task of the vehicle controller 1 runs to the point where the application layer software or the underlying driver software is required to work, the application layer software or the underlying driver software performs calculations, and then The calculation result is transmitted to the signal transmission layer. The signal transmission layer integrates the received information, monitors the fault status, and completes the information transmission. Then the signal transmission layer will wait until the vehicle controller needs to perform the next software task, and the signal transmission layer will be turned on. next working cycle;

The driver layer in the software architecture controls the hardware drive of the vehicle controller 1, processes external signals, supplies power to external sensors and indicator lights 13, supplies power to the ECU, implements diagnosis and software refresh of the vehicle controller 1, and identifies external switches 14 State, the driver layer in the software architecture includes external sensor signal processing software, external sensor and indicator light 13 power supply software, ECU power supply software, external communication signal processing software, diagnosis and refresh software, external switch 14 state recognition software, wherein the external sensor signal The processing software and the external sensor signal processing module of the vehicle controller 1 realize the corresponding relationship between software and hardware, and the external sensor and indicator light power supply software and the external sensor and indicator light power supply module 4 of the vehicle controller 1 realize the correspondence between software and hardware Relationship, the external communication signal processing software and the external communication signal processing module 3 of the vehicle controller 1 realize the corresponding relationship between software and hardware, the external switch state recognition software and the external switch state recognition module 5 of the vehicle controller 1 realize the software and hardware In addition, the ECU power supply software and the first power supply module 6 and the second power supply module 7 of the vehicle controller 1 realize the correspondence between software and hardware.

The application layer in the software architecture is the core part of the vehicle controller 1 software. The application layer control algorithm software integrates all the control strategies and control algorithms of the vehicle controller 1. The specific method is as follows:

The application layer control algorithm software receives the external input signal of the vehicle controller 1 from the driving layer and the alarm signal of the vehicle controller 1 from the signal transmission layer, and the external input signal is first transmitted to the driver's driving intention recognition module and the driver's braking intention The recognition module, the driver's driving intention recognition module judges the current driver's driving intention to the vehicle by processing the external input signal, and then the driver's driving intention recognition module passes the vehicle driving mode to the driving mode judgment module; the driver's braking intention recognition module passes Process the external input signal to judge the current driver's braking intention on the vehicle, and then the driver's braking intention identification module transmits the vehicle braking mode to the driving mode identification module;

The driving mode discrimination module receives external input signals, the vehicle driving mode from the driver's driving intention recognition module, and the vehicle braking mode from the driver's braking intention recognition module, and judges the current driving mode of the vehicle through logical operations. The vehicle driving mode is divided into P/N gear mode, D gear driving mode, R gear driving mode, braking mode, parking mode, flameout mode, and limp mode. Coasting mode, the R gear driving mode is also divided into R gear idle mode and R gear coasting mode. The driving mode discrimination module will calculate the preliminary target braking torque, preliminary target driving torque and preliminary wheel speed according to the driving mode entered by the vehicle. Corner angle, preliminary target parking torque and preliminary parking state flag, the driving mode discrimination module transmits the preliminary target braking torque signal to the braking module, transmits the preliminary target driving torque signal to the driving module, and transfers the preliminary target braking torque signal to the driving module. The target wheel angle signal is transmitted to the steering module, and the preliminary target parking torque and preliminary parking status flag are transmitted to the parking module;

The braking module receives external input signals and the preliminary target braking torque from the driving mode discrimination module. The braking module includes a regenerative braking module, a coasting braking module, a braking anti-lock braking For the power torque coordination module, when the software runs to the braking module, it first runs the innermost module, and then runs the external modules in turn. The regenerative braking module and the coasting braking module are two software modules of the same level. According to the status of the vehicle, the same Only one of the two software modules will be run at any time. The braking module finally obtains the target electromechanical braking torque of each wheel and the target regenerative braking torque of each wheel through calculation. The braking module converts the target The electromechanical braking torque signal and the target regenerative braking torque signal of each wheel are sent to the output signal integration module;

The drive module receives external input signals and the preliminary target drive torque from the driving mode discrimination module. The drive module includes the drive anti-skid module, the drive electronic differential module, and the four-wheel drive torque coordination module from the inside to the outside. When the software runs to the drive module , the innermost module is run first, and then the external modules are run sequentially. The drive module finally obtains the target drive torque of each wheel through calculation, and the drive module sends the target drive torque signal of each wheel to the output signal integration module;

The steering module receives external input signals and the preliminary target wheel angle signal from the driving mode discrimination module. The steering module includes the steering electronic differential module and the VDC module in turn from the inside to the outside. When the software runs to the steering module, it first runs the innermost module, and then run the external modules in turn, the steering module finally obtains the front axle wheel angle and the rear axle wheel angle through calculation, and the steering module sends the front axle wheel angle signal and the rear axle wheel angle signal to the output signal integration module;

The parking module receives external input signals, as well as the preliminary target parking torque and preliminary parking status flags from the driving mode discrimination module. The parking module includes a static parking module, a dynamic parking module, a static parking module and a dynamic parking module. The module is two software modules of the same level. According to the state of the vehicle, only one of the two software modules will be run at the same time. The parking module finally obtains the target parking torque and the parking status flag through calculation. Further, the parking The car module sends the target parking torque signal and the parking state flag signal to the output signal integration module;

The tire pressure monitoring module receives external input signals, including the reset tire pressure monitoring switch signal, wheel speed signal, gear position signal, ignition signal and motor torque signal in the external input signal. The speed signal is used to judge whether the four wheels of the current vehicle are in the state of lack of air. If it is recognized that a certain wheel or several wheels of the vehicle are in the state of lack of air, the tire pressure monitoring module will immediately give an alarm. In addition, the tire pressure monitoring module passes Identify and reset the tire pressure monitoring switch signal to determine whether the driver needs to re-calibrate the initial tire pressure. If the tire pressure monitoring module recognizes that the reset tire pressure monitoring switch is pressed, the tire pressure monitoring module will start to re-calibrate the initial tire pressure until the calibration Completed, the tire pressure monitoring module sends the tire pressure alarm flag of each wheel to the output signal integration module after judging the lack of air of the wheels;

The output signal integration module receives signals from the brake module, drive module, steering module, parking module, and tire pressure monitoring module. The output signal integration module classifies and integrates all the received signals into appropriate signal interfaces, and then transmits them to the signal transmission Layer, the signal transmission layer allocates the signal interface, and further transmits the signal to the driver layer, and the driver layer executes the signal transmission, so as to realize the control of the upper computer of the vehicle controller to other controllers of the vehicle.

Working principle of the present invention:

The vehicle controller 1 based on the distributed drive vehicle provided by the present invention is electrically connected to the vehicle sensor 11 , the indicator light 13 and the external switch 14 respectively. The vehicle controller 1 supplies power to the vehicle sensor 11 that needs power supply, the instrument indicator light 39 and the switch indicator light 40 that need power supply. The vehicle controller 1 receives the electrical signal from the vehicle sensor 11. Further, the vehicle controller 1 judges the driver's intention and the current vehicle state after processing the electrical signal of the vehicle sensor 11, and sends the control command to the Other controls of the vehicle. In addition, the vehicle controller 1 also judges the state of the external switch 14 in real time, and activates the corresponding function of the vehicle controller 1 according to the switch state.

The vehicle controller 1 can communicate with other controllers of the vehicle in real time, and the communication method is any signal form that can ensure stable communication quality, including CAN (ControllerAreaNetwork) signal, CAN FD (CAN with Flexible Data- Rate ) signal, Ethernet signal Wait.

The vehicle controller 1 communicates with the front axle electronic power steering controller 27 and the rear axle electronic power steering controller 28 respectively in real time. The front axle electronic power steering controller 27 controls the front axle electronic steering booster of the vehicle, drives the two wheels of the front axle of the vehicle to rotate around the kingpin, and realizes the front wheel steering of the vehicle; the rear axle electronic power steering controller 28 controls the rear axle of the vehicle. The axle electronic steering booster drives the two wheels of the rear axle of the vehicle to rotate around the kingpin to realize the steering of the rear wheels of the vehicle. The vehicle controller 1 calculates the front axle wheel angle and the rear axle wheel angle required by the current vehicle by receiving the signal from the steering wheel angle sensor 22, and the vehicle controller 1 sends the target front axle wheel angle signal to the front axle electronic power steering controller 27. The front axle electronic power steering controller 27 controls the vehicle's front axle electronic steering booster to drive the wheels to rotate to reach the target front axle wheel angle, and at the same time, the vehicle controller 1 sends the target rear axle wheel angle signal to the rear axle electronic power steering Steering controller 28, the rear axle electronic power steering controller 28 controls the rear axle electronic steering booster of the vehicle to drive the wheels to rotate to reach the target rear axle wheel angle. In addition, the front axle electronic power steering controller 27 and the rear axle electronic power steering controller 28 respectively receive the electric signal of the steering wheel angle sensor 22, when the vehicle controller 1 and the front axle electronic power steering controller 27 or the rear axle electric power steering controller When the controller 28 fails to communicate, the front axle electronic power steering controller 27 and the rear axle electronic power steering controller 28 can respectively calculate the front axle wheel angle and the rear axle wheel angle required by the vehicle by receiving the steering wheel angle signal. The booster realizes the steering of the vehicle, thus realizing the redundant backup of the vehicle steering control system.

The left front electro-mechanical brake controller 29 controls the action of the electro-mechanical brake caliper positioned at the wheel side of the left front wheel to provide braking torque for the left front wheel of the vehicle, so that the left front wheel of the vehicle reduces its speed until it stops rotating. The brake controller 29 can also control the action of the electromechanical brake caliper of the left front wheel to lock the left front wheel of the vehicle so that it cannot rotate, thereby realizing the parking of the vehicle. In order to avoid the failure of a certain circuit braking system to prevent the vehicle from decelerating, a corresponding electromechanical brake controller and an electromechanical brake caliper are configured for each wheel, and the other three electromechanical brake controllers and electromechanical brake calipers The working principle of the brake caliper is consistent with the working principle of the left front wheel brake circuit described above, and will not be repeated here.

The vehicle controller 1 communicates in real time with the left front electromechanical brake controller 29 , the right front electromechanical brake controller 30 , the left rear electromechanical brake controller 31 , and the right rear electromechanical brake controller 32 respectively. The vehicle controller 1 obtains the current target electromechanical braking torque that should be distributed to each wheel by receiving the signal of the brake pedal opening sensor 23 and combining the current vehicle state information and the regenerative braking capability of the in-wheel motor. The device 1 sends the target electromechanical braking torque to the left front electromechanical braking controller 29, the right front electromechanical braking controller 30, the left rear electromechanical braking controller 31, and the right rear electromechanical braking controller 32, The electromechanical calipers are controlled by the electromechanical brake controller to decelerate the vehicle. In addition, the vehicle controller 1 learns whether the current vehicle needs to be parked or unparked by judging the state of the parking switch and combining the current vehicle state information, and the vehicle controller 1 sets the target parking torque and the target parking state flag The bits are respectively sent to the left front electro-mechanical brake controller 29, the right front electro-mechanical brake controller 30, the left rear electro-mechanical brake controller 31, and the right rear electro-mechanical brake controller 32, controlled by the electro-mechanical brake controller Electromechanical calipers enable parking and unparking of the vehicle.

In addition to the above-mentioned vehicle braking and parking modes, the left front electromechanical brake controller 29, the right front electromechanical brake controller 30, the left rear electromechanical brake controller 31, and the right rear electromechanical brake controller 32 are respectively It also receives the signal of the brake pedal opening sensor 23. If any one of the electronic mechanical brake controllers cannot receive the control signal from the vehicle controller, the electronic mechanical brake controller will receive the signal of the brake pedal opening sensor 23. The electromechanical calipers are controlled to slow the vehicle down. In addition, the left front electro-mechanical brake controller 29, the right front electro-mechanical brake controller 30, the left rear electro-mechanical brake controller 31, and the right rear electro-mechanical brake controller 32 are also electrically connected to the parking switch 41 respectively. connection, the electronic mechanical brake controller monitors the state of the parking switch 41 in real time, if any electronic mechanical brake controller cannot receive the control signal from the vehicle controller 1, the electronic mechanical brake controller judges the status of the parking switch 41 State-controlled electromechanical calipers enable the vehicle to be parked or unparked.

The left front hub motor controller 33 drives the left front hub motor located in the rim of the left front wheel to rotate. The left front hub motor is embedded in the wheel. The in-wheel motor controller 33 can also control the left front in-wheel motor to provide regenerative braking torque for the vehicle to decelerate the vehicle. Configure corresponding hub motors for each wheel, including left front hub motor, right front hub motor, left rear hub motor, right rear hub motor, hub motor controller and hub motor work in the same principle, right front hub motor controller 34, left rear hub motor The working principles of the hub motor controller 35 and the right rear hub motor controller 36 will not be described repeatedly.

The vehicle controller 1 communicates in real time with the left front hub motor controller 33, the right front hub motor controller 34, the left rear hub motor controller 35, and the right rear hub motor controller 36 respectively. The vehicle controller 1 receives the signal of the accelerator pedal opening sensor 24 and the signal of the brake pedal opening sensor 23, and combines the current vehicle state information and the regenerative braking capability of the in-wheel motor to calculate and obtain the current brake pedal that should be allocated to each wheel. Target driving torque and target regenerative braking torque. The vehicle controller 1 sends the target driving force and the target regenerative braking torque to the left front hub motor controller 33, the right front hub motor controller 34, the left rear hub motor controller 35, and the right rear hub motor controller 36. The motor controller controls the in-wheel motors to drive the vehicle or slow it down.

The left front hub motor controller 33, the right front hub motor controller 34, the left rear hub motor controller 35, and the right rear hub motor controller 36 also receive the signal from the accelerator pedal opening sensor 24 respectively. According to the control signal from the vehicle controller 1 , the in-wheel motor controller controls the in-wheel motor to drive the vehicle by receiving the signal from the accelerator pedal opening sensor 24 .

The vehicle controller 1 communicates with the gear controller 37 in real time, and the vehicle controller 1 receives the gear signal sent by the gear controller 37, and integrates the vehicle gear information to realize real-time control of the distributed drive vehicles.

The complete vehicle controller 1 also communicates with the vehicle power battery controller 38 in real time, and the complete vehicle controller 1 receives information such as the remaining battery power of the vehicle and the fault of the vehicle battery from the vehicle power battery controller 38 for judging the regeneration of the in-wheel motors. Dynamic ability, to achieve real-time control of distributed drive vehicles.

Vehicle sensor 11 consists of vehicle key sensor 17, left front wheel speed sensor 18, right front wheel speed sensor 19, left rear wheel speed sensor 20, right rear wheel speed sensor 21, steering wheel angle sensor 22, brake pedal opening sensor 23 , an accelerator pedal opening sensor 24 , a vehicle acceleration sensor 25 , and a vehicle angular acceleration sensor 26 . The vehicle sensor 11 collects vehicle status information and sends it to the vehicle controllers that need to receive it, including the vehicle controller 1, the in-wheel motor controller, and the electromechanical brake controller.

The indicator light 13 is composed of an instrument indicator light 39 and a switch indicator light 40 . The instrument indicator light 39 and the switch indicator light 40 are powered by the vehicle controller 1. When the instrument indicator light 39 and the switch indicator light 40 need to be lit, the vehicle controller 1 turns on the power supply for the instrument indicator light 39 and the switch indicator light 40. , when the instrument indicator light 39 and the switch indicator light 40 need to be extinguished, the vehicle controller 1 cuts off the power supply for the instrument indicator light 39 and the switch indicator light 40.

The external switch 14 is composed of a parking switch 41, a VDC switch 42, a reset tire pressure monitoring switch 43, and a driving mode switch 44. The above-mentioned external switch 14 is electrically connected to the vehicle controller 1 of the present invention. The parking switch 41 is used to control the vehicle to complete parking, release the parking or realize the deceleration of the vehicle in an emergency; the VDC switch 42 is used to turn on or off the VDC function of the vehicle; the reset tire pressure monitoring switch 43 is used to control the vehicle control The tire pressure monitoring module of the device works to recalibrate the initial tire pressure; the driving mode switch 44 is used to control the switching of the driving mode of the vehicle. The driving mode of the vehicle includes energy-saving mode, normal mode, and sports mode. Different vehicle driving modes should correspond to different vehicles. For the control strategy, the vehicle controller 1 learns the current driving mode of the vehicle by identifying the state of the driving mode switch 44, so as to realize a freely switchable vehicle control strategy.

Claims (10)

1. The utility model provides a vehicle control unit based on distributed drive vehicle which characterized in that: the system comprises an external sensor signal processing module, an external communication signal processing module, an external sensor and indicator lamp power supply module, an external switch state identification module, a first power supply module, a second power supply module, an MCU, a first information storage module and a second information storage module, wherein the external sensor signal processing module, the external communication signal processing module, the external sensor and indicator lamp power supply module, the external switch state identification module, the first information storage module and the second information storage module are all connected with the MCU, the external sensor signal processing module is electrically connected with a vehicle sensor, the external sensor signal processing module can receive and process signals of the vehicle sensor, the external sensor signal processing module transmits the processed signals of the vehicle sensor to the MCU, and the MCU is responsible for receiving the processed signals of the vehicle sensor and carrying out logic operation, the intention of a driver and the current vehicle state are further judged, the external communication signal processing module receives external communication signals sent by other vehicle controllers on one hand, the external communication signals are transmitted to the MCU after being processed by the external communication signal processing module, and the MCU synthesizes the external communication signals sent by other vehicle controllers to carry out logic judgment; the external communication signal processing module receives communication signals from the MCU on the other hand, the communication signals are sent to other vehicle controllers after being processed by the external communication signal processing module, the other vehicle controllers receive upper computer signals sent by the MCU to carry out corresponding response, the external sensor and indicator lamp power supply module are respectively electrically connected with the vehicle sensor and the indicator lamp, the external sensor and indicator lamp power supply module supplies power to the vehicle sensor needing power supply and the indicator lamp needing power supply, the external switch state identification module is connected with the external switch, the first power supply module and the second power supply module are respectively an external sensor signal processing module, an external communication signal processing module, an external sensor and indicator lamp power supply module, an external switch state identification module, the MCU, the first information storage module and the second information storage module, and the first power supply module is connected with a first external power supply line, the second power supply module is connected with a second external power supply circuit.

2. The vehicle control unit based on the distributed drive vehicle as claimed in claim 1, wherein: the first power supply module and the second power supply module are both ECU power supply modules.

3. the vehicle control unit based on the distributed drive vehicle as claimed in claim 1, wherein: the first information storage module and the second information storage module are both ECU information storage modules.

4. the vehicle control unit based on the distributed drive vehicle as claimed in claim 1, wherein: the vehicle sensor comprises a vehicle key sensor, a left front wheel speed sensor, a right front wheel speed sensor, a left rear wheel speed sensor, a right rear wheel speed sensor, a steering wheel angle sensor, a brake pedal opening degree sensor, an accelerator pedal opening degree sensor, a vehicle acceleration sensor and a vehicle angular acceleration sensor, wherein the vehicle key sensor, the left front wheel speed sensor, the right front wheel speed sensor, the left rear wheel speed sensor, the right rear wheel speed sensor, the steering wheel angle sensor, the brake pedal opening degree sensor, the accelerator pedal opening degree sensor, the vehicle acceleration sensor and the vehicle angular acceleration sensor are connected with an external sensor signal processing module, an external sensor and an indicator light power supply module.

5. The vehicle control unit based on the distributed drive vehicle as claimed in claim 1, wherein: the other vehicle controllers comprise a front shaft electronic power steering controller, a rear shaft electronic power steering controller, a left front electronic mechanical brake controller, a right front electronic mechanical brake controller, a left rear electronic mechanical brake controller, a right rear electronic mechanical brake controller, a left front wheel hub motor controller, a right front wheel hub motor controller, a left rear wheel hub motor controller, a right rear wheel hub motor controller, a gear controller and a vehicle power battery controller, wherein the front shaft electronic power steering controller, the rear shaft electronic power steering controller, the left front electronic mechanical brake controller, the right front electronic mechanical brake controller, the left rear electronic mechanical brake controller, the right rear electronic mechanical brake controller, the left front wheel hub motor controller, the right front wheel hub motor controller, the left rear wheel hub motor controller, the right rear wheel hub motor controller, the gear controller and the vehicle power battery controller can all use external communication signals and external communication signals to process the model The blocks communicate.

6. The vehicle control unit based on the distributed drive vehicle as claimed in claim 1, wherein: the external communication signals comprise CAN signals, CAN FD signals and Ethernet signals, and the CAN signals, the CAN FD signals and the Ethernet signals CAN be in communication connection with the external communication signal processing module.

7. The vehicle control unit based on the distributed drive vehicle as claimed in claim 1, wherein: the indicating lamp include instrument indicating lamp and switch pilot lamp, the instrument indicating lamp is installed on vehicle instrument, plays warning effect and work suggestion effect, the switch pilot lamp is installed on external switch, plays work suggestion effect, instrument indicating lamp and switch pilot lamp all are connected with external sensor and pilot lamp power module.

8. the vehicle control unit based on the distributed drive vehicle as claimed in claim 1, wherein: the external switch comprises a parking switch, a VDC switch, a reset tire pressure monitoring switch and a driving mode switch, and the parking switch, the VDC switch, the reset tire pressure monitoring switch and the driving mode switch are all connected with the external switch state identification module.

9. A control method based on a distributed drive vehicle, characterized in that: the control method is as follows:

The vehicle control unit controls a vehicle through a software architecture, wherein the software architecture is a layered structure and is divided into three layers, namely an application layer, a signal transmission layer and a driving layer from top to bottom;

The application layer in the software architecture is a core part of the whole vehicle controller software, the application layer in the software architecture comprises application layer control algorithm software, and the application layer control algorithm software integrates control strategies and control algorithms of all the whole vehicle controllers;

a signal transmission layer in a software framework provides a real-time operation environment for vehicle controller software, provides a signal interface for an application layer and a driving layer and realizes real-time monitoring of vehicle controller faults, the signal transmission layer in the software framework comprises fault monitoring software and signal transmission software, the fault monitoring software monitors the fault state of the vehicle controller in real time and gives an alarm in time, the signal transmission software is responsible for building the signal interface between the application layer and the driving layer to realize communication between the application layer and the driving layer, the software of the vehicle controller runs on the signal transmission layer in real time, when a software task of the vehicle controller runs to the condition that the application layer software works or the bottom layer driving software works, the application layer software or the bottom layer driving software carries out operation and further transmits an operation result to the signal transmission layer, and the signal transmission layer integrates received information to monitor the fault state, After the information transmission is finished, the signal transmission layer waits until the vehicle controller needs to perform the next software task, and the signal transmission layer starts the next working cycle;

The driving layer in the software framework comprises external sensor signal processing software, external sensor and indicator lamp power supply software, ECU power supply software, external communication signal processing software, diagnosis and refresh software and external switch state identification software, wherein the external sensor signal processing software and an external sensor signal processing module of the whole vehicle controller realize the corresponding relation between the software and the hardware, the external sensor and indicator lamp power supply software and an external sensor and indicator lamp power supply module of the whole vehicle controller realize the corresponding relation between the software and the hardware, the external communication signal processing software and an external communication signal processing module of the whole vehicle controller realize the corresponding relation between the software and the hardware, the external switch state recognition software and the external switch state recognition module of the vehicle control unit realize the corresponding relation between the software and the hardware, and in addition, the ECU power supply software and the first power supply module and the second power supply module of the vehicle control unit realize the corresponding relation between the software and the hardware.

10. The distributed-drive-vehicle-based control method according to claim 9, characterized in that: the application layer in the software architecture is a core part of the whole vehicle controller software, and the application layer control algorithm software integrates control strategies and control algorithms of all the whole vehicle controllers, and the specific method is as follows:

The application layer control algorithm software receives an external input signal of the vehicle control unit from the driving layer and an alarm signal of the vehicle control unit from the signal transmission layer, the external input signal is firstly transmitted to the driver driving intention identification module and the driver braking intention identification module, the driver driving intention identification module judges the current driving intention of the driver to the vehicle by processing the external input signal, and then the driver driving intention identification module transmits a vehicle driving mode to the driving mode judging module; the driver braking intention recognition module judges the current braking intention of the driver to the vehicle by processing an external input signal, and then the driver braking intention recognition module transmits a vehicle braking mode to the driving mode judgment module;

The driving mode distinguishing module receives an external input signal, a vehicle driving mode from the driver driving intention identifying module and a vehicle braking mode from the driver braking intention identifying module, and distinguishes the current driving mode of the vehicle through logical operation, the vehicle driving mode is divided into seven modes of a P/N gear mode, a D gear driving mode, an R gear driving mode, a braking mode, a parking mode, a flameout mode and a limping mode, wherein the D gear driving mode is further divided into a D gear idling mode and a D gear sliding mode, the R gear driving mode is further divided into an R gear idling mode and an R gear sliding mode, the driving mode distinguishing module obtains a preliminary target braking torque, a preliminary target driving torque, a preliminary wheel rotation angle, a preliminary target parking torque and a preliminary parking state flag bit according to the driving mode entered by the vehicle, and transmits a signal of the preliminary target braking torque to the preliminary braking module, transmitting a preliminary target driving torque signal to a driving module, transmitting a preliminary target wheel rotation angle signal to a steering module, and transmitting a preliminary target parking torque and a preliminary parking state zone bit to a parking module;

The braking module receives an external input signal and a primary target braking torque from the driving mode judging module, the braking module sequentially comprises a regenerative braking module, a sliding braking module, a braking anti-lock module and a four-wheel braking torque coordinating module from inside to outside, when software runs to the braking module, the innermost module is run firstly, the external modules are sequentially operated, the regenerative braking module and the sliding braking module are two software modules at the same level, only one of the two software modules can be operated at the same time according to the state of the vehicle, the braking module finally obtains the target electromechanical braking torque of each wheel and the target regenerative braking torque of each wheel through calculation, and the braking module sends the target electromechanical braking torque signal of each wheel and the target regenerative braking torque signal of each wheel to the output signal integration module;

The driving module receives an external input signal and a primary target driving moment from the driving mode judging module, the driving module sequentially comprises a driving anti-skid module, a driving electronic differential module and a four-wheel driving moment coordinating module from inside to outside, when software runs to the driving module, the innermost module is run firstly, then the external module is run sequentially, the driving module finally obtains the target driving moment of each wheel through calculation, and the driving module sends a target driving moment signal of each wheel to the output signal integrating module;

The method comprises the steps that a steering module receives an external input signal and a primary target wheel turning angle signal from a driving mode judging module, the steering module sequentially comprises a steering electronic differential module and a VDC module from inside to outside, when software runs to the steering module, the innermost module runs at first, then the external module runs sequentially, the steering module finally obtains a front axle wheel turning angle and a rear axle wheel turning angle through calculation, and the steering module sends the front axle wheel turning angle signal and the rear axle wheel turning angle signal to an output signal integrating module;

the parking module receives an external input signal, and a preliminary target parking torque and a preliminary parking state flag bit from the driving mode judging module, the parking module comprises a static parking module and a dynamic parking module, the static parking module and the dynamic parking module are two software modules at the same level, only one of the two software modules can be operated at the same time according to the state of the vehicle, the parking module finally obtains the target parking torque and the parking state flag bit through calculation, and further the parking module sends the target parking torque signal and the parking state flag bit signal to the output signal integrating module;

The tire pressure monitoring module receives an external input signal, and specifically comprises a reset tire pressure monitoring switch signal, a wheel speed signal, a gear signal, an ignition signal and a motor torque signal in the external input signal, the tire pressure monitoring module mainly judges whether four wheels of a current vehicle are in an air shortage state by identifying and processing the wheel speed signal, if a certain wheel or certain wheels of the vehicle are identified to be in the air shortage state, the tire pressure monitoring module immediately gives an alarm, in addition, the tire pressure monitoring module judges whether a driver needs to recalibrate initial tire pressure by identifying the reset tire pressure monitoring switch signal, if the tire pressure monitoring module identifies that the reset tire pressure monitoring switch is in a pressed state, the tire pressure monitoring module starts to recalibrate the initial tire pressure until the calibration is completed, and the tire pressure monitoring module sends the tire pressure alarm flag bit of each wheel to the output signal integration module after judging the wheel deflation state;

the output signal integration module receives signals from the brake module, the drive module, the steering module, the parking module and the tire pressure monitoring module, the output signal integration module classifies and integrates all received signals into proper signal interfaces, and then transmits the signals to the signal transmission layer, the signal transmission layer distributes the signal interfaces, the signals are further transmitted to the drive layer, and the drive layer executes the transmission of the signals, so that the control of the whole vehicle controller on upper computers of other controllers of the vehicle is realized.