CN110549871B

CN110549871B - Whole vehicle controller based on distributed driving vehicle and control method

Info

Publication number: CN110549871B
Application number: CN201910989824.9A
Authority: CN
Inventors: 初亮; 朱鹏昊; 张垚; 王嘉伟; 许炎武; 王引航; 常城
Original assignee: Jilin University
Current assignee: Jilin University
Priority date: 2019-10-17
Filing date: 2019-10-17
Publication date: 2023-06-23
Anticipated expiration: 2039-10-17
Also published as: CN110549871A

Abstract

The invention discloses a vehicle controller based on a distributed driving vehicle and a control method thereof, wherein the vehicle controller 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, and the control method thereof is as follows: the software architecture is of 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 in sequence; the beneficial effects are that: the whole vehicle controller and the control method applied to the distributed driving vehicle are brand new.

Description

Whole vehicle controller based on distributed driving vehicle and control method

Technical Field

The present invention relates to a vehicle controller and a control method thereof, and more particularly, to a vehicle controller and a control method thereof based on a distributed driving vehicle.

Background

At present, along with the increasing serious environmental pollution, the pollution problem brought by the traditional fuel oil automobile is not ignored, and the new energy automobile is in the process of rapid development. For electric vehicles in the new energy vehicles, the electric vehicles can be classified into single-shaft driving electric vehicles, double-shaft driving electric vehicles and distributed driving electric vehicles according to different driving schemes of the electric vehicles. The distributed driving electric automobile is characterized in that driving motors of the automobile are integrated in four wheels of the automobile, and the four hub motors respectively drive the wheels to rotate so as to drive the automobile to run. The distributed driving vehicle has great difference with the traditional automobile due to the driving mode, and the traditional vehicle controller can not meet the use requirement of the distributed driving vehicle, so that the vehicle controller based on the distributed driving vehicle is necessary to realize driving, braking, steering and active safety control of the distributed driving vehicle.

At present, the research on the whole vehicle controller based on the distributed driving vehicle is less, the more detailed controller topology structure of the distributed driving vehicle is not available, and particularly, the research on the whole vehicle controller based on the distributed driving vehicle is limited in that the whole vehicle controller only carries out upper computer control on four hub motor controllers, but does not carry out upper computer control on a braking system and a steering system of the vehicle, so that the dynamic control of the whole vehicle is not facilitated.

The invention CN 108482364 provides a distributed driving controller of an electric automobile, and the distributed driving controller only controls a wheel motor controller of the automobile, and is not a whole automobile controller in a strict sense.

The vehicle controller of the current vehicle performs information interaction with other controllers of the vehicle through the vehicle CAN bus, and the information quantity transmitted by the vehicle controller of the distributed driving vehicle at the same time is huge, so that the reliability requirement of information transmission is high, and the information interaction mode is not limited to the vehicle CAN bus, but also CAN be CANFD, ethernet and other modes.

Disclosure of Invention

The invention aims to solve the problems of the prior vehicle controller of a distributed driving vehicle in the use process, and provides a vehicle controller based on the distributed driving vehicle and a control method.

The invention provides a whole vehicle controller based on a distributed driving vehicle, which 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 vehicle sensor signals to the MCU, the MCU is responsible for receiving the processed vehicle sensor signals and carrying out logic operation, and further judges the states of a driver and the current vehicle, the external communication signal processing module receives external communication signals sent by other vehicle controllers, and transmits the external communication signals sent by other vehicle controllers to the MCU after being processed by the external communication signal processing module, and the external communication signal processing module comprehensively judges the external intention of the vehicle controller; the external communication signal processing module receives communication signals from the MCU in the other aspect, the communication signals are processed by the external communication signal processing module and then are sent to other vehicle controllers, the other vehicle controllers receive upper computer signals sent by the MCU to perform corresponding responses, the external sensor and the indicator lamp power supply module are respectively electrically connected with the vehicle sensor and the indicator lamp, the external sensor and the indicator lamp power supply module supply power for 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 the external sensor signal processing module, the external communication signal processing module, the external sensor and the indicator lamp power supply module, the external switch state identification module, the MCU, the first information storage module and the second information storage module, the first power supply module is connected with a first external power supply circuit, and the second power supply module is connected with a second external power supply circuit.

The first power supply module and the second power supply module are both ECU power supply modules.

The first information storage module and the second information storage module are both ECU information storage modules.

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 corner sensor, a brake pedal opening sensor, an accelerator pedal opening 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 corner sensor, the brake pedal opening sensor, the accelerator pedal opening sensor, the vehicle acceleration sensor and the vehicle angular acceleration sensor are all connected with an external sensor signal processing module and an external sensor and indicator lamp power supply module.

Other vehicle controllers include front axle electric power steering controllers, rear axle electric power steering controllers, front left electromechanical brake controllers, front right electromechanical brake controllers, rear left electromechanical brake controllers, rear right electromechanical brake controllers, front left wheel hub motor controllers, front right wheel hub motor controllers, rear left wheel hub motor controllers, rear right wheel hub motor controllers, gear controllers and vehicle power battery controllers, and front axle electric power steering controllers, rear axle electric power steering controllers, front left electromechanical brake controllers, front right electromechanical brake controllers, rear left electromechanical brake controllers, rear right electromechanical brake controllers, front left wheel hub motor controllers, front right wheel hub motor controllers, rear left wheel hub motor controllers, gear controllers and vehicle power battery controllers can communicate with an external communication signal processing module by using external communication signals.

The external communication signal comprises a CAN signal, a CANFD signal and an Ethernet signal, and the CAN signal, the CANFD signal and the Ethernet signal CAN be in communication connection with the external communication signal processing module.

The pilot lamp includes instrument pilot lamp and switch pilot lamp, and the instrument pilot lamp is installed on vehicle instrument, plays alarm effect and work suggestion effect, and the switch pilot lamp is installed on external switch, plays work suggestion effect, and instrument pilot lamp and switch pilot lamp are all connected with external sensor and pilot lamp power module.

The external switch comprises a parking switch, a VDC switch, a tire pressure resetting monitoring switch and a driving mode switch, and the parking switch, the VDC switch, the tire pressure resetting monitoring switch and the driving mode switch are all connected with the external switch state identification module.

The control method based on the distributed driving vehicle provided by the invention comprises the following steps:

the vehicle controller controls the vehicle through a software architecture, wherein the software architecture is of 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 in sequence;

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

The signal transmission layer in the software architecture provides a real-time running environment for the whole vehicle controller software, provides a signal interface for the application layer and the driving layer, realizes real-time monitoring of faults of the whole vehicle controller, comprises fault monitoring software and signal transmission software, monitors the fault state of the whole vehicle controller in real time by the fault monitoring software, gives an alarm in time, is responsible for setting up the signal interface between the application layer and the driving layer to realize communication between the application layer and the driving layer, runs on the signal transmission layer in real time, and when a software task of the whole vehicle controller runs to the application layer software or the bottom driving software to work, the application layer software or the bottom driving software operates, and then transmits an operation result to the signal transmission layer;

the driving layer in the software architecture controls hardware driving of the whole vehicle controller, processes external signals, supplies power for an external sensor and an indicator lamp, supplies power for the ECU, realizes diagnosis and software refreshing of the whole vehicle controller, and identifies an external switch state.

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 the 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 whole vehicle controller from the driving layer and an alarm signal of the whole vehicle controller from the signal transmission layer, the external input signal is firstly transmitted to the driver driving intention recognition module and the driver braking intention recognition module, the driver driving intention recognition module judges the driving intention of the current driver to the vehicle by processing the external input signal, and the driver driving intention recognition module transmits the vehicle driving mode to the driving mode judging module; the driver braking intention recognition module judges the braking intention of the current driver on the vehicle by processing the external input signal, and then the driver braking intention recognition module transmits the vehicle braking mode to the driving mode judging module;

the driving mode judging module receives external input signals, a vehicle driving mode from the driver driving intention identifying module and a vehicle braking mode from the driver braking intention identifying module, judges the driving mode of the current vehicle through logic operation, wherein the driving mode of the vehicle 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 limp-home mode, the D gear driving mode is further divided into a D gear idle mode and a D gear sliding mode, the R gear driving mode is further divided into an R gear idle mode and an R gear sliding mode, the driving mode judging module calculates a primary target braking moment, a primary target steering moment, a primary wheel steering angle, a primary target parking moment and a primary parking state marker according to the driving mode of the vehicle, the driving mode judging module transmits the primary target braking moment signal to the braking module, transmits the primary target steering module and the primary parking state marker to the steering module;

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

the driving module receives an external input signal and a preliminary 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 coordination module from inside to outside, when software runs to the driving module, the driving module runs the innermost module firstly and then sequentially runs the external module, the driving module finally obtains the target driving moment of each wheel through calculation, and the driving module sends the target driving moment signal of each wheel to the output signal integrating module;

The steering module receives an external input signal and a preliminary target wheel corner signal from the 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 is firstly operated, then the external module is sequentially operated, the steering module finally obtains a front axle wheel corner and a rear axle wheel corner through calculation, and the steering module sends the front axle wheel corner signal and the rear axle wheel corner signal to the output signal integrating module;

the parking module receives an external input signal, a preliminary target parking moment and a preliminary parking state marker 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 a vehicle, the parking module finally obtains the target parking moment and the parking state marker through calculation, and further, the parking module sends the target parking moment signal and the parking state marker 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 judges whether four wheels of a current vehicle are in a gas shortage state or not mainly through identifying and processing the wheel speed signal, if a certain wheel or a plurality of wheels of the vehicle are in the gas 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 the initial tire pressure through 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 recalibrating the initial tire pressure until calibration is completed, and after the tire pressure monitoring module judges the gas shortage state of the wheels, the tire pressure monitoring module sends the tire pressure alarm mark bit of each wheel to the output signal integration module;

the output signal integration module receives signals from the braking module, the driving 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, the proper signal interfaces are further transmitted to the signal transmission layer, the signal transmission layer distributes the signal interfaces, the signal is further transmitted to the driving layer, and the driving layer executes signal transmission, so that the control of the vehicle controller on an upper computer of other controllers of the vehicle is realized.

The working principle of the invention is as follows:

the whole vehicle controller based on the distributed driving vehicle is electrically connected with the vehicle sensor, the indicator light and the external switch respectively. The whole vehicle controller supplies power for a vehicle sensor needing power supply, an instrument needing power supply and a switch indicator lamp. The whole vehicle controller receives the electric signals transmitted by the vehicle sensor, further, the whole vehicle controller judges the intention of a driver and the current vehicle state after processing the electric signals of the vehicle sensor, and a control instruction is sent to other controllers of the vehicle through logic operation. In addition, the whole vehicle controller also judges the external switch state in real time, and the corresponding function of the whole vehicle controller is started according to the switch state.

The whole vehicle controller and other controllers of the vehicle can communicate in real time, and the communication mode is any signal form capable of ensuring stable communication quality, including CAN (ControllerAreaNetwork) signals, CANFD (CAN with Flexible Data-Rate) signals, ethernet signals and the like.

The whole vehicle controller is respectively communicated with the front axle electronic power-assisted steering controller and the rear axle electronic power-assisted steering controller in real time. The front axle electronic power-assisted steering controller controls a front axle electronic power-assisted steering device of the vehicle, drives two wheels of a front axle of the vehicle to rotate around a master pin, and realizes front wheel steering of the vehicle; the rear axle electronic power-assisted steering controller controls a rear axle electronic power-assisted steering device of the vehicle, drives two wheels of the rear axle of the vehicle to rotate around a master pin, and realizes rear wheel steering of the vehicle. The whole vehicle controller calculates the front axle wheel angle and the rear axle wheel angle required by the current vehicle by receiving signals of the steering wheel angle sensor, the whole vehicle controller sends target front axle wheel angle signals to the front axle electronic power-assisted steering controller, the front axle electronic power-assisted steering controller controls the front axle electronic power-assisted steering of the vehicle to drive wheels to rotate to reach the target front axle wheel angle, and meanwhile, the whole vehicle controller sends target rear axle wheel angle signals to the rear axle electronic power-assisted steering controller, and the rear axle electronic power-assisted steering controller controls the rear axle electronic power-assisted steering of the vehicle to drive the wheels to rotate to reach the target rear axle wheel angle. In addition, the front axle electronic power-assisted steering controller and the rear axle electronic power-assisted steering controller respectively receive the electric signals of the steering wheel angle sensor, and when the whole vehicle controller cannot communicate with the front axle electronic power-assisted steering controller or the rear axle electronic power-assisted steering controller, the front axle electronic power-assisted steering controller and the rear axle electronic power-assisted steering controller can respectively calculate the front axle wheel angle and the rear axle wheel angle required by the vehicle through receiving the steering wheel angle signals, and the steering of the vehicle is realized through controlling the electronic power-assisted steering controller, so that the redundant backup of the steering control system of the vehicle is realized.

The left front electromechanical brake controller controls the action of the electromechanical brake calipers positioned on the wheel edge 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 the rotating speed until stopping rotating, and simultaneously, the left front electromechanical brake controller can also control the action of the electromechanical brake calipers of the left front wheel to lock the left front wheel of the vehicle so as to prevent the left front wheel of the vehicle from rotating, thereby realizing parking of the vehicle. In order to avoid the situation that a certain circuit braking system fails and the vehicle cannot decelerate, a corresponding electromechanical braking controller and an electromechanical braking caliper are configured for each wheel, and the working principles of the other three electromechanical braking controllers and the other three electromechanical braking calipers are consistent with those of the left front wheel braking circuit, and the description is not repeated here.

The whole vehicle controller is respectively communicated 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 in real time. The vehicle controller obtains the target electromechanical braking moment which is required to be distributed for each current wheel by receiving the signals of the brake pedal opening sensor and combining the current vehicle state information and the regenerative braking capacity of the hub motor, and the vehicle controller respectively sends the target electromechanical braking moment to the left front electromechanical braking controller, the right front electromechanical braking controller, the left rear electromechanical braking controller and the right rear electromechanical braking controller, and the electromechanical braking controller controls the electromechanical calipers to realize the deceleration of the vehicle. In addition, the whole vehicle controller judges the state of the parking switch, and acquires whether the current vehicle needs to park or release parking according to the current vehicle state information, and the whole vehicle controller respectively sends a target parking torque and a target parking state marker bit to 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, and the electromechanical brake controller controls the electromechanical calipers to realize parking and release parking of the vehicle.

In addition to the above-mentioned vehicle braking and parking modes, the front left electromechanical brake controller, the front right electromechanical brake controller, the rear left electromechanical brake controller, and the rear right electromechanical brake controller respectively receive signals from the brake pedal opening sensor, and if any electromechanical brake controller cannot receive control signals from the whole vehicle controller, the electromechanical brake controller controls the electromechanical caliper to slow down the vehicle by receiving signals from the brake pedal opening sensor. In addition, 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 are respectively and electrically connected with the parking switch, the electromechanical brake controller monitors the parking switch state in real time, and if any electromechanical brake controller can not receive a control signal from the whole vehicle controller, the electromechanical brake controller controls the electromechanical caliper to park or release the parking by judging the parking switch state.

The left front wheel hub motor controller drives the left front wheel hub motor in the left front wheel rim to rotate, the left front wheel hub motor is embedded in the wheel, and when the motor rotates, the wheel is driven to rotate together to provide driving torque for the vehicle to drive the vehicle. The corresponding hub motors are configured for each wheel, the hub motors comprise a left front hub motor, a right front hub motor, a left rear hub motor and a right rear hub motor, the working principles of the hub motor controller and the hub motors are consistent, and the working principles of the right front hub motor controller, the left rear hub motor controller and the right rear hub motor controller are not repeated.

The whole vehicle controller is respectively communicated with the left front wheel hub motor controller, the right front wheel hub motor controller, the left rear wheel hub motor controller and the right rear wheel hub motor controller in real time. The whole vehicle controller obtains the target driving moment and the target regenerative braking moment which are required to be distributed by each wheel at present through receiving signals of an accelerator pedal opening sensor and signals of a brake pedal opening sensor and combining current vehicle state information and regenerative braking capacity of an in-wheel motor. The whole vehicle controller respectively sends the target driving force and the target regenerative braking torque to a left front wheel hub motor controller, a right front wheel hub motor controller, a left rear wheel hub motor controller and a right rear wheel hub motor controller, and the wheel hub motor controller controls the wheel hub motor to drive the vehicle to run or decelerate the vehicle.

The front left wheel hub motor controller, the front right wheel hub motor controller, the rear left wheel hub motor controller and the rear right wheel hub motor controller respectively receive signals of an accelerator pedal opening sensor, and if any wheel hub motor controller cannot receive control signals from the whole vehicle controller, the wheel hub motor controller controls the wheel hub motor to drive the vehicle to run by receiving the signals of the accelerator pedal opening sensor.

The whole vehicle controller is communicated with the gear controller in real time, receives the gear signal sent by the gear controller, and synthesizes the vehicle gear information to realize the real-time control of the distributed driving vehicle.

The whole vehicle controller is also communicated with the vehicle power battery controller in real time, receives the information of the residual battery power of the vehicle, the vehicle battery fault and the like sent by the vehicle power battery controller, and is used for judging the regenerative braking capacity of the hub motor so as to realize the real-time control of the distributed driving vehicle.

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 sensor, an accelerator pedal opening sensor, a vehicle acceleration sensor and a vehicle angular acceleration sensor. The vehicle sensor collects vehicle state information and sends the vehicle state information to a vehicle controller to be received, wherein the vehicle controller comprises a whole vehicle controller, a hub motor controller, an electronic mechanical brake controller and the like.

The indicator lamp comprises an instrument indicator lamp and a switch indicator lamp. The instrument indicator lamp and the switch indicator lamp are powered by the whole vehicle controller, when the instrument indicator lamp and the switch indicator lamp need to be lighted, the whole vehicle controller is started to supply power for the instrument indicator lamp and the switch indicator lamp, and when the instrument indicator lamp and the switch indicator lamp need to be extinguished, the whole vehicle controller cuts off the power supply for the instrument indicator lamp and the switch indicator lamp.

The external switch component comprises a parking switch, a VDC switch, a tire pressure resetting monitoring switch and a driving mode switch, and the external switch is electrically connected with the vehicle controller. The parking switch is used for controlling the vehicle to complete parking, release parking or realize vehicle deceleration in an emergency state; the VDC switch is used to turn on or off the VDC function of the vehicle; the tire pressure monitoring switch is used for controlling the tire pressure monitoring module of the whole vehicle controller to work and recalibrate the initial tire pressure; the driving mode switch is used for controlling and switching the driving mode of the vehicle, the driving mode of the vehicle comprises an energy-saving mode, a common mode and a motion mode, different driving modes of the vehicle correspond to different vehicle control strategies, and the whole vehicle controller obtains the driving mode of the current vehicle by identifying the state of the driving mode switch, so that the freely switchable vehicle control strategy is realized.

The invention has the beneficial effects that:

the invention provides a whole vehicle controller and a control method which are applied to a distributed driving vehicle; the invention provides a totally new application layer control algorithm software architecture applied to a whole controller of a distributed driving vehicle. In other researches on the distributed driving vehicle whole controller, the whole vehicle controller and other vehicle controllers are communicated through a CAN network, and the invention provides that the whole vehicle controller and other vehicle controllers CAN communicate through any signal form capable of ensuring stable communication quality, wherein the communication forms comprise CAN (ControllerAreaNetwork), CANFD (CAN with Flexible Data-Rate), ethernet and the like.

Drawings

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

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

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

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

Fig. 5 is a schematic view showing the constitution of a vehicle sensor in another vehicle part according to the present invention.

Fig. 6 is a schematic view showing the constitution of an indicator lamp in another vehicle part according to the present invention.

Fig. 7 is a schematic view showing the constitution of an external switch in another vehicle part according to the present invention.

The labels in the above figures are as follows:

1. vehicle controller 2, external sensor signal processing module 3 and external communication signal processing module

4. External sensor and indicator light power supply module 5, external switch state identification module

6. A first power supply module 7, a second power supply module 8, an MCU 9, a first information storage module

10. Second information storage module 11, vehicle sensor 12, external communication signal 13, indicator light

14. An external switch 15, a first external power supply line 16, a second external power supply line

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, and steering wheel angle sensor

23. Brake pedal opening sensor 24 and accelerator pedal opening sensor

25. Vehicle acceleration sensor 26 and vehicle angular acceleration sensor

27. Front axle electronic power steering controller 28 and rear axle electronic power steering controller

29. Front left electromechanical brake controller 30 and front right electromechanical brake controller

31. Left rear electromechanical brake controller 32, right rear electromechanical brake controller

33. Front left hub motor controller 34 and front right hub motor controller

35. Left rear hub motor controller 36, right rear hub motor controller 37, and gear controller

38. Vehicle power battery controller 39, meter indicator light 40, on-off indicator light

41. Parking switch 42, VDC switch 43, reset tire pressure monitoring switch

44. And a driving mode switch.

Detailed Description

Please refer to fig. 1 to 7:

the invention provides a whole vehicle controller 1 based on a distributed driving vehicle, which comprises an external sensor signal processing module 2, an external communication signal processing module 3, an external sensor and indicator lamp power supply module 4, an external switch state identification module 5, a first power supply module 6, a second power supply module 7, an MCU8, a first information storage module 9 and a second information storage module 10, wherein the external sensor signal processing module 2, the external communication signal processing module 3, the external sensor and indicator lamp power supply module 4, the external switch state identification module 5, the first information storage module 9 and the second information storage module 10 are all connected with the MCU8, the external sensor signal processing module 2 is electrically connected with the vehicle sensor 11, the external sensor signal processing module 2 can receive and process signals of the vehicle sensor 11, the external sensor signal processing module 2 transmits the processed signals of the vehicle sensor 11 to the MCU8, the MCU8 is responsible for receiving the processed signals of the vehicle sensor 11 and performing logic operation, the driver is further judged to be intention to be in the current vehicle state, the external communication signal processing module 2 receives the signals of the vehicle sensor 11 and sends out other signals to the MCU8 through the external communication signal processing module 12, and the external communication signal processing module 12 is comprehensively controlled by the external communication module 8 to carry out the external communication signal processing module 12 on the other hand; the external communication signal processing module 3 receives communication signals from the MCU8 in the other aspect, the communication signals are processed by the external communication signal processing module 3 and then sent to other vehicle controllers, the other vehicle controllers receive upper computer signals sent by the MCU8 to perform corresponding responses, the external sensor and the indicator lamp power supply module 4 are respectively electrically connected with the vehicle sensor 11 and the indicator lamp 13, the external sensor and the indicator lamp power supply module 4 supply power to the vehicle sensor 11 needing power supply and the indicator lamp 13 needing power supply, the external switch state identification module 5 is connected with the external switch 14, the first power supply module 6 and the second power supply module 7 are respectively the external sensor signal processing module 2, the external communication signal processing module 3, the external sensor and the indicator lamp power supply module 4, the external switch state identification module 5, the MCU8, the first information storage module 9 and the second information storage module 10, the first power supply module 6 is connected with the first external power supply circuit 15, and the second power supply module 7 is connected with the second external power supply circuit 16.

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

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

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

Other vehicle controls include a front axle electric power steering controller 27, a rear axle electric power steering controller 28, a front left electric mechanical brake controller 29, a front right electric mechanical brake controller 30, a rear left electric mechanical brake controller 31, a rear right electric mechanical brake controller 32, a front left wheel motor controller 33, a front right wheel motor controller 34, a rear left wheel motor controller 35, a rear right wheel motor controller 36, a gear controller 37 and a vehicle power battery controller 38, and the front axle electric power steering controller 27, the rear axle electric power steering controller 28, the front left electric mechanical brake controller 29, the front right electric mechanical brake controller 30, the rear left electric mechanical brake controller 31, the rear right electric mechanical brake controller 32, the front left wheel motor controller 33, the front right wheel motor controller 34, the rear left wheel motor controller 35, the rear right wheel motor controller 36, the gear controller 37 and the vehicle power battery controller 38 can communicate with the external communication signal processing module 3 using the external communication signal 12.

The external communication signal 12 includes a CAN signal, a CANFD signal, and an ethernet signal, each of which CAN be communicatively connected to the external communication signal processing module 3.

The pilot lamp 13 includes instrument pilot lamp 39 and switch pilot lamp 40, and instrument pilot lamp 39 installs on the vehicle instrument, plays alarm effect and work suggestion effect, and switch pilot lamp 40 installs on external switch 14, plays work suggestion effect, and instrument pilot lamp 39 and switch pilot lamp 40 are all connected with external sensor and pilot lamp power 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, and the parking switch 41, the VDC switch 42, the reset tire pressure monitoring switch 43, and the driving mode switch 44 are all connected to the external switch state recognition module 5.

the vehicle controller 1 controls the vehicle through a software architecture, wherein the software architecture is of 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 in sequence;

the application layer in the software architecture is a core part of the software of the whole vehicle controller 1, and comprises application layer control algorithm software which integrates the control strategies and control algorithms of all the whole vehicle controllers 1;

The signal transmission layer in the software architecture provides a real-time running environment for the whole vehicle controller 1 software, provides a signal interface for the application layer and the driving layer, realizes the real-time fault monitoring of the whole vehicle controller 1, comprises fault monitoring software and signal transmission software, monitors the fault state of the whole vehicle controller 1 in real time, gives an alarm in time, is responsible for setting up the signal interface between the application layer and the driving layer, realizes the communication between the application layer and the driving layer, runs in real time on the signal transmission layer, and when the software task of the whole vehicle controller 1 runs to the application layer software or the bottom driving software is required to work, the application layer software or the bottom driving software is used for carrying out operation, and then the operation result is transmitted to the signal transmission layer, the signal transmission layer integrates the received information, monitors the fault state and completes the information transmission, then the signal transmission layer waits until the whole vehicle controller needs to carry out the next software task, and the signal transmission layer can start the next working cycle;

the driving layer in the software architecture controls the hardware driving of the vehicle controller 1, processes external signals, supplies power to the external sensor and the indicator lamp 13, supplies power to the ECU, realizes the diagnosis and software refreshing of the vehicle controller 1, and identifies the state of the external switch 14, the driving layer in the software architecture comprises external sensor signal processing software, external sensor and indicator lamp 13 power supply software, ECU power supply software, external communication signal processing software, diagnosis and refreshing software, and external switch 14 state identification software, wherein the external sensor signal processing software and the external sensor signal processing module of the vehicle controller 1 realize the corresponding relation between software and hardware, the external sensor and indicator lamp power supply software and the external sensor and the indicator lamp power supply module 4 of the vehicle controller 1 realize the corresponding relation between software and hardware, the external communication signal processing software and the external communication signal processing module 3 of the vehicle controller 1 realize the corresponding relation between the external switch state identification software and the ECU of the vehicle controller 1, and the corresponding relation between the external switch state identification module 5 of the vehicle controller 1 and the ECU, and the corresponding relation between the external power supply software and the first power supply module 6 and the second power supply module 7 of the vehicle controller 1 realize the corresponding relation between software and hardware.

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

the application layer control algorithm software receives an external input signal of the whole vehicle controller 1 from the driving layer and an alarm signal of the whole vehicle controller 1 from the signal transmission layer, the external input signal is firstly transmitted to a driver driving intention recognition module and a driver braking intention recognition module, the driver driving intention recognition module judges the driving intention of the current driver to the vehicle by processing the external input signal, and the driver driving intention recognition module transmits a vehicle driving mode to the driving mode judging module; the driver braking intention recognition module judges the braking intention of the current driver on the vehicle by processing the external input signal, and then the driver braking intention recognition module transmits the vehicle braking mode to the driving mode judging module;

The working principle of the invention is as follows:

the whole vehicle controller 1 based on the distributed driving vehicle is electrically connected with a vehicle sensor 11, an indicator light 13 and an external switch 14 respectively. The whole vehicle controller 1 supplies power to the vehicle sensor 11, the instrument indicator lamp 39 and the switch indicator lamp 40 which need power supply. The whole vehicle controller 1 receives the electric signal transmitted by the vehicle sensor 11, and further, the whole vehicle controller 1 judges the intention of a driver and the current vehicle state after processing the electric signal of the vehicle sensor 11, and sends a control instruction to other controllers of the vehicle through logic operation. In addition, the whole vehicle controller 1 also judges the state of the external switch 14 in real time, and starts the corresponding function of the whole vehicle controller 1 according to the switch state.

The whole vehicle controller 1 can communicate with other controllers of the vehicle in real time in any signal form capable of ensuring stable communication quality, including CAN (ControllerAreaNetwork) signal, CANFD (CAN with Flexible Data-Rate) Signals, ethernet signals, etc.

The vehicle controller 1 communicates with a front axle electric power steering controller 27 and a rear axle electric power steering controller 28 in real time, respectively. The front axle electronic power-assisted steering controller 27 controls a front axle electronic power-assisted steering device of the vehicle, drives two wheels of the front axle of the vehicle to rotate around a master pin, and realizes front wheel steering of the vehicle; the rear axle electric power steering controller 28 controls a rear axle electric power steering of the vehicle, and drives two wheels of the rear axle of the vehicle to rotate about the kingpin, thereby realizing rear wheel steering of the vehicle. The whole vehicle controller 1 calculates a front axle wheel angle and a rear axle wheel angle required by the current vehicle by receiving signals of the steering wheel angle sensor 22, the whole vehicle controller 1 sends target front axle wheel angle signals to the front axle electronic power steering controller 27, the front axle electronic power steering controller 27 controls the front axle electronic power steering of the vehicle to drive wheels to rotate to reach the target front axle wheel angle, and meanwhile, the whole vehicle controller 1 sends target rear axle wheel angle signals to the rear axle electronic power steering controller 28, and the rear axle electronic power steering controller 28 controls the rear axle electronic power steering of the vehicle to drive the wheels to rotate to reach the target rear axle wheel angle. In addition, the front axle electric power steering controller 27 and the rear axle electric power steering controller 28 respectively receive the electric signals of the steering wheel angle sensor 22, and when the whole vehicle controller 1 cannot communicate with the front axle electric power steering controller 27 or the rear axle electric power steering controller 28, the front axle electric power steering controller 27 and the rear axle electric power steering controller 28 respectively can calculate the front axle wheel angle and the rear axle wheel angle required by the vehicle by receiving the steering wheel angle signals, and the steering of the vehicle is realized by controlling the electric power steering controller, so that the redundancy backup of the steering control system of the vehicle is realized.

The front left electromechanical brake controller 29 controls the actuation of the electromechanical brake calipers located on the wheel side of the front left wheel to provide braking torque for the front left wheel of the vehicle, so that the front left wheel of the vehicle reduces the rotation speed until stopping rotation, and simultaneously the front left electromechanical brake controller 29 can also control the actuation of the electromechanical brake calipers of the front left wheel to lock the front left wheel of the vehicle from rotation, thereby realizing parking of the vehicle. In order to avoid the situation that a certain circuit braking system fails and the vehicle cannot decelerate, a corresponding electromechanical braking controller and an electromechanical braking caliper are configured for each wheel, and the working principles of the other three electromechanical braking controllers and the other three electromechanical braking calipers are consistent with those of the left front wheel braking circuit, and the description is not repeated here.

The vehicle controller 1 communicates with the front left electromechanical brake controller 29, the front right electromechanical brake controller 30, the rear left electromechanical brake controller 31, and the rear right electromechanical brake controller 32 in real time, respectively. The whole vehicle controller 1 obtains the target electromechanical braking moment which is required to be distributed for each current 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 hub motor, and the whole vehicle controller 1 respectively sends the target electromechanical braking moment 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, and the electromechanical braking controller controls the electromechanical calipers to realize the deceleration of the vehicle. In addition, the whole vehicle controller 1 determines whether the current vehicle needs to park or release parking by judging the state of the parking switch and combining the current vehicle state information, the whole vehicle controller 1 respectively sends the target parking torque and the target parking state flag bit to the front left electromechanical brake controller 29, the front right electromechanical brake controller 30, the rear left electromechanical brake controller 31 and the rear right electromechanical brake controller 32, and the electromechanical brake controller controls the electromechanical calipers to park and release parking of the vehicle.

In addition to the vehicle braking and parking modes described above, the front left electromechanical brake controller 29, the front right electromechanical brake controller 30, the rear left electromechanical brake controller 31, and the rear right electromechanical brake controller 32 each receive the signal from the brake pedal opening sensor 23, and if any one of the electromechanical brake controllers cannot receive the control signal from the vehicle controller, the electromechanical brake controller controls the electromechanical caliper to decelerate the vehicle by receiving the signal from the brake pedal opening sensor 23. In addition, the front left electromechanical brake controller 29, the front right electromechanical brake controller 30, the rear left electromechanical brake controller 31, and the rear right electromechanical brake controller 32 are electrically connected to the parking switch 41, respectively, and the electromechanical brake controllers monitor the state of the parking switch 41 in real time, and if any electromechanical brake controller cannot receive a control signal from the whole vehicle controller 1, the electromechanical brake controller controls the electromechanical caliper to park or release the parking of the vehicle by judging the state of the parking switch 41.

The left front wheel hub motor controller 33 drives the left front wheel hub motor located in the left front wheel rim to rotate, the left front wheel hub motor is embedded in the wheel, and when the motor rotates, the wheel is driven to rotate together to provide driving torque for the vehicle to drive the vehicle, and in addition, the left front wheel hub motor controller 33 can control the left front wheel hub motor to provide regenerative braking torque for the vehicle to enable the vehicle to slow down. The corresponding hub motors are configured for each wheel, including a left front hub motor, a right front hub motor, a left rear hub motor, and a right rear hub motor, the operation principles of the hub motor controller and the hub motor are identical, and the operation principles of the right front hub motor controller 34, the left rear hub motor controller 35, and the right rear hub motor controller 36 are not repeated.

The whole vehicle controller 1 is respectively in real-time communication with a left front wheel hub motor controller 33, a right front wheel hub motor controller 34, a left rear wheel hub motor controller 35 and a right rear wheel hub motor controller 36. The whole vehicle controller 1 obtains the target driving moment and the target regenerative braking moment which are required to be distributed for each wheel at present through receiving the signals of the accelerator pedal opening sensor 24 and the brake pedal opening sensor 23 and combining the current vehicle state information and the regenerative braking capacity of the hub motor. The vehicle controller 1 transmits the target driving force and the target regenerative braking torque to the front left wheel hub motor controller 33, the front right wheel hub motor controller 34, the rear left wheel hub motor controller 35, and the rear right wheel hub motor controller 36, respectively, and the wheel hub motor controller controls the wheel hub motor to drive the vehicle to run or decelerate the vehicle.

The front left wheel hub motor controller 33, the front right wheel hub motor controller 34, the rear left wheel hub motor controller 35 and the rear right wheel hub motor controller 36 respectively receive signals of the accelerator pedal opening sensor 24, and if any one wheel hub motor controller cannot receive control signals from the whole vehicle controller 1, the wheel hub motor controller controls the wheel hub motor to drive the vehicle to run by receiving the signals of the accelerator pedal opening sensor 24.

The whole vehicle controller 1 is in real-time communication with the gear controller 37, the whole vehicle controller 1 receives gear signals sent by the gear controller 37, and the real-time control of the distributed driving vehicle is realized by integrating vehicle gear information.

The whole vehicle controller 1 is also in real-time communication with the vehicle power battery controller 38, and the whole vehicle controller 1 receives information such as the vehicle residual battery power and the vehicle battery fault sent by the vehicle power battery controller 38 and is used for judging the regenerative braking capability of the hub motor so as to realize real-time control of the distributed driving vehicle.

The vehicle sensor 11 includes a vehicle key sensor 17, a front left wheel speed sensor 18, a front right wheel speed sensor 19, a rear left wheel speed sensor 20, a rear right wheel speed sensor 21, a steering wheel angle sensor 22, a 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 state information and sends the vehicle state information to a vehicle controller to be received, wherein the vehicle controller comprises a whole vehicle controller 1, a hub motor controller, an electromechanical brake controller and the like.

The indicator light 13 comprises an instrument indicator light 39 and a switch indicator light 40. The instrument indicator lamp 39 and the switch indicator lamp 40 are powered by the whole vehicle controller 1, when the instrument indicator lamp 39 and the switch indicator lamp 40 need to be lighted, the whole vehicle controller 1 is started to supply power to the instrument indicator lamp 39 and the switch indicator lamp 40, and when the instrument indicator lamp 39 and the switch indicator lamp 40 need to be extinguished, the whole vehicle controller 1 cuts off the power supply to the instrument indicator lamp 39 and the switch indicator lamp 40.

The external switch 14 comprises a parking switch 41, a VDC switch 42, a tire pressure resetting monitoring switch 43 and a driving mode switch 44, and the external switch 14 is electrically connected with the vehicle controller 1 of the invention. The parking switch 41 is used for controlling the vehicle to complete parking, release parking or achieve vehicle deceleration in an emergency state; the VDC switch 42 is used to turn on or off the VDC function of the vehicle; the tire pressure monitoring switch 43 is used for controlling the tire pressure monitoring module of the whole vehicle controller to work and recalibrate the initial tire pressure; the driving mode switch 44 is used for controlling and switching the driving modes of the vehicle, wherein the driving modes of the vehicle comprise an energy saving mode, a normal mode and a motion mode, different driving modes of the vehicle correspond to different vehicle control strategies, and the whole vehicle controller 1 knows the driving mode of the current vehicle by identifying the state of the driving mode switch 44, so that the freely switchable vehicle control strategies are realized.

Claims

1. A control method based on a distributed driving vehicle is characterized in that: the control method is as follows:

the vehicle controller comprises 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, 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 light 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 the 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, the MCU is responsible for receiving the processed signals of the vehicle sensor and performing 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, and transmits the external communication signals sent by the other vehicle controllers to the MCU after being processed by the external communication signal processing module, and the MCU is comprehensively used for performing logic judgment; the external communication signal processing module receives communication signals from the MCU, the communication signals are processed by the external communication signal processing module and then sent to other vehicle controllers, the other vehicle controllers receive upper computer signals sent by the MCU to respond correspondingly, the external sensor and the indicator lamp power supply module are respectively electrically connected with the vehicle sensor and the indicator lamp, the external sensor and the indicator lamp power supply module supply power for 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, and 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, a first information storage module and a second information storage module for power supply, and the first power supply module is connected with a first external power supply circuit;

The driving layer in the software architecture controls hardware driving of the whole vehicle controller, processes external signals, supplies power to an external sensor and an indicator lamp, supplies power to the ECU, realizes diagnosis and software refreshing of the whole vehicle controller and identifies an external switch state, and 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 refreshing 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 software and hardware, the external sensor and indicator lamp power supply software and an external sensor and an indicator lamp power supply module of the whole vehicle controller realize the corresponding relation between software and hardware, and the external communication signal processing module of the whole vehicle controller realizes the corresponding relation between the external switch state identification software and the hardware;

2. A control method based on a distributed drive vehicle according to claim 1, characterized in that: the first power supply module and the second power supply module are both ECU power supply modules.

3. A control method based on a distributed drive vehicle according to claim 1, characterized in that: the first information storage module and the second information storage module are both ECU information storage modules.

4. A control method based on a distributed drive vehicle according to claim 1, characterized in that: 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 corner sensor, a brake pedal opening sensor, an accelerator pedal opening sensor, a vehicle acceleration sensor and a vehicle corner 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 corner sensor, the brake pedal opening sensor, the accelerator pedal opening sensor, the vehicle acceleration sensor and the vehicle corner acceleration sensor are all connected with an external sensor signal processing module and an external sensor and indicator lamp power supply module.

5. A control method based on a distributed drive vehicle according to claim 1, characterized in that: the other vehicle controllers comprise a front axle electric power steering controller, a rear axle electric power steering controller, a left front electric mechanical brake controller, a right front electric mechanical brake controller, a left rear electric mechanical brake controller, a right rear electric 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 axle electric power steering controller, the rear axle electric power steering controller, the left front electric mechanical brake controller, the right front electric mechanical brake controller, the left rear electric mechanical brake controller, the right rear electric 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 be communicated with an external communication signal processing module by using external communication signals.

6. A control method based on a distributed drive vehicle according to claim 1, characterized in that: the external communication signals comprise CAN signals, CANFD signals and Ethernet signals, and the CAN signals, the CANFD signals and the Ethernet signals CAN be in communication connection with the external communication signal processing module.

7. A control method based on a distributed drive vehicle according to claim 1, characterized in that: the utility model provides an indicating lamp, including instrument pilot lamp and switch pilot lamp, the instrument pilot lamp is installed on vehicle instrument, plays alarm effect and work suggestion effect, and the switch pilot lamp is installed on external switch, plays work suggestion effect, instrument pilot lamp and switch pilot lamp all are connected with external sensor and pilot lamp power module.

8. A control method based on a distributed drive vehicle according to claim 1, characterized in that: the external switch comprises a parking switch, a VDC switch, a tire pressure resetting monitoring switch and a driving mode switch, and the parking switch, the VDC switch, the tire pressure resetting monitoring switch and the driving mode switch are all connected with the external switch state identification module.