CN117681814A - Chassis domain controller redundancy architecture and control method thereof - Google Patents
Chassis domain controller redundancy architecture and control method thereof Download PDFInfo
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- CN117681814A CN117681814A CN202311869310.2A CN202311869310A CN117681814A CN 117681814 A CN117681814 A CN 117681814A CN 202311869310 A CN202311869310 A CN 202311869310A CN 117681814 A CN117681814 A CN 117681814A
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- 238000005192 partition Methods 0.000 claims abstract description 101
- 230000006854 communication Effects 0.000 claims abstract description 34
- 238000004891 communication Methods 0.000 claims abstract description 34
- 238000012545 processing Methods 0.000 claims abstract description 15
- 238000002955 isolation Methods 0.000 claims description 34
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 230000005856 abnormality Effects 0.000 claims description 3
- 230000015556 catabolic process Effects 0.000 claims description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
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Abstract
The invention discloses a chassis domain controller redundancy architecture and a control method thereof, which relate to the technical field of chassis and have the technical scheme that: the chassis domain controller comprises a sensor module and a chassis domain controller, wherein the sensor module is electrically connected with the chassis domain controller, the chassis domain controller comprises two domain controller partitions, namely a domain controller partition A and a domain controller partition B, a communication module which can enable the two domain controller partitions to work simultaneously or alternatively is arranged between the two domain controller partitions, and the two domain controller partitions all comprise: the processing module is used for processing the information transmitted to the chassis domain controller by the sensor module and determining a control instruction; the execution module is used for executing the control task according to the control instruction; the processing modules and the execution modules are electrically connected; the chassis domain controller redundancy architecture further includes a subordinate system electrically connected to the chassis domain controller. The chassis domain controller redundancy architecture and the control method thereof have the advantage of high safety.
Description
Technical Field
The invention relates to the technical field of chassis, in particular to a chassis domain controller redundancy architecture and a control method thereof.
Background
With the advancement and development of the automobile industry, the number of controllers (ECU) on the vehicle is increasing, and higher requirements are being put on the overall vehicle network architecture and harness arrangement. The domain controller is followed, and a plurality of ECU functions with close positions or similar functions are integrated into one domain controller ECU, so that the load of the whole vehicle network is reduced, and the communication efficiency is improved. The chassis domain controller integrates various ECU functions (such as steering/braking/suspension and the like) on the chassis to realize integrated control of the chassis functions.
Autopilot is a necessary trend in the development of the future automotive industry, and high-level autopilot puts higher demands on safety. To achieve a high level of autopilot, each ECU of the vehicle must meet the functional safety requirements of the corresponding level. The chassis domain controller and the corresponding whole system mainly control the functions of steering, braking, suspension and the like to be realized, and the highest functional safety requirement of ASIL grade D needs to be met. Redundancy control is an important strategy for achieving the ASIL-D functional security requirements.
All electric control subsystems in the whole chassis field in the centralized chassis field controller share the same controller, so that the operation of the controller is increased, the failure risk of the controller exists, and the safety is insufficient.
There is therefore a need to propose a new solution to this problem.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention aims to provide a chassis domain controller redundancy architecture and a control method thereof, which solve the problem of insufficient safety of the existing chassis domain controller.
The technical aim of the invention is realized by the following technical scheme: the utility model provides a chassis domain controller redundancy architecture, includes sensor module and chassis domain controller, sensor module with chassis domain controller electric connection, chassis domain controller includes two domain controller subregions, is domain controller subregion A and domain controller subregion B respectively, be provided with the communication module that can make two domain controller subregions simultaneous working or alternatively work between two domain controller subregions, two domain controller subregions all include:
the processing module is used for processing the sensing information transmitted to the chassis domain controller by the sensor module and determining a control instruction;
the execution module is used for executing the control task according to the control instruction;
the processing modules and the execution modules are electrically connected;
the chassis domain controller redundancy architecture further includes a subordinate system electrically connected to the chassis domain controller, the subordinate system including:
the first subsystem comprises two first sub-controllers, namely a first sub-controller A and a first sub-controller B, and further comprises a first sub-actuator, wherein the first sub-controller A and the first sub-controller B are the same controllers, and the first sub-controller A and the first sub-controller B are electrically connected with the first sub-actuator respectively;
the second subsystem comprises two second sub-controllers, namely a second sub-controller A and a second sub-controller B, and further comprises two second sub-actuators, namely a second sub-actuator A and a second sub-actuator B, wherein the second sub-controller A and the second sub-controller B are the same controllers, the second sub-controller A is electrically connected with the second sub-actuator A, and the second sub-controller B is electrically connected with the second sub-actuator B;
the third subsystem comprises a third sub-controller and a third sub-actuator, and the third sub-controller is electrically connected with the third sub-actuator;
and the chassis domain controller is communicated with the first subsystem controller, the second subsystem controller and the third subsystem controller by using an on-board bus connection.
In one embodiment, the sensor module includes a sensor a and a sensor B, which are functionally identical and electrically connected to the domain controller partition a and the domain controller partition B, respectively.
In one embodiment, the communication module includes two isolation circuits with the same structure, namely a first isolation circuit and a second isolation circuit, the first isolation circuit and the second isolation circuit are redundant, the first isolation circuit and the second isolation circuit can complete bidirectional communication between the domain controller partition A and the domain controller partition B, two ends of the first isolation circuit are electrically connected with the domain controller partition A and the domain controller partition B respectively, two ends of the second isolation circuit are electrically connected with the domain controller partition A and the domain controller partition B respectively, and when one of the domain controller partition A and the domain controller partition B is abnormal, an interference signal when the abnormality occurs is isolated through the first isolation circuit or the second isolation circuit.
In one embodiment, the domain controller partition a, the first sub-controller a, the second sub-controller a, and the third sub-controller communicate through a first vehicle bus to form a network a; the domain controller partition B, the first sub-controller B, the second sub-controller B and the third sub-controller communicate through a second vehicle bus to form a network B.
In one embodiment, the communication module is used for communication between the first sub-controller a and the first sub-controller B, and between the second sub-controller a and the second sub-controller B.
In one embodiment, the first subsystem is a steering system, the first sub-actuator is a six-phase motor, the first sub-controller a is connected with three phases therein, the first sub-controller B is connected with the other three phases therein, and the first sub-controller a and the first sub-controller B each control three phases therein.
In one embodiment, the second subsystem is a braking system, the second sub-actuator a is a motor, the second sub-actuator B is a hydraulic master cylinder, and the second sub-actuator a and the second sub-actuator B are electrically connected with the second sub-controller a and the second sub-controller B respectively.
A chassis domain control method comprising the chassis domain controller redundancy architecture of any of claims 1 to 6, wherein: the method also comprises the following steps:
step 1: acquiring a sensing signal through a sensor module;
step 2: the acquired sensing signals are processed through the processing module, and control instructions are made according to the sensing signals;
step 3: transmitting the control instruction to one or more of the first subsystem, the second subsystem and the third subsystem through an execution module;
step 4: the first subsystem, the second subsystem and the third subsystem respectively complete instruction actions according to the received control instructions;
and when the two domain controller partitions work normally, the domain controller partition A and the domain controller partition B work simultaneously, if one of the two domain controller partitions fails, the other domain controller partition receives failure information through the communication module, and at the moment, the whole system performs state switching, and the cooperative control of the two domain controller partitions is changed into the control of the single domain controller partition.
In one embodiment, the two first sub-controllers in the first subsystem are redundant, in normal operation, the two first sub-controllers work simultaneously, and send instructions to the first sub-controllers at the same time, so that the first sub-controllers complete the instructions, when one of the two first sub-controllers fails, the other first sub-controller independently works and sends instructions to the first sub-controllers to complete the degradation function, the failed first sub-controller transmits failure information to the corresponding controller partition through the network A or the network B, and the non-failed first sub-controller receives the failure information through a communication module communicated with the failed first sub-controller and transmits the failure information through the network A or the network B.
In one embodiment, the two second sub-controllers in the second subsystem are redundant, during normal operation, the two second sub-controllers work simultaneously and respectively send control instructions to the second sub-actuators connected with each other, the two second sub-actuators independently complete second sub-actions, when one of the two second sub-controllers fails, the other second sub-controller independently works and sends control instructions to the corresponding second sub-actuator, the corresponding second sub-actuator completes the second sub-actions, the failed second sub-controller transmits failure information through the network A or the network B where the second sub-controller is located, and the non-failed second sub-actuator receives the failure information through the communication module and transmits the failure information through the network A or the network B where the second sub-actuator is located.
In summary, the invention has the following beneficial effects: according to the invention, the domain controller partition A and the domain controller partition B which are redundant with each other are arranged, the communication module is arranged to enable the domain controller partition A and the domain controller partition B to communicate with each other, failure information is transmitted, the system is switched between states of single domain controller partitions of two domain controller partition control domains, a lower system such as a first subsystem and a second subsystem is arranged, the first subsystem is provided with a first sub-controller A and a first sub-controller B which are redundant with each other, the second subsystem is provided with a second sub-controller A and a second sub-controller B which are redundant with each other, and when any one of the domain controller partition A, the domain controller partition B, the first sub-controller B, the second sub-controller A and the second sub-controller B fails, the two sub-controllers can work independently with the redundant controllers, so that the whole system has high redundancy degree and high safety performance.
Drawings
FIG. 1 is a schematic diagram of a chassis domain controller redundancy architecture according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a communication module in a chassis domain controller redundancy architecture according to an embodiment of the present application;
fig. 3 is a flow chart of a chassis domain control method according to an embodiment of the present application.
In the figure: 1. a sensor module; 11. a sensor A; 12. a sensor B; 2. a chassis domain controller; 21. domain controller partition a; 22. domain controller partition B; 3. a first subsystem; 31. a first sub-controller A; 32. a first sub-controller B; 33. a first sub-actuator; 4. a second subsystem; 41. a second sub-controller A; 42. a second sub-controller B; 43. a second sub-actuator A; 44. a second sub-actuator B; 5. a third subsystem; 51. a third sub-controller; 52. a third sub-actuator; 6. a first vehicle bus; 7. a second on-board bus.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 to 3, an embodiment of the present application provides a chassis domain controller redundancy architecture, including a sensor module 1 and a chassis domain controller 2, where the sensor module 1 is electrically connected with the chassis domain controller 2, the chassis domain controller 2 includes two domain controller partitions, which are a domain controller partition a21 and a domain controller partition B22, and a communication module capable of enabling the two domain controller partitions to work simultaneously or alternatively is disposed between the two domain controller partitions, and the two domain controller partitions each include:
the processing module is used for processing the information transmitted to the chassis domain controller 2 by the sensor module 1 and determining a control instruction;
the execution module is used for executing the control task according to the control instruction;
the processing modules and the execution modules are electrically connected;
the chassis domain controller redundancy architecture further includes a lower system electrically connected to the chassis domain controller 2, where the lower system includes:
the first subsystem 3 includes two first sub-controllers, namely a first sub-controller a31 and a first sub-controller B32, and further includes a first sub-actuator 33, wherein the first sub-controller a31 and the first sub-controller B32 are the same controllers, and the first sub-controller a31 and the first sub-controller B32 are electrically connected with the first sub-actuator 33;
the second subsystem 4 includes two second sub-controllers, namely a second sub-controller a41 and a second sub-controller B42, and further includes two second sub-actuators, namely a second sub-actuator a43 and a second sub-actuator B44, wherein the second sub-controller a41 and the second sub-controller B42 are the same controllers, the second sub-controller a41 is electrically connected with the second sub-actuator a43, and the second sub-controller B42 is electrically connected with the second sub-actuator B44;
the third subsystem 5, wherein the third subsystem 5 includes a third sub-controller 51 and a third sub-actuator 52, and the third sub-controller 51 is electrically connected with the third sub-actuator 52;
the chassis domain controller 2 is in communication with the first subsystem 3 controller, the second subsystem 4 controller and the third subsystem 5 controller through an on-board bus connection.
Specifically, the first subsystem 3, the second subsystem 4 and the third subsystem 5 may be configured in plurality according to needs, the lower-level system may specifically further include a chassis system such as a driving system, and the vehicle-mounted bus may specifically use Ethernet, flexRay, CAN-FD and the like.
The above structure is provided, by setting the domain controller partition a21 and the domain controller partition B22 which are redundant to each other, and setting the communication module so that the domain controller partition a21 and the domain controller partition B22 can communicate with each other, the failure information is transmitted, the system is switched between the states of the two domain controller partitions controlling the single domain controller partition, and the lower system such as the first subsystem 3 and the second subsystem 4 is provided, the first subsystem 3 is provided with the first sub-controller a31 and the first sub-controller B32 which are redundant to each other, and the second subsystem 4 is provided with the second sub-controller a41 and the second sub-controller B42 which are redundant to each other, so that the redundancy degree of the whole system is high, and the safety performance is high.
In this embodiment, the sensor module 1 includes a sensor a11 and a sensor B12, where the sensor a11 and the sensor B12 have the same function and are electrically connected to the domain controller partition a21 and the domain controller partition B22 respectively.
By setting the sensor A11 and the sensor B12 with the same functions, the sensor A11 and the sensor B12 are respectively and electrically connected with the domain controller partition A21 and the domain controller partition B22, and the sensor A11 and the sensor B12 are redundant, so that the sensor module safely and stably transmits sensing information to the chassis domain controller 2.
In this embodiment, as shown in fig. 2, the communication module includes two isolation circuits with the same structure, which are a first isolation circuit and a second isolation circuit, where the first isolation circuit and the second isolation circuit are redundant, the first isolation circuit and the second isolation circuit can both complete bidirectional communication between the domain controller partition a and the domain controller partition B, two ends of the first isolation circuit are electrically connected with the domain controller partition a21 and the domain controller partition B22, two ends of the second isolation circuit are electrically connected with the domain controller partition a21 and the domain controller partition B22, and when one of the domain controller partition a21 and the domain controller partition B22 is abnormal, an interference signal when the abnormality occurs is isolated by the first isolation circuit or the second isolation circuit.
The arrangement of the structure realizes the effect of isolating interference signals and achieving the effect of stabilizing communication by using two mutually redundant isolation circuits to conduct communication between the two domain controller partitions.
In this embodiment, the domain controller partition a21, the first sub-controller a31, the second sub-controller a41, and the third sub-controller 51 communicate through the first vehicle bus 6 to form a network a; the domain controller partition B22, the first sub-controller B32, the second sub-controller B42, and the third sub-controller 51 communicate through the second on-board bus 7 to form a network B.
The above configuration is configured such that the domain controller partition a21, the first sub-controller a31, the second sub-controller a41, and the third sub-controller 51 communicate via the first vehicle bus 6 to form the network a; the domain controller partition B22, the first sub-controller B32, the second sub-controller B42 and the third sub-controller 51 communicate through the second vehicle bus 7 to form a network B, so that the whole chassis domain controller redundancy architecture forms two mutually redundant control networks, and the safety redundancy is improved.
In this embodiment, the communication modules are used for communication between the first sub-controller a31 and the first sub-controller B32, and between the second sub-controller a41 and the second sub-controller B42.
In the arrangement of the above structure, the communication module is also adopted to perform communication between the first sub-controller a31 and the first sub-controller B32 and between the second sub-controller a41 and the second sub-controller B42, so that communication between two mutually redundant control networks can be performed.
In this embodiment, the first subsystem 3 is a steering system, the first sub-actuator 33 is a six-phase motor, the first sub-controller a31 is connected with three phases therein, the first sub-controller B32 is connected with another three phases therein, and the first sub-controller a31 and the first sub-controller B32 each control three phases therein.
The arrangement of the structure ensures that when one of the two first sub-controllers fails, the first sub-actuator 33 is still controlled by the other first sub-controller, thereby improving the safety.
In this embodiment, the second subsystem 4 is a braking system, the second sub-actuator a43 is a motor, the second sub-actuator B44 is a hydraulic master cylinder, and the second sub-actuator a43 and the second sub-actuator B44 are electrically connected to the second sub-controller a41 and the second sub-controller B42, respectively.
The arrangement of the structure ensures that the second sub-controller A41 and the second sub-controller B42 respectively control different second sub-actuators, and when the two sub-actuators work normally, the two sub-actuators execute instructions simultaneously, and when one of the sub-actuators fails, the other sub-actuator still works normally, so that the safety is higher.
The invention also discloses a chassis domain control method, which comprises the following steps:
step 1: acquiring a sensing signal through the sensor module 1;
step 2: the acquired sensing signals are processed through the processing module, and control instructions are made according to the sensing signals;
step 3: transmitting the control instruction to one or more of the first subsystem 3, the second subsystem 4 and the third subsystem 5 through an execution module;
step 4: the first subsystem 3, the second subsystem 4 and the third subsystem 5 respectively complete instruction actions according to the received control instructions;
and when the two domain controller partitions work normally, the domain controller partition A21 and the domain controller partition B22 work simultaneously, if one of the two domain controller partitions fails, the other domain controller partition receives failure information through the communication module, and at the moment, the whole system performs state switching, and the cooperative control of the two domain controller partitions is changed into the control of the single domain controller partition.
In this embodiment, the two first sub-controllers in the first subsystem 3 are redundant, during normal operation, the two first sub-controllers work simultaneously, and send an instruction to the first sub-actuator 33 at the same time, so that the first sub-actuator 33 completes the instruction, when one of the two first sub-controllers fails, the other first sub-controller works independently, and sends an instruction to the first sub-actuator 33 to complete the degradation function, the failed first sub-controller transmits failure information to the corresponding controller partition through the network a or the network B where the first sub-controller fails, and the non-failed first sub-controller receives the failure information through the communication module communicating with the failed first sub-controller and transmits the failure information through the network a or the network B where the first sub-controller fails.
In this embodiment, the two second sub-controllers in the second subsystem 4 are redundant, during normal operation, the two second sub-controllers work simultaneously and respectively send control instructions to the second sub-actuators connected with each other, the two second sub-actuators independently complete the second sub-actions, when one of the two second sub-controllers fails, the other second sub-controller independently works and sends control instructions to the corresponding second sub-actuator, the corresponding second sub-actuator completes the second sub-actions, the failed second sub-controller transmits failure information through the network a or the network B where the second sub-controller is located, and the non-failed second sub-actuator receives the failure information through the communication module and transmits the failure information through the network a or the network B where the second sub-actuator is located.
The arrangement of the structure enables failure information to be simultaneously transmitted to the two domain controller partitions from two channels through the arrangement of the communication module, the network A and the network B, and enables the chassis domain controller 2 to locate the failure information more accurately.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the present invention may occur to one skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.
Claims (10)
1. The utility model provides a chassis domain controller redundancy architecture, includes sensor module (1) and chassis domain controller (2), sensor module (1) with chassis domain controller (2) electric connection, its characterized in that: the chassis domain controller (2) comprises two domain controller partitions, namely a domain controller partition A (21) and a domain controller partition B (22), a communication module which can enable the two domain controller partitions to work simultaneously or alternatively is arranged between the two domain controller partitions, and the two domain controller partitions all comprise:
the processing module is used for processing the sensing information transmitted to the chassis domain controller (2) by the sensor module (1) and determining a control instruction;
the execution module is used for executing the control task according to the control instruction;
the processing modules and the execution modules are electrically connected;
the chassis domain controller redundancy architecture further comprises a lower system electrically connected with the chassis domain controller (2), the lower system comprising:
the first subsystem (3), the first subsystem (3) comprises two first sub-controllers, namely a first sub-controller A (31) and a first sub-controller B (32), and further comprises a first sub-actuator (33), the first sub-controller A (31) and the first sub-controller B (32) are the same controllers, and the first sub-controller A (31) and the first sub-controller B (32) are electrically connected with the first sub-actuator (33) respectively;
the second subsystem (4) comprises two second sub-controllers, namely a second sub-controller A (41) and a second sub-controller B (42), and further comprises two second sub-controllers, namely a second sub-actuator A (43) and a second sub-actuator B (44), wherein the second sub-controller A (41) and the second sub-controller B (42) are the same controllers, the second sub-controller A (41) is electrically connected with the second sub-actuator A (43), and the second sub-controller B (42) is electrically connected with the second sub-actuator B (44);
the third subsystem (5), the third subsystem (5) includes a third sub-controller (51) and a third sub-actuator (52), the third sub-controller (51) is electrically connected with the third sub-actuator (52);
the chassis domain controller (2) is communicated with the first subsystem (3) controller, the second subsystem (4) controller and the third subsystem (5) controller by using an on-board bus connection.
2. The chassis domain controller redundancy architecture of claim 1, wherein: the sensor module (1) comprises a sensor A (11) and a sensor B (12), and the sensor A (11) and the sensor B (12) have the same functions and are respectively and electrically connected with the domain controller partition A (21) and the domain controller partition B (22).
3. The chassis domain controller redundancy architecture of claim 1, wherein: the communication module comprises two isolation circuits with the same structure, namely a first isolation circuit and a second isolation circuit, the first isolation circuit and the second isolation circuit are redundant, the first isolation circuit and the second isolation circuit can complete two-way communication between the domain controller partition A and the domain controller partition B, two ends of the first isolation circuit are respectively electrically connected with the domain controller partition A (21) and the domain controller partition B (22), two ends of the second isolation circuit are respectively electrically connected with the domain controller partition A (21) and the domain controller partition B (22), and when one of the domain controller partition A (21) and the domain controller partition B (22) is abnormal, an interference signal when the abnormality occurs is isolated through the first isolation circuit or the second isolation circuit.
4. The chassis domain controller redundancy architecture of claim 1, wherein: the domain controller partition A (21), the first sub-controller A (31), the second sub-controller A (41) and the third sub-controller (51) are communicated through a first vehicle bus (6) to form a network A; the domain controller partition B (22), the first sub-controller B (32), the second sub-controller B (42) and the third sub-controller (51) are communicated through a second vehicle bus (7) to form a network B.
5. The chassis domain controller redundancy architecture of claim 1, wherein: the communication modules are used for communication between the first sub-controller A (31) and the first sub-controller B (32) and between the second sub-controller A (41) and the second sub-controller B (42).
6. The chassis domain controller redundancy architecture of claim 1, wherein: the first subsystem (3) is a steering system, the first sub-actuator (33) is a six-phase motor, the first sub-controller A (31) is connected with three phases therein, the first sub-controller B (32) is connected with other three phases therein, and the first sub-controller A (31) and the first sub-controller B (32) respectively control three phases therein.
7. The chassis domain controller redundancy architecture of claim 1, wherein: the second subsystem (4) is a braking system, the second sub-actuator A (43) is a motor, the second sub-actuator B (44) is a hydraulic master cylinder, and the second sub-actuator A (43) and the second sub-actuator B (44) are respectively and electrically connected with the second sub-controller A (41) and the second sub-controller B (42).
8. A chassis domain control method comprising the chassis domain controller redundancy architecture of any of claims 1 to 7, characterized in that: the method also comprises the following steps:
step 1: acquiring a sensing signal through a sensor module (1);
step 2: the acquired sensing signals are processed through the processing module, and control instructions are made according to the sensing signals;
step 3: transmitting the control instruction to one or more of the first subsystem (3), the second subsystem (4) and the third subsystem (5) through an execution module;
step 4: the first subsystem (3), the second subsystem (4) and the third subsystem (5) respectively complete instruction actions according to the received control instructions;
the two domain controller partitions are redundant, and when the two domain controller partitions work normally, the domain controller partition A (21) and the domain controller partition B (22) work simultaneously, if one of the two domain controller partitions fails, the other domain controller partition receives failure information through the communication module, and at the moment, the whole system performs state switching, and the two domain controller partitions are cooperatively controlled to be changed into a single domain controller partition to be controlled.
9. The chassis domain control method of claim 7, wherein: the two first sub-controllers in the first sub-system (3) are redundant, in normal operation, the two first sub-controllers work simultaneously, and simultaneously, an instruction is sent to the first sub-executor (33), so that the first sub-executor (33) completes the instruction, when one of the two first sub-controllers fails, the other first sub-controller works independently, and sends an instruction to the first sub-executor (33), the degradation function is completed, the failed first sub-controller transmits failure information to the corresponding controller partition through the network A or the network B where the first sub-controller is located, and the non-failed first sub-controller receives the failure information through a communication module communicated with the failed first sub-controller and transmits the failure information through the network A or the network B where the first sub-controller is located.
10. The chassis domain control method of claim 7, wherein: the two second sub-controllers in the second sub-system (4) are redundant, during normal operation, the two second sub-controllers work simultaneously and respectively send control instructions to the second sub-actuators connected with each other, the two second sub-actuators independently complete second sub-actions, when one of the two second sub-controllers fails, the other second sub-controller independently works and sends control instructions to the corresponding second sub-actuator, the corresponding second sub-actuator completes the second sub-actions, the failed second sub-controller transmits failure information through the network A or the network B, and the non-failed second sub-actuator receives the failure information through the communication module and transmits the failure information through the network A or the network B.
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Citations (6)
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| CN113044107A (en) * | 2021-03-15 | 2021-06-29 | 中国第一汽车股份有限公司 | Redundant steer-by-wire executor architecture |
| CN114348027A (en) * | 2022-02-07 | 2022-04-15 | 中国第一汽车股份有限公司 | Vehicle control method, device, platform and storage medium |
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