DE102023121176A1 - chassis control system - Google Patents

Abstract

A chassis control system (20) has a plurality of controllers (31-36) and a common data memory (23), which controllers (31-36) comprise at least two controller types from a controller type group consisting of- controller (31) for the drive system,- controller (32) for the steering system,- controller (33) for the vertical dynamics system,- controller (34) for the braking system, and- controller (35) for the driving dynamics,which common data memory (23) comprises a data storage area (25) for storing vehicle data, in which data storage area (25) vehicle data is stored, which controllers (31-36) are set up to access the common data memory (23).

Description

The invention relates to a chassis control system.

The WO 91 / 17 069 A1 shows a network control system for motor vehicles, with an interactive state observer that receives and evaluates signals from circuits.

The DE 10 2009 048 821 A1 shows a method for determining the range of vehicles taking into account a parameter that is characteristic of a state variable of an energy storage device.

The DE 197 20 618 A1 shows a microprocessor system for safety-relevant controls in a motor vehicle.

The DE 10 2013 016 974 A1 shows a method for detecting a road elevation profile ahead of a vehicle.

It is therefore an object of the invention to provide a new chassis control system.

This problem is solved by the subject matter of claim 1.

• - Regler für das Antriebssystem,
• - Regler für das Lenksystem,
• - Regler für das Vertikaldynamiksystem,
• - Regler für das Bremssystem, und
• - Regler für die Fahrdynamik,

welcher gemeinsame Datenspeicher einen Datenspeicherbereich zum Speichern von Fahrzeugdaten umfasst, in welchem Datenspeicherbereich Fahrzeugdaten abgespeichert sind, welche Regler dazu eingerichtet sind, auf den gemeinsamen Datenspeicher zuzugreifen. Das System ermöglicht eine konsistente Regelung durch die Regler, und es können zum realen Fahrzeug passende Stellgrößen ermittelt werden. Zudem ermöglicht die Speicherung im gemeinsamen Datenspeicher eine Vermeidung einer Mehrfachspeicherung gleicher Daten. Der gemeinsame Datenspeicher mit dem Datenzugriff der einzelnen Regler erleichtert zudem während der Entwicklung die Simulation des Fahrwerksregelungssystems.A chassis control system has a plurality of controllers and a common data memory, which controllers comprise at least two controller types from a controller type group consisting of

• - Controller for the drive system,
• - Controller for the steering system,
• - Controller for the vertical dynamics system,
• - Regulator for the braking system, and
• - Controller for driving dynamics,

which shared data storage includes a data storage area for storing vehicle data, in which data storage area vehicle data is stored, which controllers are set up to access the shared data storage. The system enables consistent control by the controllers, and control variables suitable for the real vehicle can be determined. In addition, storage in the shared data storage avoids multiple storage of the same data. The shared data storage with data access by the individual controllers also makes it easier to simulate the chassis control system during development.

According to a preferred embodiment, the controllers comprise at least three controller types from the controller type group, preferably at least four controller types. The solution is particularly advantageous when a plurality of controllers work together.

According to a preferred embodiment, the vehicle data comprise first vehicle data, and at least two of the controllers access at least partially the same first vehicle data. This leads to a consistency of the input variables for a control variable calculation of the controllers.

According to a preferred embodiment, several different data sets are stored in the common data memory, in which data sets specific vehicle data for a given vehicle type are provided, in which vehicle information is stored in the common data memory, and in which the chassis control system is set up to provide the controllers with a data set suitable for the specific vehicle type depending on the vehicle information. This enables data sets of different vehicle types to be stored in the data memory, and the assignment to the actual data type is easily possible via the vehicle information. This can prevent errors in configuration.

• - Massewert,
• - Schwerpunktslage,
• - Federwege,
• - Übersetzungen,
• - Reifendaten,
• - Federraten, und
• - Dämpferkräfte.

According to a preferred embodiment, the vehicle data comprises at least two second vehicle data from a vehicle data group consisting of

• - mass value,
• - center of gravity,
• - suspension travel,
• - translations,
• - tire data,
• - spring rates, and
• - Damping forces.

This vehicle data is relevant for different controllers, and avoiding data errors caused by inconsistent vehicle data increases the safety of the overall system.

According to a preferred embodiment, the vehicle data comprises at least three second vehicle data from the vehicle data group, and particularly preferably at least four second vehicle data.

According to a preferred embodiment, the vehicle data are at least partially a simulation environment is created. This provides a good and consistent data basis for the controllers.

According to a preferred embodiment, the chassis control system has an input interface for entering vehicle data. The possibility of updating and improving vehicle data enables a reaction to new findings.

According to a preferred embodiment, the chassis control system is designed to make the changed vehicle data accessible to the controllers at the same time after a change in the vehicle data. The different controllers can thus work consistently with the changed data from the time of changeover, and the robustness of the chassis control system is thereby increased. Errors in the vehicle reaction due to errors in the database of individual controllers can be prevented.

According to a preferred embodiment, the chassis control system has a control unit, which control unit is designed to execute the plurality of controllers. The use of one control unit for the plurality of controllers reduces the effort involved in data transport.

According to a preferred embodiment, the control unit has a microprocessor, which microprocessor is designed to execute the plurality of controllers. The number of cables for the interfaces between the controllers can thereby be greatly reduced, and the resource requirements in the control unit are reduced.

• - Allradregelung,
• - Quersperrenregelung.

According to a preferred embodiment, the controller type controller for the drive system comprises at least one first controller from the group

• - all-wheel drive control,
• - differential lock control.

• - Hinterachslenkregelung, und
• - Vorderachslenkregelung.

According to a preferred embodiment, the controller type controller for the steering system comprises at least one second controller selected from the group

• - Rear axle steering control, and
• - Front axle steering control.

• - Dämpfungsregelung,
• - Niveauregelung.

According to a preferred embodiment, the controller type controller for the vertical dynamics system comprises at least a third controller from the group

• - damping control,
• - Level control.

• - Antiblockiersystemregelung, und
• - Stabilisierungsregelung.

According to a preferred embodiment, the controller type controller for the braking system comprises at least a fourth controller from the group

• - Anti-lock braking system control, and
• - stabilization control.

• - Gierratenregelung, und
• - Querdynamikregelung.

According to a preferred embodiment, the controller type controller for driving dynamics comprises at least a fifth controller from the group,

• - yaw rate control, and
• - Lateral dynamics control.

• 1 in schematischer Darstellung ein Fahrzeug mit einem Fahrwerksystem.

Further details and advantageous developments of the invention emerge from the exemplary embodiments described below and shown in the drawing, which are in no way to be understood as a limitation of the invention, and from the subclaims. It is understood that the features mentioned above and those to be explained below can be used not only in the combination specified in each case, but also in other combinations or on their own, without departing from the scope of the present invention. It shows:

• 1 A schematic representation of a vehicle with a chassis system.

In the following, identical or similarly functioning parts are given the same reference symbols and are usually only described once. The description builds on each figure to avoid unnecessary repetition.

1 shows a vehicle 10 with a chassis control system 20.

The chassis control system 20 has a control unit 30, a data memory 23 and actuators 41, 42, 43, 44, 45, 46.

The control unit 30 has controllers 31, 32, 33, 34, 35, 36 for the chassis control system 20. The controllers 31 to 36 are each connected to one of the actuators 41 to 46.

• - Regler 31 für das Antriebssystem,
• - Regler 32 für das Lenksystem,
• - Regler 33 für das Vertikaldynamiksystem,
• - Regler 34 für das Bremssystem, und
• - Regler 35 für die Fahrdynamik.

Controllers 31 to 36 comprise at least two controller types from a controller type group consisting of:

• - Controller 31 for the drive system,
• - Controller 32 for the steering system,
• - Controller 33 for the vertical dynamics system,
• - Controller 34 for the braking system, and
• - Controller 35 for driving dynamics.

The data storage 23 comprises a data storage area 25 and an input interface 24. The data storage area 25 is intended for storing vehicle data, and vehicle data is stored in the data storage area 25.

The controllers 31 to 36 are designed to access the common data memory 23.

The vehicle data includes first vehicle data, and several of the controllers 31 to 36 can access the same first vehicle data.

• - Massewert,
• - Schwerpunktslage,
• - Federwege,
• - Übersetzungen,
• - Reifendaten,
• - Federraten, und
• - Dämpferkräfte.

The vehicle data preferably includes at least two vehicle data from a vehicle data group consisting of:

• - mass value,
• - center of gravity,
• - suspension travel,
• - translations,
• - tire data,
• - spring rates, and
• - Damping forces.

The quasi-central storage of the vehicle data in the shared data memory 23 reduces the risk of different controllers 31 to 36 accessing different data by mistake. If the vehicle data includes, for example, the mass of the vehicle 10, the interaction of the controllers 31 to 36 could be disrupted if individual controllers 31 to 36 work with different values for this mass. When accessing the shared data memory 23, however, it can be ensured that the controllers 31 to 36 each work with the same value.

The vehicle data stored in the data memory 23 are preferably generated at least partially by a simulation environment. Simulations are used in the development of vehicles, and vehicle data such as parameters for maximum possible damper forces can be optimized using a corresponding simulation environment and stored in the data memory 23.

The chassis control system 20 has an input interface 24 for entering vehicle data. In the exemplary embodiment, the input interface 24 is provided on the data memory 23. The chassis control system 20 is set up to make the changed vehicle data simultaneously accessible to the controllers 31 to 36 after a change in the vehicle data. This is advantageous because it means that the controllers 31 to 36 have the same vehicle data available for a further query after the vehicle data has been changed.

The control unit 30 is configured to execute the plurality of controllers 31 to 36.

The control unit 30 has a microprocessor 39, which microprocessor 39 is designed to execute the plurality of controllers 31 to 36. The use of a microprocessor 39 for the execution of the controllers 31 to 36 is advantageous because it facilitates, in particular, synchronization of the vehicle data made available via the data memory 23. The microprocessor 39 can have several processor cores.

In the embodiment, the controller 31 is provided for the drive system and is preferably an all-wheel drive control and/or a differential lock control.

The controller 32 is provided as an example for the steering system and is designed, for example, as a rear axle steering control and/or as a front axle steering control.

In the embodiment, the controller 33 is provided for the vertical dynamics system and comprises, for example, a damping control and/or a level control.

In the embodiment, the controller 34 is provided for the braking system and comprises, for example, an anti-lock braking system control and/or a stabilization control.

In the exemplary embodiment, the controller 35 is provided for driving dynamics and comprises, for example, a yaw rate control and/or a lateral dynamics control.

In the exemplary embodiment, the data memory 23 has several different data sets 51, 52, 53, 54, 55, and the data sets 51 to 55 each contain specific vehicle data for a given vehicle type. In addition, vehicle information 61 is stored in the common data memory 23, and the chassis control system 20 is set up to provide the controllers 31 to 36 with a data set 51 to 55 that matches the specific vehicle type depending on the vehicle information 61.

The chassis control system 20 preferably has a device 60 which is designed to select the appropriate data set 51 to 55 depending on the vehicle information 61 and to make it available to the control unit 30. The device 60 is preferably also formed by the microprocessor 39.

Naturally, various variations and modifications are possible within the scope of the present invention.

The exact number of controllers 31 to 36 and data sets 51 to 55 can be selected depending on the specific vehicle 10 and its variants.

QUOTES INCLUDED IN THE DESCRIPTION

This list of documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions.

Cited patent literature

• WO 91 / 17 069 A1 [0002]
• DE 10 2009 048 821 A1 [0003]
• DE 197 20 618 A1 [0004]
• DE 10 2013 016 974 A1 [0005]

Claims (14)

Chassis control system (20) which has a plurality of controllers (31-36) and a common data memory (23), which controllers (31-36) comprise at least two controller types from a controller type group consisting of - controller (31) for the drive system, - controller (32) for the steering system, - controller (33) for the vertical dynamics system, - controller (34) for the braking system, and - controller (35) for the driving dynamics, which common data memory (23) comprises a data storage area (25) for storing vehicle data, in which data storage area (25) vehicle data is stored, which controllers (31-36) are set up to access the common data memory (23). Chassis control system (20) according to claim 1 in which the vehicle data comprise first vehicle data, and in which at least two of the controllers (31-36) at least partially access the same first vehicle data. Chassis control system (20) according to claim 1 or 2 in which a plurality of different data sets (51-55) are stored in the common data memory (23), in which data sets (51-55) specific vehicle data for a given vehicle type are provided, in which vehicle information (61) is stored in the common data memory (23), and in which the chassis control system (20) is set up to provide the controllers (31-36) with a data set (51-55) suitable for the specific vehicle type depending on the vehicle information (61). Chassis control system (20) according to one of the preceding claims, in which the vehicle data comprise at least two second vehicle data from a vehicle data group consisting of - mass value, - center of gravity position, - spring travel, - gear ratios, - tire data, - spring rates, and - damper forces. Chassis control system (20) according to one of the preceding claims, in which the vehicle data are at least partially generated by a simulation environment. Chassis control system (20) according to one of the preceding claims, which has an input interface (24) for entering vehicle data. Chassis control system (20) according to claim 6 , which is designed to make the changed vehicle data simultaneously accessible to the controllers (31-36) after a change in the vehicle data. Chassis control system (20) according to one of the preceding claims, which has a control unit (30), which control unit (30) is configured to execute the plurality of controllers (31-36). Chassis control system (20) according to claim 7 , in which the control device (30) has a microprocessor (39), which microprocessor (39) is adapted to execute the plurality of controllers (31-36). Chassis control system (20) according to one of the preceding claims, in which the controller type controller (31) for the drive system comprises at least a first controller (31) from the group - all-wheel control, - transverse lock control. Chassis control system (20) according to one of the preceding claims, in which the controller type controller (32) for the steering system comprises at least a second controller (32) from the group - rear axle steering control, and - front axle steering control. Chassis control system (20) according to one of the preceding claims, in which the controller type controller (33) for the vertical dynamics system comprises at least a third controller (33) from the group - damping control, - level control. Chassis control system (20) according to one of the preceding claims, in which the controller type controller (34) for the braking system comprises at least a fourth controller (34) from the group - anti-lock braking system control, and - stabilization control. Chassis control system (20) according to one of the preceding claims, in which the controller type controller (35) for the driving dynamics comprises at least a fifth controller (35) from the group, - yaw rate control, and - lateral dynamics control.

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