CN108995537A - A kind of full-vehicle control device driven for Vehicular intelligent - Google Patents
A kind of full-vehicle control device driven for Vehicular intelligent Download PDFInfo
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- CN108995537A CN108995537A CN201810564021.4A CN201810564021A CN108995537A CN 108995537 A CN108995537 A CN 108995537A CN 201810564021 A CN201810564021 A CN 201810564021A CN 108995537 A CN108995537 A CN 108995537A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/12—Recording operating variables ; Monitoring of operating variables
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L1/00—Supplying electric power to auxiliary equipment of vehicles
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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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- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The present invention provides a kind of full-vehicle control devices driven for Vehicular intelligent, including electrical source of power mould group, further include power management modules and intelligent control mould group, and the power supply that power management modules are used to export electrical source of power mould group carries out circuit protection and safety monitoring；Intelligent control mould group includes the first secondary control module, main control module and the second secondary control module；First secondary control module includes the vehicle information collection unit for obtaining the brake force relevant information of vehicle；Second secondary control module includes the environment information acquisition unit for obtaining the context dependant information of vehicle；The context dependant information of vehicle and brake force relevant information are carried out integrated treatment by main control module, generate the control relevant information for controlling vehicle.The present invention keeps control strategy more effective by the fusion treatment of much information, and harness and module are reduced, and structure optimization, hardware cost reduce.
Description
Technical field
The present invention relates to technical field of vehicle control more particularly to a kind of full-vehicle control dresses driven for Vehicular intelligent
It sets.
Background technique
Existing full-vehicle control device by moment of torsion control and energy regenerating strategy, realize the coordination of automotive power with
Control；It is other electronics devices for controlling the starting of motor in electric automobile, operation, advance and retreat, speed, stopping and electric car
The core controller unit of part is the brain of electric car.In existing entire car controller scheme, without the integration environment perception and
Intelligent driving function including V2X technology.
Existing intelligent driving refers to using being installed on miscellaneous sensor on vehicle, in first time collecting cart and
Environmental data outside vehicle, carry out information processing, so as to allow driver the most fast time discover may generation danger or
Person in emergency circumstances can use vehicle actuating station and control avoiding risk to vehicle.
But multiple environmental perception modules of current intelligent driving system be dispersion it is self-existent, while relative to
The entire car controller of electric car is also independent.For example, vehicle-mounted camera is independent sensing controller, millimetre-wave radar
It is independent controller, etc., causes a large amount of controller and ambient enviroment perception redundancy, Intellisense are with high costs, and
And it is unfavorable for the real-time, interactive of key message；Better full-vehicle control and traffic safety miscellaneous function are not reached.
Summary of the invention
In order to solve the problems in the existing technology, the present invention provides a kind of vehicle controls driven for Vehicular intelligent
Device processed: further including power management modules and intelligent control mould group, the electrical source of power mould group, electricity including electrical source of power mould group
Source control mould group and intelligent control mould group are sequentially connected；The power management modules are used for the power supply exported to electrical source of power mould group
Carry out circuit protection, level conversion and power supply monitoring；
The intelligent control mould group includes the first secondary control module, the second secondary control module and main control module, institute
It states the first secondary control module, main control module and the second secondary control module to be connected, and assembles on same circuit board,
It is merged on circuit integral；
First secondary control module includes vehicle information collection unit, and second secondary control module includes environment
Information acquisition unit；
The vehicle information collection unit is used to obtain the brake force relevant information of vehicle, and is transferred to the master control molding
Block；The brake force relevant information includes the first information of vehicles and the second information of vehicles；
The environment information acquisition unit is used to obtain the context dependant information of vehicle, and is transferred to the master control molding
Block；The main control module is used to the context dependant information of the vehicle and brake force relevant information carrying out integrated treatment, raw
At the control relevant information for controlling vehicle.
Further, the vehicle information collection unit include the first information of vehicles obtain subelement, signal conditioning unit,
Second information of vehicles obtains subelement, driving unit；First information of vehicles obtains subelement and the signal conditioning unit
It is connected, the driving unit obtains subelement with second information of vehicles and is connected；
First information of vehicles obtains the first information of vehicles that subelement is used to obtain vehicle, the signal conditioning unit
For carrying out signal processing to first information of vehicles；The driving unit for export the second information of vehicles, described second
Information of vehicles obtains subelement for obtaining second information of vehicles.
Further, first secondary control module further includes communication unit；The communication unit includes wireless communication
Route, CAN bus, LIN bus, FlexRay communication line, ethernet communication route；The environment information acquisition unit includes
First environment acquisition of information subelement and second environment obtain subelement；
The first environment acquisition of information subelement includes V2X module；Route obtains the V2X module by wireless communication
First environment information, and the first environment information is sent to the main control module；The second environment obtains subelement
Including T-box module；The T-box module obtains second environment information by CAN bus, and the second environment information is sent out
Give the main control module.
Further, the environment information acquisition unit further includes third environment information acquisition subelement,
The third environment information acquisition subelement includes position detector and image acquisition device；The position detector and
Image acquisition device is connected with the main control module；The position detector is used to obtain positioned at the position of vehicle-surroundings barrier
Confidence breath；Described image collector is used to obtain the image information of vehicle-surroundings environment.
Further, the main control module includes the first braking information processor and the second braking information processor, institute
The first braking information processor is stated to be connected with vehicle information collection unit and the second braking information processor；
The first braking information processor is for pre-process to the brake force relevant information of the vehicle got
To initial brake information；The second braking information processing to the initial brake information for being reprocessed to obtain target system
Dynamic information, and the context dependant information and target braking information are subjected to integrated treatment, obtain control relevant information.
The main control module includes first environment message handler and second environment message handler,
The first environment message handler and environment information acquisition unit and second environment message handler；Described first
Environmental information processor is for pre-processing the context dependant information of the vehicle got to obtain initial environment information；It is described
Second environment message handler is used to be reprocessed to obtain to the initial environment information target environment information, and by the system
Dynamic relevant information and target environment information carry out integrated treatment, obtain control relevant information.
Further, the position detector include in away from millimetre-wave radar and long away from millimetre-wave radar；Described image is adopted
Storage includes the high-definition camera with MIPI interface；The main control module includes that digital ramp generator HSPDM, radar add
Fast device SPU and visual information processor ISP.
Further, first information of vehicles includes accelerator pedal information, vehicle braking information, gear information, temperature
Sensor information, high-voltage interlocking information；Second information of vehicles include braking system information, steering system information, high pressure power information,
Water pump information, fan information；
The context dependant information includes road obstacle information, road surface running vehicle status information；The control relevant information
Information is kept including warning message, vehicle braking information, lane.
Further, the driving unit includes pwm pulse driving circuit, flash driving circuit and low side driving circuit；
The signal conditioning unit includes digital signal processing circuit and analog signal processing circuit.
Further, the power management modules include power protection unit and level conversion monitoring unit；
The power protection unit includes the filter Filter, transient diode TVS and field-effect tube being sequentially connected
MOS；The level conversion monitoring unit includes tracker Tracker, low pressure difference linear voltage regulator LDO, electric pressure converter
Boost/Buck。
Provided by the present invention for the full-vehicle control device that Vehicular intelligent drives, specifically, intelligent control mould of the invention
Group includes the first secondary control module, main control module and the second secondary control module；First secondary control module, master control molding
Block and the second secondary control module belong to a part of intelligent control mould group, and can merge on circuit integral.In detail
Ground, first secondary control module includes vehicle information collection unit, and the vehicle information collection unit is for obtaining vehicle
Brake force relevant information, and be transferred to the main control module；Second secondary control module includes environment information acquisition
Unit, the environment information acquisition unit are used to obtain the context dependant information of vehicle, and are transferred to the main control module；Institute
Main control module is stated for the context dependant information of the vehicle and brake force relevant information to be carried out integrated treatment, generation is used for
Control the control relevant information of vehicle.Intelligent control mould group therein realizes the fusion of information；Internal information is allowed to handle and transmit
It is more efficient.
Provided by the present invention for the full-vehicle control device that Vehicular intelligent drives, main control module therein be can be realized pair
The processing of context dependant information and brake force relevant information；It can also be the external processor and right to context dependant information processing
The processor that brake force relevant information is handled.
In short, fusion treatment of the present invention by much information, keeps control strategy more effectively more acurrate；Harness and module subtract
It is few, so that structure more optimizes and compact, hardware cost reduces.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is a kind of full-vehicle control device primary structure frame driven for Vehicular intelligent provided in an embodiment of the present invention
Figure；
Fig. 2 is that a kind of information of full-vehicle control device driven for Vehicular intelligent provided in an embodiment of the present invention transmits frame
Frame figure；
Fig. 3 is a kind of full-vehicle control device specific structure frame driven for Vehicular intelligent provided in an embodiment of the present invention
Figure；
Fig. 4 is a kind of full-vehicle control device hardware structure diagram driven for Vehicular intelligent provided in an embodiment of the present invention；
Fig. 5 is another full-vehicle control device hardware configuration driven for Vehicular intelligent provided in an embodiment of the present invention
Figure.
In figure: electrical source of power mould group 100, power management modules 200, power protection unit 210, level conversion monitoring unit
220, intelligent control mould group 300, the first secondary control module 310, vehicle information collection unit 311, communication unit 312, second
Secondary control module 320, environment information acquisition unit 321, main control module 330.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
Embodiment:
A kind of full-vehicle control device driven for Vehicular intelligent is present embodiments provided, intelligent driving function has been merged
Full-vehicle control device.It further include power management modules 200 and intelligent control mould as shown in Figure 1, including electrical source of power mould group 100
Group 300, the electrical source of power mould group 100, power management modules 200 and intelligent control mould group 300 are sequentially connected.
Giving explanation to the power management modules 200 is:
The power supply that the power management modules 200 are used to export electrical source of power mould group 100 carries out circuit protection, level turns
It changes and power supply monitoring.Further, as shown in figure 3, the power management modules 200 include power protection unit 210 and level
Convert monitoring unit 220；The power protection unit 210 includes filtering and reverse-connection preventing circuit, specifically as shown in figure 4, including
Filter Filter, transient diode TVS and the field-effect tube MOS being sequentially connected；The level conversion monitoring unit 220 is used for
Fault monitoring, safe condition control, house dog, power supply sleep and arousal function etc. are carried out, can specifically include tracker
Tracker, low pressure difference linear voltage regulator LDO, electric pressure converter Boost/Buck.
Need to give explanation, the power protection unit 210 in the power management modules 200 can also include other
For carrying out the device of circuit protection, the level conversion monitoring unit 220 in the power management modules 200 can also include it
He is used to carry out the device of level conversion and safety monitoring.Power management modules 200 with diagnostic function, it is possible to provide Duo Zhong electricity
Press gear, multiple-way supply to the first secondary control module 310 and the second secondary control module in the intelligent control mould group 300
320, such as 12V or 24V in Fig. 4 and 1.3V, 3.3V, 3V in Fig. 4 etc..
Giving explanation to the intelligent control mould group 300 is:
As Figure 2-3, the intelligent control mould group 300 includes the first secondary control module 310, main control module 330
With the second secondary control module 320, first secondary control module 310, main control module 330 and the second secondary control module
320 are sequentially connected, and merge on circuit integral.First secondary control module 310 includes vehicle information collection unit
311, second secondary control module 320 includes environment information acquisition unit 321；
Specifically, giving explanation to part related with brake force relevant information in intelligent control mould group is:
The vehicle information collection unit 311 is used to obtain the brake force relevant information of vehicle, and is transferred to the master control
Molding block 330；The brake force relevant information includes the first information of vehicles and the second information of vehicles.
In detail, the vehicle information collection unit 311 includes that the first information of vehicles obtains subelement, signal condition list
Member, the second information of vehicles obtain subelement, driving unit；First information of vehicles obtains subelement and the signal condition list
Member is connected, and the acquisition of information is carried out by rigid line；The driving unit obtains subelement with second information of vehicles and is connected, and leads to
The information for directly driving the second information of vehicles acquiring unit of output and obtaining of over-drive unit.
Specifically, first information of vehicles obtains the first information of vehicles that subelement is used to obtain vehicle, the signal
Conditioning unit is used to carry out signal processing to first information of vehicles；The driving unit is for directly driving and feeding back second
Information of vehicles, second information of vehicles obtain subelement for obtaining second information of vehicles.
Wherein, the signal conditioning unit includes digital signal processing circuit and analog signal processing circuit；To the first vehicle
The information that information acquisition unit obtains carries out signal processing, signal form needed for making it meet the main control module 330.
The driving unit be used for main control module feed back the second information of vehicles, the driving unit include pwm pulse driving circuit,
Flash driving circuit and low side driving circuit.
As shown in figure 4, first information of vehicles includes accelerator pedal information, vehicle braking information, gear information, temperature
Sensor information, high-voltage interlocking information etc. further include other relevant control information；Second information of vehicles includes braking system
Information, steering system information, high pressure power information, water pump information, fan information etc. further include other relevant control information.It is corresponding
Give explanation to driving circuit: flash driving circuit and low side driving circuit are supported but are not limited to the control of brake pump, turn
It is controlled to the control of pump, water pump, the control of high pressure power-on and power-off；Pwm pulse driving circuit can be the control of fan and motor.And
And the driving unit needs to do diagnostic circuit；The main control module acquisition driving unit status feedback information reaches closed loop
Control.
Giving explanation to part related with context dependant information in intelligent control mould group is:
The environment information acquisition unit 321 is used to obtain the context dependant information of vehicle, and is transferred to the main control
Module 330；The main control module 330 is for integrating the context dependant information of the vehicle and brake force relevant information
Processing, generates the control relevant information for controlling vehicle.The context dependant information includes road obstacle information, road surface row
Car state information；The control relevant information includes warning message, vehicle braking information, lane holding information.
Specifically, first secondary control module 310 further includes communication unit 312；Wherein, the communication unit 312
Can for one or more, each communication unit 312 include CAN bus, wireless communication line, LIN bus,
FlexRay communication line, ethernet communication route obtain corresponding information by different acquisition of information communication modes；It is described
Environment information acquisition unit 321 includes that first environment acquisition of information subelement and second environment obtain subelement；
The first environment acquisition of information subelement includes V2X module；The V2X module route or bee by wireless communication
Nest communication line obtains first environment information, and the first environment information is sent to the main control module 330；Described
It includes T-box module that two environment, which obtain subelement,；The T-box module obtains second environment information by radio communication line,
And the second environment information is sent to the main control module 330 by CAN bus, by main control module 330 to all
External environment perception and information of vehicles be uniformly processed, make control strategy.
Wherein, V2X module it is corresponding be car networking core technology, can be run under the conditions of the different communication technologys,
Such as DSRC, 4G-LTE, LTE-V2X and 5G.Utilize car networking V2X technology, the unknown parameter of the available ambient enviroment of vehicle
And the operating status of neighbouring vehicle, then vehicle-mounted end active safety algorithm will handle acquired information, and according to priority
Classify to information.V2X be technically a kind of cooperating type control model, be more active communication type security system.This
Embodiment by fusion V2X function, can allow integrated vehicle control tactics more directly effectively, improve vehicle safety.
The environment information acquisition unit 321 further includes third environment information acquisition subelement,
The third environment information acquisition subelement includes position detector and image acquisition device；The position detector and
Image acquisition device is connected with the main control module 330；The position detector is located at vehicle-surroundings barrier for obtaining
Location information；Described image collector is used to obtain the image information of vehicle-surroundings environment.
The position detector include in away from millimetre-wave radar and long away from millimetre-wave radar；Described image collector includes tool
There is the high-definition camera of MIPI interface；Such as vehicle-mounted preposition millimetre-wave radar shown in Fig. 4；Described image collector is for obtaining
The image information of vehicle-surroundings environment, such as cam lens shown in Fig. 4 and video imager.As shown in figure 4, the master control
Molding block 330 includes digital ramp generator HSPDM, radar accelerator SPU and visual information processor ISP.
Need to give explanation, the main control module 330 in the present embodiment, direct processing environment information acquisition unit
The signal of 321 position detector detection；Specifically, it can support all the way or multichannel Fourier transform；Meanwhile there is number
Word ramp generator HSPDM, and require the radar accelerator SPU of 300MHz or more, digital radar interface be 400Mbit/s and
More than, it and include the direct storage unit of corresponding radar signal, to be supported from hardware and processor all the way or multichannel
Radar signal is directly handled and is stored.For example, the preposition 77GHz-79GHz millimeter wave thunder in close relations with vehicle safe driving
It reaches.
Also, the main control module 330 in the present embodiment, the Image Acquisition of direct processing environment information acquisition unit 321
The signal of device acquisition；Specifically, described image collector is made of cam lens and video imaging, and video signal passes through
High-definition camera MIPI interface is delivered directly to the main control module 330 with image signal process function (ISP), carries out subsequent
Image procossing, to carry out vision imaging processing and image algorithm processing.Visual image signal higher for security level,
Such as front camera, it higher, control unit can directly be handled using this real-time.
Needing to give explanation, the intelligent control mould group 300 further includes the first memory module and the second memory module,
The information that first memory module is used to store in the first secondary control module 310 is transmitted and the data of processing, and described second
Memory module is used to store the data of information transmission and processing in the second secondary control module 320.
In the present embodiment, the main control module 330 is responsible for acquisition and processing, the logical operation and control strategy of data
Realization etc., select correspondence chip with the following functions:
1 supports multiple operating system, such as Unix, Linux；
2 can be the multi core chip with lock-step core, and meet functional safety；
3 need higher dominant frequency and multilayered memory space, to handle a large amount of safety traffic data in real time and can be from
Line stores a large amount of environmental informations and car networking data；
4 can to include image signal process function (ISP) on hardware, to support all the way or multiple paths of video images signal
Pretreatment；It can include Fourier transform function with hardware, support all the way or the pretreatment of multipath radar signal；
Multiple communication modes are supported on 5 hardware, for example, Ethernet, FlexRay, CANFD etc., and integrated car networking V2X is logical
Communication function.
Therefore, main control module 330 requires have corresponding operational capability, arithmetic speed, memory space, function on hardware
The function to cooperate software realization intelligent driving entire car controller can be waited safely, it may be assumed that in addition in the high pressure comprising entire car controller
Outside the algorithm and control strategy of lower electric control, heat management, energy management, moment of torsion control etc.；Vehicle safe driving can also be handled
The recognizer of closely related external environment, perception fusion, the optimization of control strategy, reach the function of Vehicular intelligent driving；
It in emergency circumstances can use vehicle actuating station and vehicle control avoiding risk；It may be implemented but touched in front of being not limited to
Hit early warning, lane departure warning, emergency brake of vehicle control, lane holding control, adaptive learning algorithms, the column based on V2X
The functions such as team's traveling, automatic planning travel route.
Based on above-mentioned content, that is to say, that in main control module 330, be able to carry out bottom recognizer and logic
Algorithm carries out the technical processing such as quiet, dynamic object identification, detecting and tracking, and finally makes vehicle in software application layer
Road deviate early warning, emergency brake of vehicle control, lane keep control, adaptive learning algorithms, even Convoy driving, pass through network
Information copes with traffic congestion and plans the vehicle control function of the intelligent drivings entire car controllers such as travel route.
Embodiment:
A kind of full-vehicle control device driven for Vehicular intelligent is present embodiments provided, intelligent driving function has been merged
Full-vehicle control device.It further include power management modules 200 and intelligent control mould as shown in Figure 1, including electrical source of power mould group 100
Group 300, the electrical source of power mould group 100, power management modules 200 and intelligent control mould group 300 are sequentially connected.
Giving explanation to the power management modules 200 is:
The power supply that the power management modules 200 are used to export electrical source of power mould group 100 carries out circuit protection, level turns
It changes and power supply monitoring.Further, as shown in figure 3, the power management modules 200 include power protection unit 210 and level
Convert monitoring unit 220；The power protection unit 210 includes filtering and reverse-connection preventing circuit, specifically as shown in figure 4, including
Filter Filter, transient diode TVS and the field-effect tube MOS being sequentially connected；The level conversion monitoring unit 220 is used for
Fault monitoring, safe condition control, house dog, power supply sleep and arousal function etc. are carried out, can specifically include tracker
Tracker, low pressure difference linear voltage regulator LDO, electric pressure converter Boost/Buck.
Need to give explanation, the power protection unit 210 in the power management modules 200 can also include other
For carrying out the device of circuit protection, the level conversion monitoring unit 220 in the power management modules 200 can also include it
He is used to carry out the device of level conversion and safety monitoring.Power management modules 200 with diagnostic function, it is possible to provide Duo Zhong electricity
Press gear, multiple-way supply to the first secondary control module 310 and the second secondary control module in the intelligent control mould group 300
320, such as 12V or 24V in Fig. 5 and 1.3V, 3.3V, 3V in Fig. 5 etc..
Giving explanation to the intelligent control mould group 300 is:
As Figure 2-3, the intelligent control mould group 300 includes the first secondary control module 310 and the second auxiliary control
Module 320, first secondary control module 310 are connected with the second secondary control module 320, and are fused on circuit whole
Body.First secondary control module 310 includes vehicle information collection unit 311, and second secondary control module 320 includes
Environment information acquisition unit 321；
Specifically, giving explanation to part related with brake force relevant information in intelligent control mould group is:
The vehicle information collection unit 311 is used to obtain the brake force relevant information of vehicle, and is transferred to the master control
Molding block 330；The brake force relevant information includes the first information of vehicles and the second information of vehicles.
In detail, the vehicle information collection unit 311 includes that the first information of vehicles obtains subelement, signal condition list
Member, the second information of vehicles obtain subelement, driving unit；First information of vehicles obtains subelement and the signal condition list
Member is connected, and the acquisition of information is carried out by rigid line；The driving unit obtains subelement with second information of vehicles and is connected, and leads to
The information for directly driving the second information of vehicles acquiring unit of output and obtaining of over-drive unit.
First information of vehicles obtains the first information of vehicles that subelement is used to obtain vehicle, the signal conditioning unit
For carrying out signal processing to first information of vehicles；The driving unit for export the second information of vehicles, described second
Information of vehicles obtains subelement for obtaining second information of vehicles.
Wherein, the signal conditioning unit includes digital signal processing circuit and analog signal processing circuit；To the first vehicle
The information that information acquisition unit obtains carries out signal processing, signal form needed for making it meet the main control module 330.
For the driving unit for exporting the second information of vehicles, the driving unit includes pwm pulse driving circuit, flash driving circuit
With low side driving circuit.
First information of vehicles includes accelerator pedal information, vehicle braking information, gear information, temperature sensor letter
Breath, high-voltage interlocking information etc. can also include other relevant control information.Second information of vehicles includes braking system control
Information, steering system control information, high-voltage electricity control information, water pump control information, fan control information etc., in fact and are exactly point
Not corresponding voltage, electric current or impulse level；It and can also include other relevant control information, for example power distributes
Information etc..Correspond to driving circuit and give explanation: flash driving circuit and low side driving circuit are supported but are not limited to brake
The control of pump, the control of steering pump, water pump control, high pressure power-on and power-off control；Pwm pulse driving circuit can be fan and electricity
The control of machine.Also, the driving unit needs to do diagnostic circuit, main control module acquire driving unit status feedback information,
Reach closed-loop control.
Giving explanation to part related with context dependant information in intelligent control mould group is:
The environment information acquisition unit 321 is used to obtain the context dependant information of vehicle, and is transferred to the main control
Module 330；The main control module 330 is for integrating the context dependant information of the vehicle and brake force relevant information
Processing, generates the control relevant information for controlling vehicle.
Specifically, first secondary control module 310 further includes communication unit 312；Wherein, the communication unit 312
It can be one or more, it can also include LIN that each communication unit 312, which includes CAN bus, wireless communication line,
Bus, FlexRay communication line etc.；The environment information acquisition unit 321 includes first environment acquisition of information subelement and the
Two environment obtain subelement；
The first environment acquisition of information subelement includes V2X module；The V2X module by wireless communication technique or
Cellular based communication technology obtains first environment information, and the first environment information is sent to the main control module 330；It is described
It includes T-box module that second environment, which obtains subelement,；The T-box module obtains second environment letter by wireless communication mode
Breath, and the second environment information is passed through into interior communication modes (including CAN bus) and is sent to the main control module 330,
All external environment perception and information of vehicles are uniformly processed by main control module 330, make control strategy.
Wherein, V2X module it is corresponding be car networking core technology, can be run under the conditions of the different communication technologys,
Such as DSRC, 4G-LTE, LTE-V2X and 5G.Utilize car networking V2X technology, the unknown parameter of the available ambient enviroment of vehicle
And the operating status of neighbouring vehicle, then vehicle-mounted end active safety algorithm will handle acquired information, and according to priority
Classify to information.V2X be technically a kind of cooperating type control model, be more active communication type security system.This
Embodiment by fusion V2X function, can allow integrated vehicle control tactics more directly effectively, improve vehicle safety.
The environment information acquisition unit 321 further includes third environment information acquisition subelement,
The third environment information acquisition subelement includes position detector and image acquisition device；The position detector and
Image acquisition device is connected with the main control module 330；The position detector is located at vehicle-surroundings barrier for obtaining
Location information；Described image collector is used to obtain the image information of vehicle-surroundings environment.
In detail, the context dependant information includes road obstacle information, road surface running vehicle status information, first ring
Border information includes the external informations such as the signal lamp on traffic road, and the second environment information includes the backstage or control room received
The information sent to vehicle, the third environmental information includes obstacle information and environment image information of vehicle-surroundings etc.；Institute
Stating control relevant information includes warning message, vehicle braking information, lane holding information.
Further, as shown in figure 5, the main control module 330 includes the first braking information processor and the second braking
Message handler, the first braking information processor and vehicle information collection unit 311 and the second braking information processor are equal
It is connected；
The first braking information processor is for pre-process to the brake force relevant information of the vehicle got
To initial brake information；The second braking information processing to the initial brake information for being reprocessed to obtain target system
Dynamic information, and the context dependant information and target braking information are subjected to integrated treatment, obtain control relevant information.
That is, the main control module 330 is external for carrying out brake force relevant information processing in the present embodiment
Braking information processor；Wherein, which may include but be not limited to Fourier transform and signal processing function, by locating in advance
Brake force relevant information after reason is transferred to the first controller, is braked the context dependant information and target by the first controller
Information carries out integrated treatment, that is, merges to radar perception information, obtains control relevant information, carries out intelligence to vehicle
Control.
Further, as shown in figure 5, the main control module 330 includes first environment message handler and second environment
Message handler, the first environment message handler and environment information acquisition unit 321 and second environment message handler are equal
It is connected；
The first environment message handler to the context dependant information of the vehicle got for being pre-processed to obtain
Initial environment information；The second environment message handler to the initial environment information for being reprocessed to obtain target ring
Border information, and the braking relevant information and target environment information are subjected to integrated treatment, obtain control relevant information.
That is, the main control module 330 is external for carrying out the ring of context dependant information processing in the present embodiment
Border message handler, the mainly processing to vehicle-surroundings ambient image, by increase external image processing function device with
Mitigate burden of the main control module 330 in terms of image operation processing, also, is believed the braking correlation by second controller
Breath and the row integrated treatment of target environment information, that is, radar perception information is merged；Control relevant information is obtained, to vehicle
Carry out intelligent control.
It should be noted that in terms of the processing of context dependant information and brake force relevant information, it can be simultaneously using external
The mode of corresponding informance processor, to mitigate the processing load of main control module 330；Or it is required according to the size of devices of device
One of them is set with external corresponding informance processor；Alternatively, can satisfy required requirement in main control module
In the case of, external corresponding informance processor can also be not provided with.
Needing to give explanation, the intelligent control mould group 300 further includes the first memory module and the second memory module,
The information that first memory module is used to store in the first secondary control module 310 is transmitted and the data of processing, and described second
Memory module is used to store the data of information transmission and processing in the second secondary control module 320.
In the present embodiment, the main control module 330 is responsible for acquisition and processing, the logical operation and control strategy of data
Realization etc., select correspondence chip with the following functions:
1 supports multiple operating system, such as Unix, Linux；
2 can be the multi core chip with lock-step core, and meet functional safety；
3 need higher dominant frequency and multilayered memory space, to handle a large amount of safety traffic data in real time and can be from
Line stores a large amount of environmental informations and car networking data；
4 can to include image signal process function (ISP) on hardware, to support all the way or multiple paths of video images signal
Pretreatment；It can include Fourier transform function with hardware, support all the way or the pretreatment of multipath radar signal；
Multiple communication modes are supported on 5 hardware, for example, Ethernet, FlexRay, CANFD etc., and integrated car networking V2X is logical
Communication function.
Therefore, main control module 330 requires have corresponding operational capability, arithmetic speed, memory space, function on hardware
The function to cooperate software realization intelligent driving entire car controller can be waited safely, it may be assumed that in addition in the high pressure comprising entire car controller
Outside the algorithm and control strategy of lower electric control, heat management, energy management, moment of torsion control etc.；Vehicle safe driving can also be handled
The recognizer of closely related external environment, perception fusion, the optimization of control strategy, reach the function of Vehicular intelligent driving；
It in emergency circumstances can use vehicle actuating station and vehicle control avoiding risk；It may be implemented but touched in front of being not limited to
Hit early warning, lane departure warning, emergency brake of vehicle control, lane holding control, adaptive learning algorithms, the column based on V2X
The functions such as team's traveling, automatic planning travel route.
Based on above-mentioned content, that is to say, that in main control module, be able to carry out bottom recognizer and logic is calculated
Method carries out the technical processing such as quiet, dynamic object identification, detecting and tracking, and finally makes lane in software application layer
Deviate early warning, emergency brake of vehicle control, lane keep control, adaptive learning algorithms, even Convoy driving, pass through network letter
Breath reply traffic congestion and the vehicle control function of planning the intelligent drivings entire car controllers such as travel route.
Provided by the present invention for the full-vehicle control device that Vehicular intelligent drives, specifically, intelligent control mould of the invention
Group includes the first secondary control module, main control module, the second secondary control module, the first secondary control module, master control molding
Block and the second secondary control module belong to a part of intelligent control mould group, and can merge on circuit integral.In detail
Ground, first secondary control module includes vehicle information collection unit, and the vehicle information collection unit is for obtaining vehicle
Brake force relevant information；Second secondary control module includes environment information acquisition unit and main control module；The ring
Border information acquisition unit is used to obtain the context dependant information of vehicle, and is transferred to the main control module；The master control molding
Block is used to the context dependant information of the vehicle and brake force relevant information carrying out integrated treatment, generates for controlling vehicle
Control relevant information.Intelligent control mould group therein realizes the fusion of information；Internal information is allowed to handle and transmit more efficient.Phase
Compared with the method for the multiple individual control module scattered distributions of intelligent driving in present scheme, in hardware design and master chip type selecting
Upper carry out scheme optimization；Several operation systems can be supported after module fusion, are transplanted and are merged convenient for function.This hair simultaneously
It is bright that vehicle net V2X (Vehicel to Everything) technology is integrated in acquisition of information, allow the brain information channel of vehicle
It is more unobstructed.
Provided by the present invention for the full-vehicle control device that Vehicular intelligent drives, main control module therein has higher master
Frequency and multilayered memory space to handle a large amount of safety traffic data or a large amount of environmental informations of processed offline, communication and net in real time
Network information, while also supporting the algorithm process and information storage of self study.Main control module therein can be realized to environment phase
Close the processing of information and brake force relevant information；It can also be the external processor to context dependant information processing and to brake force
The processor that relevant information is handled.
In short, the present invention improves the intelligence and safety of full-vehicle control while saving module hardware cost, control
Strategy is more directly effective, to realize intelligent driving whole automobile control function.By the fusion treatment of much information, make control strategy
More effectively, harness and module are reduced, and structure optimization, hardware cost reduce.
The present invention integrates modern communication and network technology, makes entire car controller by merging with intelligent driving function
It is dynamic meeting vehicle by upper and lower electric control, moment of torsion control and energy regenerating strategy under the auxiliary of more vehicle environmental information
While power and comfort, preferably control vehicle safety traffic.What this information of vehicles and external environmental information merged
The design scheme of entire car controller meets the driving safety requirement of automobile intelligent driving, reduces the door of full-vehicle control intelligent driving
Sill are conducive to intelligent driving, even automatic Pilot technology being done step-by-step and popularizes.
Each functional module in each embodiment of the present invention can be the presence of single physical circuit module, can also be two
Or more than two modules are integrated in the presence in a module.Some or all of moulds can be selected according to the actual needs
Block achieves the purpose of the solution of this embodiment.
In the above embodiment of the invention, it all emphasizes particularly on different fields to the description of each embodiment, does not have in some embodiment
The part of detailed description, reference can be made to the related descriptions of other embodiments.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of full-vehicle control device driven for Vehicular intelligent, including electrical source of power mould group (100) and power management modules
(200), which is characterized in that it further include intelligent control mould group (300), the electrical source of power mould group (100), power management modules
(200) it is sequentially connected with intelligent control mould group (300)；The power management modules (200) are used for electrical source of power mould group (100)
The power supply of output carries out circuit protection, level conversion and power supply monitoring；
The intelligent control mould group (300) includes the first secondary control module (310), the second secondary control module (320) and master
Control module (330), first secondary control module (310), main control module and the second secondary control module (320) are successively
It is connected, and assembles on same circuit board；
First secondary control module (310) includes vehicle information collection unit (311), second secondary control module
It (320) include environment information acquisition unit (321)；The vehicle information collection unit (311) is used to obtain the brake force of vehicle
Relevant information, and it is transferred to the main control module (330)；The environment information acquisition unit (321) is for obtaining vehicle
Context dependant information, and it is transferred to the main control module (330)；The main control module (330) is used for the vehicle
Context dependant information and brake force relevant information carry out integrated treatment, generate the control relevant information for controlling vehicle.
2. full-vehicle control device according to claim 1, which is characterized in that vehicle information collection unit (311) packet
It includes the first information of vehicles and obtains subelement, signal conditioning unit, the second information of vehicles acquisition subelement, driving unit；Described
One information of vehicles obtains subelement and is connected with the signal conditioning unit, and the driving unit and second information of vehicles obtain
Subelement is connected；
First information of vehicles obtains the first information of vehicles that subelement is used to obtain vehicle, and the signal conditioning unit is used for
Signal processing is carried out to first information of vehicles；The driving unit is for exporting the second information of vehicles, second vehicle
Acquisition of information subelement is for obtaining second information of vehicles.
3. full-vehicle control device according to claim 1, which is characterized in that first secondary control module (310) is also
Including communication unit (312)；The communication unit includes wireless news communication line, CAN bus, LIN bus, FlexRay communication
Route, ethernet communication route；The environment information acquisition unit (321) includes first environment acquisition of information subelement and second
Environment obtains subelement；
The first environment acquisition of information subelement includes V2X module；The V2X module obtains first by radio communication line
Environmental information, and the first environment information is sent to the main control module (330)；The second environment obtains subelement
Including T-box module；The T-box module obtains second environment information by radio communication line, and by the second environment
Information is sent to the main control module (330) by CAN bus.
4. full-vehicle control device according to claim 3, which is characterized in that the environment information acquisition unit (321) is also
Including third environment information acquisition subelement,
The third environment information acquisition subelement includes position detector and image acquisition device；The position detector and image
Collector is connected with the main control module (330)；The position detector is used to obtain positioned at vehicle-surroundings barrier
Location information；Described image collector is used to obtain the image information of vehicle-surroundings environment.
5. full-vehicle control device according to claim 1, which is characterized in that the main control module (330) includes first
Braking information processor and the second braking information processor, the first braking information processor and vehicle information collection unit
(311) it is connected with the second braking information processor；
The first braking information processor is used to pre-process the brake force relevant information of the vehicle got to obtain just
Beginning braking information；The second braking information processing obtains target braking letter for being reprocessed to the initial brake information
Breath, and the context dependant information and target braking information are subjected to integrated treatment, obtain control relevant information.
6. full-vehicle control device according to claim 1, which is characterized in that the main control module (330) includes first
Environmental information processor and second environment message handler, the first environment message handler and environment information acquisition unit
(321) it is connected with second environment message handler；
The first environment message handler is used to be pre-processed to obtain to the context dependant information of the vehicle got initial
Environmental information；The second environment message handler is used to be reprocessed to obtain target environment letter to the initial environment information
Breath, and the braking relevant information and target environment information are subjected to integrated treatment, obtain control relevant information.
7. full-vehicle control device according to claim 4, which is characterized in that the position detector include in away from millimeter wave
Radar and length are away from millimetre-wave radar；Described image collector includes the high-definition camera with MIPI interface；The master control molding
Block (330) includes digital ramp generator HSPDM, radar accelerator SPU and visual information processor ISP.
8. full-vehicle control device according to claim 2, which is characterized in that first information of vehicles includes accelerator pedal
Information, vehicle braking information, gear information, temperature sensor information, high-voltage interlocking information；Second information of vehicles includes system
Dynamic is information, steering system information, high pressure power information, water pump information, fan information；
The context dependant information includes road obstacle information, road surface running vehicle status information；The control relevant information includes
Warning message, vehicle braking information, lane keep information.
9. full-vehicle control device according to claim 2, which is characterized in that the driving unit includes pwm pulse driving
Circuit, flash driving circuit and low side driving circuit；The signal conditioning unit includes digital signal processing circuit and simulation letter
Number processing circuit.
10. -9 any full-vehicle control device according to claim 1, which is characterized in that the power management modules (200)
Including power protection unit (210) and level conversion monitoring unit (220)；
The power protection unit includes the filter Filter, transient diode TVS and field-effect tube MOS being sequentially connected；Institute
Stating level conversion monitoring unit includes tracker Tracker, low pressure difference linear voltage regulator LDO, electric pressure converter Boost/Buck.
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