CN110857111B - Vehicle controller, vehicle control method and vehicle - Google Patents
Vehicle controller, vehicle control method and vehicle Download PDFInfo
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- CN110857111B CN110857111B CN201810967882.7A CN201810967882A CN110857111B CN 110857111 B CN110857111 B CN 110857111B CN 201810967882 A CN201810967882 A CN 201810967882A CN 110857111 B CN110857111 B CN 110857111B
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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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C17/00—Arrangement or disposition of parts; Details or accessories not otherwise provided for; Use of control gear and control systems
- B61C17/12—Control gear; Arrangements for controlling locomotives from remote points in the train or when operating in multiple units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/04—Automatic systems, e.g. controlled by train; Change-over to manual control
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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Abstract
The application provides a vehicle controller, a vehicle control method and a vehicle, wherein the vehicle controller comprises: the main control module and the interface control module are in communication connection; the interface control module is used for acquiring data acquired by each vehicle sensor, preprocessing the data acquired by each vehicle sensor and sending the preprocessed data to the main control module; and the main control module is used for analyzing the data sent by the interface control module to generate a corresponding control command and sending the control command to the vehicle execution mechanism through the interface control module so that the vehicle execution mechanism can carry out state adjustment according to the control command of the main control module. The rail transit control system has the advantages that automation and intelligence of rail transit are improved, the control mode is safe and reliable, safety and reliability of rail transit are guaranteed, in addition, the equipment connection mode is simple, processing resources are saved, a data transmission path is shortened, processing time of a vehicle controller is shortened, and response speed is accelerated.
Description
Technical Field
The application relates to the technical field of rail transit, in particular to a vehicle controller, a vehicle control method and a vehicle.
Background
Urban rail transit plays more and more important roles in relieving urban traffic jam and saving energy and reducing emission, and greatly promotes economic and social development.
With the development of electronic technology and the higher and higher requirements of rail transit users on products, how to establish a more automatic and intelligent rail transit control system while ensuring the high safety of rail transit becomes the target of rail transit development.
Disclosure of Invention
The present application is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the vehicle controller can realize intelligent control on vehicles, improves automation and intelligence of rail transit, is safe and reliable in control mode, guarantees safety and reliability of rail transit, is simple in equipment connection mode, saves processing resources, shortens a data transmission path, reduces processing time of the vehicle controller, and accelerates response speed.
The application also provides a vehicle control method.
The present application further provides a vehicle.
The vehicle controller provided by the embodiment of the first aspect of the application comprises: the main control module and the interface control module are in communication connection;
the interface control module is used for acquiring data acquired by each vehicle sensor, preprocessing the data acquired by each vehicle sensor and sending the preprocessed data to the main control module, wherein the interface control module acquires the data acquired by each vehicle sensor through an interface connected with each vehicle sensor; and the main control module is used for analyzing the data sent by the interface control module to generate a corresponding control command and sending the control command to the vehicle execution mechanism through the interface control module so that the vehicle execution mechanism can carry out state adjustment according to the control command of the main control module.
Optionally, the main control module includes: the first submodule and the second submodule which are redundant with each other and have the same structure;
the first sub-module and the second sub-module respectively comprise a graphic processor and a central processing unit;
the image processor is connected with the vehicle image sensor and/or the vehicle radar and is used for identifying and processing image data around the vehicle acquired through the image sensor and/or radar data acquired through the vehicle radar and sending an identification processing result to the central processing unit;
and the central processing unit is used for analyzing the identification processing result of the graphic processor and the data acquired from the interface control module so as to generate a corresponding control command.
Optionally, the central processing unit is specifically configured to determine whether the road condition in front of the vehicle is normal according to the recognition processing result of the graphics processing unit, generate an emergency braking command when it is determined that the road condition in front of the vehicle is abnormal, and send the emergency braking command to the vehicle braking system through the interface control module.
Optionally, the central processing unit is further configured to determine a distance between the vehicle and a vehicle ahead according to the recognition processing result of the graphics processing unit, generate a speed adjustment instruction when it is determined that the distance between the vehicle and the vehicle ahead is abnormal, and send the speed adjustment instruction to a vehicle traction system and/or a vehicle braking system through the interface control module.
Optionally, the interface control module further includes: a master control circuit;
the main control circuit is used for preprocessing the data acquired by each vehicle sensor;
the main control circuit is further configured to determine whether the control command acquired from the first sub-module is consistent with the control command acquired from the second sub-module, and if so, send the control command to the vehicle actuator.
Optionally, the main control circuit is further configured to:
and controlling the first sub-module and the second sub-module to be synchronous according to a preset period, and disconnecting the main control module from the vehicle actuating mechanism when the control command acquired from the first sub-module is determined to be inconsistent with the control command acquired from the second sub-module.
Optionally, the interface control module is specifically configured to obtain, through an interface connected to the vehicle load sensor, a vehicle load acquired by the vehicle load sensor;
the main control module is specifically configured to generate a traction system control instruction according to the vehicle load, and send the traction system control instruction to the vehicle traction system through the interface control module.
Optionally, the interface control module includes: a power supply circuit;
and the power supply circuit is used for converting the voltage accessed from a vehicle system into the working voltage of the main control module and the interface control module.
Optionally, the interface control module further includes: a watchdog circuit;
the watchdog circuit is used for monitoring the safety of the main control circuit and generating a safety power supply for controlling the output of the main control circuit so as to cut off the safety power supply when the main control circuit is determined to be abnormal.
The vehicle controller provided by the application can realize intelligent control on vehicles, improves automation and intellectualization of rail transit, is safe and reliable in control mode, guarantees safety and reliability of rail transit, is simple in equipment connection mode, saves processing resources, shortens a data transmission path, reduces processing time of the vehicle controller, and accelerates response speed.
An embodiment of a second aspect of the present application provides a vehicle control method, including: acquiring data acquired by each vehicle sensor through an interface connected with each vehicle sensor; processing data collected by each vehicle sensor to generate a control command corresponding to the vehicle; and controlling a vehicle execution mechanism corresponding to the control command so that the vehicle execution mechanism performs state adjustment according to the control command.
Optionally, the acquiring data collected by each vehicle sensor includes:
acquiring radar data acquired by a vehicle radar and/or image data acquired by a vehicle image sensor;
the processing the data collected by each vehicle sensor to generate a control command corresponding to the vehicle includes:
processing the radar data and/or the image data to determine the road condition of the current driving direction of the vehicle;
and generating a corresponding control command according to the road condition of the driving direction.
Optionally, the vehicle actuator includes a vehicle traction system and a vehicle braking system.
According to the vehicle control method, intelligent control over the vehicle is achieved according to the data collected by the sensors, automation and intelligence of rail transit are improved, the control mode is safe and reliable, safety and reliability of rail transit are guaranteed, in addition, processing resources are saved, data transmission paths are shortened, data processing time is shortened, and response speed is accelerated.
A vehicle according to an embodiment of the third aspect of the present application includes the vehicle controller according to the first aspect.
The vehicle controller in the vehicle of the embodiment of the application can realize intelligent control on the vehicle, improves automation and intelligence of rail transit, is safe and reliable in control mode, guarantees safety and reliability of rail transit, is simple in equipment connection mode, saves processing resources, shortens a data transmission path, reduces processing time of the vehicle controller, and accelerates response speed.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic diagram of a vehicle controller according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a main control module according to an embodiment of the present application;
FIG. 3 is a schematic structural diagram of an interface control module according to an embodiment of the present application;
FIG. 4 is a schematic diagram of another structure of an interface control module according to an embodiment of the present application;
fig. 5 is a flowchart illustrating a vehicle control method according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
In order to establish a more automatic and intelligent rail transit control system while ensuring the high safety of rail transit, the embodiment of the application provides a vehicle controller.
The vehicle controller provided by the embodiment of the application, including communication connection's host system and interface control module, interface control module can be through the interface of being connected with each vehicle sensor, acquire the data that each vehicle sensor gathered, and carry out the preliminary treatment to the data that each vehicle sensor gathered, and send the data after the preliminary treatment for host system, thereby host system can carry out the analysis to the data that interface control module sent, in order to generate corresponding control command, and send for vehicle actuating mechanism through interface control module, so that vehicle actuating mechanism carries out state adjustment according to host system's control command. Therefore, intelligent control over the vehicle is achieved, automation and intelligence of rail transit are improved, the control mode is safe and reliable, safety and reliability of rail transit are guaranteed, in addition, the equipment connection mode is simple, processing resources are saved, data transmission paths are shortened, processing time of a vehicle controller is shortened, and response speed is accelerated.
A vehicle controller of an embodiment of the present application is described below with reference to the drawings.
Fig. 1 is a schematic structural diagram of a vehicle controller according to an embodiment of the present application.
As shown in fig. 1, the vehicle controller includes: the main control module and the interface control module are in communication connection;
the interface control module is used for acquiring data acquired by each vehicle sensor, preprocessing the data acquired by each vehicle sensor and sending the preprocessed data to the main control module, wherein the interface control module acquires the data acquired by each vehicle sensor through an interface connected with each vehicle sensor;
and the main control module is used for analyzing the data sent by the interface control module to generate a corresponding control command and sending the control command to the vehicle execution mechanism through the interface control module so that the vehicle execution mechanism can carry out state adjustment according to the control command of the main control module.
The vehicle sensor may be any sensor capable of collecting data related to the vehicle, such as a speed sensor, a vehicle load sensor, etc.
The vehicle actuator may be an air conditioning controller, a vehicle braking system, a vehicle cooling system, a vehicle tire pressure system, a vehicle traction system, or other vehicle systems.
Specifically, the interface control module is respectively connected with each vehicle sensor, so that the interface control module can acquire data related to the vehicle, which is acquired by each vehicle sensor, through the interface connected with each vehicle sensor.
The interface control module may preprocess the data acquired by each vehicle sensor, and may classify the data acquired by each vehicle sensor according to the correlation, or convert the data format acquired by each vehicle sensor into a format corresponding to the main control module by the interface control module, or the like.
Furthermore, the interface control module is also connected with the main control module and the vehicle execution mechanism respectively, so that the main control module can acquire data sent by the interface control module, analyze the data sent by the interface control module to generate a corresponding control command, and send the control command to the vehicle execution mechanism through the interface control module, so that the vehicle execution mechanism performs state adjustment according to the control command of the main control module, and the vehicle controller controls the vehicle.
The following describes a control process performed by the vehicle controller according to data collected by each vehicle sensor, with reference to a specific example.
Example one
It is understood that an image sensor and a vehicle radar such as a laser radar, a millimeter wave radar, and an ultrasonic radar are generally included in a vehicle to acquire image data and radar data around the vehicle. In this application embodiment, the vehicle controller can judge whether the road condition ahead of the vehicle is normal according to the image data or the radar data around the vehicle, or according to the image data and the radar data, and then generate a corresponding control command according to the judgment result to control the vehicle. Taking a laser radar as an example, the laser radar can analyze the turn-back time of laser after encountering a target object by emitting and receiving laser beams, calculate the relative distance between the target object and a vehicle, quickly reconstruct a three-dimensional model of the target object and various image data such as lines, surfaces, bodies and the like by using data such as three-dimensional coordinates, reflectivity, textures and the like of a large number of dense points on the surface of the target object, and establish a three-dimensional point cloud picture to draw an environment map. In the embodiment of the application, the vehicle controller can judge whether the road condition in front of the vehicle is normal or not according to radar data such as an environment map drawn by the laser radar, and then generates a corresponding control command according to a judgment result so as to control the vehicle.
Specifically, the image sensor or the vehicle radar may be connected to an interface control module of the vehicle controller, so that the interface control module may acquire image data around the vehicle collected by the image sensor or radar data collected by the vehicle radar through an interface connected to the vehicle image sensor or the vehicle radar, and then transmit the image data around the vehicle or the radar data to the main control module. Or, the image sensor and the vehicle radar can be connected with the interface control module of the vehicle controller at the same time, so that the interface control module can acquire image data around the vehicle and radar data collected by the vehicle radar, which are collected by the image sensor, through the interface connected with the vehicle image sensor and the vehicle radar, and then send the image data around the vehicle and the radar data to the main control module.
After the main control module acquires the image data or the radar data around the vehicle, or the image data and the radar data, the image data or the radar data around the vehicle, or the image data and the radar data can be analyzed to judge whether the road condition in front of the vehicle is normal or not. For example, the main control module analyzes an environment map drawn by the laser radar sent by the interface control module, and can judge whether a pedestrian appears in front of the vehicle, and when the pedestrian appears in front of the vehicle, the main control module can determine the distance between the pedestrian and the vehicle according to the relative distance between the pedestrian and the vehicle calculated by the laser radar, so as to judge whether the road condition in front of the vehicle is normal.
If the vehicle is abnormal, for example, the main control module analyzes an environment map drawn by the laser radar to determine that a pedestrian appears in front of the vehicle, and determines that the pedestrian is very close to the vehicle according to the relative distance between the pedestrian and the vehicle calculated by the laser radar. The master control module may generate an emergency braking command and send the emergency braking command to the vehicle braking system through the interface control module, so that the vehicle braking system performs state adjustment according to the emergency braking command sent by the master control module, thereby controlling the vehicle to perform emergency braking. If the current state of the vehicle execution mechanisms is normal, the main control module can ignore the communication with the interface control module at this time and does not send a control command to each vehicle execution mechanism, or can send a current state keeping command to each vehicle execution mechanism through the interface control module so as to keep each vehicle execution mechanism in the current state, so that the vehicle can keep the current state to normally run.
That is, in the embodiment of the present invention, the main control module is specifically configured to analyze the acquired image data and/or radar data around the vehicle to determine whether the road condition in front of the vehicle is normal, and when it is determined that the road condition in front of the vehicle is abnormal, generate an emergency braking command, and send the emergency braking command to the vehicle braking system through the interface control module.
Example two
The interface control module acquires image data or radar data or image data and radar data collected by a vehicle radar and the image data or radar data is sent to the main control module, and the main control module can analyze the image data or radar data or image data and radar data around the vehicle to determine the distance between the vehicle and a front vehicle. For example, the main control module analyzes an environment map drawn by the laser radar sent by the interface control module, and determines the distance between the vehicle and the vehicle in front according to the relative distance between the vehicle and the vehicle in front calculated by the laser radar when the vehicle in front of the vehicle is determined.
If the distance between the vehicle and the front vehicle is abnormal, for example, if the distance between the vehicle and the front vehicle is smaller than 10 meters, the distance between the vehicle and the front vehicle is determined to be too short, and the rear-end collision risk exists, the main control module determines that the vehicle exists in front of the vehicle by analyzing an environment map drawn by the laser radar, and determines that the distance between the vehicle and the front vehicle is smaller than 10 meters according to the relative distance between the vehicle and the front vehicle calculated by the laser radar. The master control module can generate a speed adjusting instruction and send the speed adjusting instruction to the vehicle traction system or the vehicle braking system through the interface control module, so that the vehicle traction system adjusts the traction force according to the speed adjusting instruction sent by the master control module, or the vehicle braking system adjusts the braking force, thereby reducing the running speed of the vehicle and preventing rear-end collision. Or, the main control module can also send the speed adjusting instruction to the vehicle traction system or the vehicle braking system through the interface control module, so that the vehicle traction system and the vehicle braking system respectively adjust the traction force and the braking force according to the speed adjusting instruction sent by the main control module, thereby reducing the running speed of the vehicle and preventing rear-end collision.
If the distance between the vehicle and the front vehicle is normal, the main control module may ignore the communication with the interface control module this time and does not send a control command to each vehicle execution mechanism, or may send a command to keep the current state to each vehicle execution mechanism through the interface control module, so that each vehicle execution mechanism keeps the current state, and the vehicle keeps the current state to run.
That is, in the embodiment of the present invention, the main control module is further configured to analyze the acquired image data and/or radar data around the vehicle to determine a distance between the vehicle and the vehicle ahead, and when it is determined that the distance between the vehicle and the vehicle ahead is abnormal, generate a speed adjustment instruction, and send the speed adjustment instruction to the vehicle traction system and/or the vehicle braking system through the interface control module.
Example three
The interface control module can acquire the vehicle load acquired by the vehicle load sensor through an interface connected with the vehicle load sensor, and then sends the vehicle load to the main control module. The main control module can analyze the vehicle load after acquiring the vehicle load, so that the traction force required by the vehicle during normal running is calculated according to the vehicle load, a traction system control instruction is generated, and then the traction system control instruction is sent to the vehicle traction system through the interface control module, so that the vehicle traction system adjusts the traction force according to the traction system control instruction, and the vehicle runs normally.
The interface control module is specifically used for acquiring the vehicle load acquired by the vehicle load sensor through an interface connected with the vehicle load sensor;
and the main control module is specifically used for generating a traction system control instruction according to the vehicle load and sending the traction system control instruction to the vehicle traction system through the interface control module.
For example, if 10 pedestrians get on the vehicle after the vehicle runs to the station, the vehicle load sensor may collect the vehicle load of the 10 pedestrians after getting on the vehicle, and the interface control module may send the vehicle load to the main control module after obtaining the vehicle load through the interface connected to the vehicle load sensor. The main control module can analyze the vehicle load, calculate the traction force required by the normal start of the vehicle, generate a traction system control instruction, and then send the traction system control instruction to the vehicle traction system through the interface control module, so that the vehicle traction system adjusts the traction force according to the traction system control instruction, and the vehicle can normally run.
Furthermore, in order to improve the accuracy and reliability of vehicle control, the main control module can also generate a traction system control instruction according to the vehicle load, road condition information and the current vehicle speed of the vehicle, and send the traction system control instruction to the vehicle traction system through the interface control module, so that the vehicle traction system can perform state adjustment according to the traction system control instruction sent by the main control module.
For example, if the vehicle is turning, the interface control module obtains the vehicle load, the vehicle left and right wheel speeds and the steering wheel angle through the interfaces connected with the vehicle load sensor, the vehicle left and right wheel speed sensor and the steering wheel angle sensor, and sends the information to the main control module, and then the main control module can determine the vehicle load, the vehicle left and right wheel speed difference and the driver steering intention according to the information, and judge whether the vehicle steering degree is consistent with the driver steering intention through the vehicle load, the vehicle left and right wheel speed difference and the driver steering intention. If the fact that the vehicle is under-steered (or over-steered) is determined, the main control module can determine that the traction force of the driving wheel is too large, so that a traction system control instruction can be generated and sent to a vehicle traction system through the interface control module, and the vehicle traction system reduces the traction force of the driving wheel according to the traction system control instruction, so that the steering intention of a driver is achieved.
It can be understood that the main control module of the vehicle controller provided by the embodiment of the invention can realize the functions of automatic driving of the whole vehicle, speed and distance safety protection calculation, logic calculation of train management and the like, and can analyze the vehicle data uploaded by the interface control module and judge the potential faults of the vehicle. The interface control module can realize monitoring and fault diagnosis of the vehicle execution mechanism, and output a control command to the vehicle execution mechanism according to the control command of the main control module, so that the vehicle execution mechanism can carry out state adjustment according to the control command of the main control module, and intelligent control of the vehicle is realized. In addition, the vehicle controller provided by the embodiment of the application collects data related to the vehicle by the vehicle image sensor, the vehicle radar and other vehicle sensors, and is based on the control command generated by analyzing the data collected by the image sensor, the vehicle radar and other vehicle sensors when the vehicle is controlled, so that the safety and the reliability are high.
The vehicle controller provided by the embodiment of the application can realize intelligent control on the vehicle through the main control module and the interface control module which are in communication connection, improves the automation and the intellectualization of the rail transit, is safe and reliable in control mode, and guarantees the safety and the reliability of the rail transit.
In addition, in the related art, safety control of a vehicle is often performed by installing a control System having various functions in the vehicle, for example, a vehicle on-board controller (VOBC), a Train Control and Management System (TCMS), and the like are installed. In actual use, each control system is respectively connected with each vehicle sensor to acquire data collected by each vehicle sensor, and then controls the vehicle according to the data collected by each sensor.
Because each control system is connected with each vehicle sensor, the number of interfaces of each control system is large, the connection mode of equipment is complex, and the control systems need to process the acquired data after acquiring the data acquired by each vehicle sensor. In addition, when a vehicle is controlled, part of information between the control systems needs to be shared, which requires interconnection between the control systems, which results in a more complicated connection manner of the devices, and a delay exists in data transmission between the control systems, which results in a long data transmission time and a slow response speed.
According to the vehicle controller provided by the embodiment of the application, the main control module acquires data acquired by each vehicle sensor through the interface control module, and controls each vehicle execution mechanism according to the data acquired by each vehicle sensor so as to realize safety control of the whole vehicle. When carrying out safety control to the whole car promptly, each vehicle sensor only needs to be connected with interface control module, and equipment connected mode is simple, and only needs to carry out once processing with the data that each vehicle sensor gathered, can realize the safety control to whole car, has saved processing resources, and in addition, all information in the vehicle controller can directly share to shorten data transmission path, reduced vehicle controller's processing time, accelerated response speed.
In addition, the vehicle controller provided by the embodiment of the invention only needs to comprise the main control module and the interface control module which are in communication connection, the interface control module is connected with each vehicle sensor and each vehicle actuating mechanism, and the vehicle controller has the advantages of few interfaces, simple structure, low cost, small size and convenience in field maintenance and installation.
The structure of the main control module of the vehicle controller according to the embodiment of the present invention will be described with reference to fig. 2.
As shown in fig. 2, the main control module includes: a first sub-Module 1 and a second sub-Module 2 which are redundant and have the same structure; the first sub-Module 1 and the second sub-Module 2 each include a Graphics Processing Unit (GPU) and a Central Processing Unit (CPU), respectively.
It will be appreciated that a graphics processor works well in dealing with graphics computing related work in a computer device. In this application embodiment, in order to better utilize the image data that vehicle image sensor acquireed and the radar data that vehicle radar acquireed, control the vehicle, vehicle image sensor or vehicle radar can be connected with the graphic processor among the host system of vehicle controller, thereby after image sensor gathered the image data around the vehicle or vehicle radar gathered radar data, can handle image data or radar data around the vehicle through graphic processor, with the treatment to image data or radar data is improved, thereby better utilization image data or radar data control the vehicle. Or, the image sensor and the vehicle radar can be connected with a graphic processor in a main control module of the vehicle controller at the same time, so that the image data around the vehicle collected by the image sensor and the radar data collected by the vehicle radar are processed by the graphic processor, the processing effect on the image data and the radar data is improved, and the vehicle is controlled by better utilizing the image data and the radar data.
That is, in the embodiment of the present application, the graphics processor is connected to the vehicle image sensor and/or the vehicle radar, and is configured to perform recognition processing on image data around the vehicle acquired by the image sensor and/or radar data acquired by the vehicle radar, and send a recognition processing result to the central processing unit;
the central processing unit is used for analyzing the recognition result of the graphic processor and the data acquired from the interface control module so as to generate a corresponding control command.
Specifically, as shown in fig. 2, the first sub-Module 1 includes a GPU1 and a CPU1, and the second sub-Module 2 includes a GPU2 and a CPU 2. The GPU1 may be connected to the vehicle image sensor or the vehicle radar, or both, to perform recognition processing on image data around the vehicle acquired by the image sensor, or to perform recognition processing on radar data acquired by the vehicle radar, or to perform recognition processing on image data around the vehicle acquired by the image sensor and radar data acquired by the vehicle radar, and send the recognition processing result to the CPU1, so that the CPU1 may analyze the recognition processing result of the GPU1 and the data acquired from the interface control module to generate a corresponding control command, and send the control command to the interface control module. Similarly, the GPU2 may also be connected to the vehicle image sensor or the vehicle radar, or both the vehicle image sensor and the vehicle radar, to perform recognition processing on image data around the vehicle acquired by the image sensor, or perform recognition processing on radar data acquired by the vehicle radar, or perform recognition processing on image data around the vehicle acquired by the image sensor and radar data acquired by the vehicle radar, and send the recognition processing result to the CPU2, so that the CPU2 may analyze the recognition processing result of the GPU2 and the data acquired from the interface control module to generate a corresponding control command, and send the control command to the interface control module.
It should be noted that, before the GPU of the main control module identifies and processes the image data or radar data around the vehicle, or the image data and radar data around the vehicle, the GPU may also preprocess the image data or radar data, or the image data and radar data. The preprocessing may include filtering, by the GPU, blurred or incomplete low-quality images in the image data around the vehicle captured by the image sensor, or classifying the image data around the vehicle or radar data according to relevance, and so on. And then, the GPU identifies the preprocessed image data or radar data, or the image data and the radar data, and sends the identification processing result to the CPU of the main control module, so that the CPU of the main control module analyzes according to the identification processing result and the data acquired from the interface control module to generate a corresponding control command, and sends the control command to a vehicle execution mechanism through the interface control module to explain the process of controlling the vehicle.
It should be noted that, in a specific implementation, the central processing unit of the main control module may generate a corresponding control command only according to the recognition processing result of the graphic processor of the main control module, so as to control the vehicle. In the following, with reference to the specific example, after the central processing unit of the main control module receives the recognition processing result of the graphics processing unit of the main control module, a corresponding control command is generated according to the recognition processing result of the graphics processing unit, so as to explain the process of controlling the vehicle.
Example four
After the central processing unit of the main control module acquires the recognition processing result sent by the graphic processor, whether the road condition in front of the vehicle is normal or not can be judged according to the recognition processing result of the graphic processor of the main control module.
If the vehicle is abnormal, for example, the image processor of the main control module identifies an environment map drawn by the laser radar to determine that a pedestrian appears in front of the vehicle, and the central processing unit of the main control module determines that the pedestrian is very close to the vehicle according to the relative distance between the pedestrian and the vehicle calculated by the laser radar after acquiring the identification processing result sent by the image processor of the main control module. The central processing unit of the main control module can generate an emergency braking command and send the emergency braking command to the vehicle braking system through the interface control module, so that the vehicle braking system performs state adjustment according to the emergency braking command sent by the central processing unit, and the vehicle is controlled to perform emergency braking.
If the current state of the vehicle execution mechanisms is normal, the central processing unit of the main control module can ignore the communication with the interface control module at this time and does not send a control command to each vehicle execution mechanism, or the central processing unit can send a current state keeping command to each vehicle execution mechanism through the interface control module so as to keep each vehicle execution mechanism in the current state, and therefore the vehicle can keep the current state to normally run.
That is, in the embodiment of the present invention, the central processing unit is specifically configured to determine whether the road condition in front of the vehicle is normal according to the recognition processing result of the graphics processing unit, generate an emergency braking command when it is determined that the road condition in front of the vehicle is abnormal, and send the emergency braking command to the vehicle braking system through the interface control module.
Example five
After the central processing unit of the main control module obtains the recognition processing result sent by the graphic processor of the main control module, the distance between the vehicle and the vehicle in front can be determined according to the recognition processing result of the graphic processor.
If the distance between the vehicle and the front vehicle is abnormal, for example, when the distance between the vehicle and the front vehicle is smaller than 10 meters, it is determined that the distance between the vehicle and the front vehicle is too short, and the rear-end collision risk exists, the image processor of the main control module determines that the vehicle exists in front of the vehicle by identifying and processing an environment map drawn by the laser radar, and after the central processing unit of the main control module acquires an identification processing result sent by the image processor of the main control module, the distance between the vehicle and the front vehicle is determined to be smaller than 10 meters according to the relative distance between the vehicle and the front vehicle calculated by the laser radar. The central processing unit of the main control module can generate a speed adjusting instruction and send the speed adjusting instruction to the vehicle traction system or the vehicle braking system through the interface control module, so that the vehicle traction system adjusts the traction force according to the speed adjusting instruction sent by the central processing unit, or the vehicle braking system adjusts the braking force, thereby reducing the running speed of the vehicle and preventing rear-end collision. Or, the central processing unit can also send the speed adjusting instruction to the vehicle traction system or the vehicle braking system through the interface control module, so that the vehicle traction system and the vehicle braking system respectively adjust the traction force and the braking force according to the speed adjusting instruction sent by the central processing unit, thereby reducing the running speed of the vehicle and preventing rear-end collision.
If the distance between the vehicle and the vehicle in front is normal, the central processing unit of the main control module may ignore the communication with the interface control module at this time and does not send a control command to each vehicle execution mechanism, or may send a command for maintaining the current state to each vehicle execution mechanism through the interface control module, so that each vehicle execution mechanism maintains the current state, and the vehicle keeps the current state to run.
That is, in the embodiment of the present invention, the central processing unit is further configured to determine a distance between the vehicle and the vehicle ahead according to the recognition processing result of the graphics processing unit, and generate a speed adjustment command when it is determined that the distance between the vehicle and the vehicle ahead is abnormal, and send the speed adjustment command to the vehicle traction system and/or the vehicle braking system through the interface control module.
In some embodiments, the GPU1 and the GPU2 may communicate via a Local Area Network (LAN), so that the GPU1 and the GPU2 may send the recognition processing results to the CPU1 and the CPU2 respectively when the recognition processing results of the two are the same, and the CPU1 and the CPU2 perform voting, thereby achieving higher reliability.
In addition, the CPU1 and the CPU2 can realize functions such as communication, safety protocols and the like, and meanwhile, the GPU1 and the GPU2 can also adopt a deep neural network algorithm function and integrate a sensing technology, so that intelligent control and diagnosis functions of the vehicle are realized.
The CPU1 can cooperate with the Power & Monitoring Chip1, and the CPU2 cooperates with the Power & Monitoring Chip2, so that the main control module meets the requirement of security level. The CPU1 and the CPU2 respectively acquire data of the GPU1 and the GPU2 through the PCIE interface, and acquire related data of the vehicle through the interface control module so as to analyze and process the data and realize the functions of automatic driving and speed protection of the vehicle.
The structure of the interface control module of the vehicle controller according to the embodiment of the present invention will be described with reference to fig. 3 and 4.
As shown in fig. 3, the interface control module may include a power circuit for converting a voltage inputted from a vehicle system into an operating voltage of the main control module and the interface control module.
The voltage accessed from the vehicle system may be 24V dc voltage or 110V dc voltage, which is not limited herein.
Specifically, as shown in fig. 3, the power circuit may include a power access board and a power board, and the power access board may access the vehicle power source into the vehicle controller, so that the power board may convert the accessed voltage and supply power to the main control module and the interface control module.
It should be noted that, because the operating voltages of the main control module and the interface control module may be different, in the embodiment of the present invention, multiple power supplies may be further configured according to the operating voltage classes of the main control module and the interface control module, so that the power is supplied to the modules at the corresponding classes through each power supply.
Further, the interface control module may further include a main control circuit for preprocessing data collected by each vehicle sensor. It should be noted that, when the main control circuit preprocesses the data acquired by each vehicle sensor, the preprocessing may be performed according to a preset period, or may be performed according to the size of the memory occupied by the data acquired by each vehicle sensor, which is not limited herein. The preset period can be set as required.
In addition, the main control circuit can also be used for judging whether the control command acquired from the first sub-Module 1 is consistent with the control command acquired from the second sub-Module 2, and if so, the control command is sent to the vehicle execution mechanism to ensure that the vehicle execution mechanism carries out state adjustment according to the correct control command, so that the safety and reliability of vehicle control are ensured.
In addition, the main control circuit can also control the first sub-Module 1 and the second sub-Module 2 to be synchronous according to a preset period, and when the control command acquired from the first sub-Module 1 is determined to be inconsistent with the control command acquired from the second sub-Module 2, the main control circuit disconnects the main control Module from the vehicle execution mechanism, so that the control command is sent to the vehicle execution mechanism when the first sub-Module 1 or the second sub-Module 2 of the main control Module fails, and the safety and the reliability of vehicle control are further ensured.
In addition, the main control circuit can also realize the functions of vehicle control management and vehicle fault diagnosis, realize the software scheduling algorithm of a safety computer platform layer, and realize the safety protocol encapsulation and analysis based on an embedded real-time operating system and data.
Further, the interface control module may further include a watchdog circuit for monitoring the safety of the main control circuit and generating a safety power for controlling the output of the main control circuit, so as to cut off the safety power when it is determined that the main control circuit is abnormal. Therefore, self-diagnosis of the interface control module is realized, so that the safety and reliability of the interface control module are improved, and the overall safety and reliability of the vehicle controller are improved.
In order to implement communication functions such as communication between the vehicle controller and the vehicle actuator and communication between the vehicle controller and the vehicle network, the interface control module may further include a communication board such as a Controller Area Network (CAN) communication board, an ethernet communication board, and a Global Positioning System (GPS) communication board, as shown in fig. 4.
The CAN communication board is connected with a CAN network in the carriage to realize communication with a power supply system, a traction braking system, a door control system, a lighting system, a tire pressure system and the like. The Ethernet communication board is connected with the main control module and the vehicle to realize network communication between the main control module and the vehicle. The GPS communication board is connected with the GPS antenna and used for realizing the GPS positioning function. The CAN communication board, the Ethernet communication board, the GPS communication board and the main control circuit are all connected by adopting parallel buses, so that data receiving and transmitting with high capacity and high real-time performance are realized. And the CAN communication board, the Ethernet communication board and the GPS communication board are controlled by a safety power supply generated by the watchdog circuit, and when the CAN communication board, the Ethernet communication board or the GPS communication board breaks down, the watchdog circuit CAN cut off the safety power supply, so that the fault safety is realized.
In addition, the interface control module can further comprise a speed measuring board, the speed measuring board is connected with the speed sensor, and the speed measuring board is connected with the main control board through a high-speed serial bus, so that the expansion of the input and output nodes is realized. In addition, the speed measuring board is controlled by a safety power supply generated by the watchdog circuit, and when the speed measuring board fails, the watchdog circuit can cut off the safety power supply, so that the failure safety is realized.
In addition, since the data collected by each sensor may include both analog data and safety-related data and general data required for safety monitoring and the like, in the embodiment of the present invention, the interface control module may further include a safety input board, a safety output board, a general input/output board, an analog input board, and a relay output board.
The safety input board or the safety output board can realize various input and output interfaces, such as relay drive acquisition, speed sensor acquisition and the like. The safety input board or the safety output board is connected with the main control board by adopting a high-speed serial bus, thereby realizing the expansion of the input and output nodes. And the output circuit part of the safety input board or the safety output board is controlled by the safety power supply generated by the watchdog circuit, and when the safety input board or the safety output board has a fault, the watchdog circuit can cut off the corresponding safety power supply, thereby realizing fault safety.
The general input-output board can realize various input-output interfaces and is compatible with input and output of 110V and 24V signals. In addition, a high-speed serial bus is adopted for connection between the general input/output board and the main control board, and each input/output channel has a fault diagnosis function.
The analog input board can realize the analog signal acquisition of a vehicle and support the functions of voltage (-10V) acquisition, current (4-20 mA) acquisition and pulse modulation signal acquisition. In addition, the analog input board and the main control board are connected by a high-speed serial bus, and each input/output channel has a fault diagnosis function.
The relay output board can realize the relay interface of the vehicle, and support the output of two kinds of node modes of normally closed, normally open, and the relay interface power supply can be configured and support 0 ~ 137.5V. In addition, the relay output board is connected with the main control board through a high-speed serial bus, a safety relay is adopted, and each relay output channel has a return inspection diagnosis function.
Based on the vehicle controller in the above embodiments, the embodiment of the present application further provides a vehicle control method.
Fig. 5 is a flowchart illustrating a vehicle control method according to an embodiment of the present application.
As shown in fig. 5, the vehicle control method according to the embodiment of the present application includes the steps of:
and step 101, acquiring data acquired by each vehicle sensor through an interface connected with each vehicle sensor.
Specifically, the vehicle control method according to the embodiment of the present application may be executed by the vehicle controller provided in the embodiment of the present application, and the vehicle controller may be configured in any vehicle to perform intelligent control on the vehicle.
The vehicle sensor may be any sensor capable of collecting data related to the vehicle, such as a speed sensor, a vehicle load sensor, and the like.
The vehicle running state data may include data such as a running speed of the vehicle and a load when the vehicle runs.
And 102, processing data collected by each vehicle sensor to generate a control command corresponding to the vehicle.
And 103, controlling the vehicle actuator corresponding to the control command so that the vehicle actuator performs state adjustment according to the control command.
The vehicle actuating mechanism can comprise a vehicle traction system and a vehicle braking system.
Specifically, the vehicle controller may be connected to each vehicle sensor and the vehicle actuator, so that the vehicle controller may acquire data collected by each vehicle sensor through an interface connected to each vehicle sensor, process the data collected by each vehicle sensor, generate a control command corresponding to the vehicle, and send the control command to the vehicle actuator corresponding to the control command, so that the vehicle actuator performs state adjustment according to the control command, thereby implementing control of the vehicle actuator corresponding to the control command.
It should be noted that, after acquiring the data collected by each vehicle sensor, the vehicle controller may also pre-process the data collected by the vehicle sensors, and then generate a control command corresponding to the vehicle according to the pre-processed data. The preprocessing may include classifying the data collected by the sensors according to the correlation, or converting the format of the data collected by the sensors into a format that can be processed by the vehicle controller.
It is understood that a vehicle image sensor and a vehicle radar such as a laser radar, a millimeter wave radar, and an ultrasonic radar are generally included in a vehicle to acquire image data and radar data around the vehicle. In this embodiment, the vehicle controller may determine the road condition of the current driving direction of the vehicle according to the image data or the radar data around the vehicle, or according to the image data and the radar data, and then generate a corresponding control command according to the road condition of the driving direction, so as to control the vehicle. That is, step 101 may specifically include:
and acquiring radar data acquired by the vehicle radar and/or image data acquired by the vehicle image sensor.
Accordingly, step 102 may include:
processing the radar data and/or the image data to determine the road condition of the current driving direction of the vehicle;
and generating a corresponding control command according to the road condition of the driving direction.
Specifically, the vehicle controller may process the radar data or the image data, or the radar data and the image data, to determine the road condition of the current driving direction of the vehicle after acquiring the radar data or the image data acquired by the vehicle radar or the image sensor through an interface connected to the vehicle radar or the vehicle image sensor, or acquiring the radar data and the image data acquired by the vehicle radar and the image sensor through an interface connected to the vehicle radar and the vehicle image sensor. For example, when a vehicle radar is used as the laser radar, the vehicle controller can acquire an environment map drawn by the laser radar and process the environment map drawn by the laser radar, so that whether a pedestrian exists in front of the vehicle is judged, when a current person exists in front of the vehicle, the distance between the pedestrian and the vehicle can be determined according to the relative distance between the pedestrian and the vehicle calculated by the laser radar, and whether the road condition of the current driving direction of the vehicle is normal is determined.
If the vehicle controller determines that the road condition in the driving direction is abnormal, for example, a pedestrian appears in front of the vehicle and the distance between the pedestrian and the vehicle is very short, and determines that the current driving speed of the vehicle is too high according to the data collected by the speed sensor in the vehicle, the vehicle controller may generate an emergency braking command and send the emergency braking command to the vehicle braking system, so that the vehicle braking system performs state adjustment according to the emergency braking command sent by the vehicle controller, thereby controlling the vehicle to perform emergency braking. If the road condition of the driving direction is determined to be normal, the vehicle controller can generate a command for keeping the current state and send the command for keeping the current state to each vehicle execution mechanism, so that each vehicle execution mechanism keeps the current state, and the vehicle keeps the current state to normally drive. Or, when the vehicle controller determines that the road condition of the driving direction is normal, the vehicle controller may not generate the control command, so that each vehicle actuator maintains the state of the previous driving direction when the road condition is normal, and the vehicle maintains the current state of normal driving.
It should be noted that, as can be seen from the foregoing embodiments, the vehicle controller that executes the vehicle control method according to the embodiment of the present application may include a main control module and an interface control module that are in communication connection, and the main control module and the interface control module of the vehicle controller respectively implement what kind of operations are executed to implement a process of controlling a vehicle, which may refer to the description of the vehicle controller in the foregoing embodiments and is not described herein again.
According to the vehicle control method, firstly, data collected by each vehicle sensor is obtained through an interface connected with each vehicle sensor, then the data collected by each vehicle sensor is processed to generate a control command corresponding to a vehicle, and finally a vehicle execution mechanism corresponding to the control command is controlled to enable the vehicle execution mechanism to carry out state adjustment according to the control command. Therefore, intelligent control of the vehicle is achieved according to data collected by the sensors, automation and intelligence of rail transit are improved, the control mode is safe and reliable, safety and reliability of rail transit are guaranteed, processing resources are saved, data transmission paths are shortened, data processing time is shortened, and response speed is accelerated.
The embodiment of the application also provides a vehicle, which comprises the vehicle controller in the embodiment.
The vehicle controller in the vehicle that this application embodiment provided, including communication connection's host system and interface control module, can realize the automatic control to the vehicle, improved rail transit's automation and intellectuality, and the control mode is safe, reliable, has ensured rail transit's security and reliability, and in addition, equipment connected mode is simple, has saved processing resources, has shortened data transmission route, has reduced vehicle controller's processing time for response speed.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and the scope of the preferred embodiments of the present application includes other implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by suitable instruction execution devices. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one first processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (8)
1. A vehicle controller, characterized by comprising: the main control module and the interface control module are in communication connection;
the interface control module is used for acquiring data acquired by each vehicle sensor, preprocessing the data acquired by each vehicle sensor and sending the preprocessed data to the main control module, wherein the interface control module acquires the data acquired by each vehicle sensor through an interface connected with each vehicle sensor;
the main control module is used for analyzing the data sent by the interface control module to generate a corresponding control command, and sending the control command to a vehicle execution mechanism through the interface control module so that the vehicle execution mechanism performs state adjustment according to the control command;
wherein, the master control module includes: the first submodule and the second submodule which are redundant with each other and have the same structure;
the first sub-module and the second sub-module respectively comprise a graphic processor and a central processing unit;
the image processor is connected with the vehicle image sensor and/or the vehicle radar and is used for identifying and processing image data around the vehicle acquired through the image sensor and/or radar data acquired through the vehicle radar and sending an identification processing result to the central processing unit;
the central processing unit is used for analyzing the identification processing result of the graphic processor and the data acquired from the interface control module to generate a corresponding control command;
the interface control module further comprises: a master control circuit;
the main control circuit is used for preprocessing the data acquired by each vehicle sensor;
the main control circuit is further configured to determine whether the control command acquired from the first sub-module is consistent with the control command acquired from the second sub-module, and if so, send the control command to the vehicle actuator.
2. The vehicle controller according to claim 1, wherein the central processing unit is specifically configured to determine whether the road condition in front of the vehicle is normal according to the recognition processing result of the graphics processor, generate an emergency braking command when it is determined that the road condition in front of the vehicle is abnormal, and send the emergency braking command to the vehicle braking system through the interface control module.
3. The vehicle controller according to claim 1, wherein the cpu is further configured to determine a distance between the vehicle and a vehicle ahead according to the recognition result of the graphic processor, and generate a speed adjustment command and send the speed adjustment command to a vehicle traction system and/or a vehicle brake system through the interface control module when it is determined that the distance between the vehicle and the vehicle ahead is abnormal.
4. The vehicle controller of claim 1, wherein the master control circuit is further configured to:
and controlling the first sub-module and the second sub-module to be synchronous according to a preset period, and disconnecting the main control module from the vehicle actuating mechanism when the control command acquired from the first sub-module is determined to be inconsistent with the control command acquired from the second sub-module.
5. The vehicle controller according to claim 1, wherein the interface control module is specifically configured to obtain the vehicle load collected by the vehicle load sensor through an interface connected to the vehicle load sensor;
the main control module is specifically configured to generate a traction system control instruction according to the vehicle load, and send the traction system control instruction to the vehicle traction system through the interface control module.
6. The vehicle controller of any of claims 1-5, wherein the interface control module comprises: a power supply circuit;
and the power supply circuit is used for converting the voltage accessed from a vehicle system into the working voltage of the main control module and the interface control module.
7. The vehicle controller of claim 6, wherein the interface control module further comprises: a watchdog circuit;
the watchdog circuit is used for monitoring the safety of the main control circuit and generating a safety power supply for controlling the output of the main control circuit so as to cut off the safety power supply when the main control circuit is determined to be abnormal.
8. A vehicle comprising a vehicle controller according to any one of claims 1 to 7.
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| CN201810967882.7A CN110857111B (en) | 2018-08-23 | 2018-08-23 | Vehicle controller, vehicle control method and vehicle |
| PCT/CN2019/102063 WO2020038446A1 (en) | 2018-08-23 | 2019-08-22 | Vehicle controller, vehicle control method, and vehicle |
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| CN113472865B (en) * | 2021-06-21 | 2023-03-21 | 上汽通用五菱汽车股份有限公司 | Vehicle controller access method, access controller, vehicle and readable storage medium |
| CN113721503A (en) * | 2021-08-16 | 2021-11-30 | 北京超星未来科技有限公司 | Vehicle-mounted computing platform, unmanned system and vehicle |
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| DE102007042481B4 (en) * | 2007-09-06 | 2022-04-07 | Zf Cv Systems Hannover Gmbh | Vehicle control system for an automobile |
| CN201145913Y (en) * | 2007-10-30 | 2008-11-05 | 比亚迪股份有限公司 | Apparatus for acquiring and recording vehicle data |
| CN201721346U (en) * | 2009-11-23 | 2011-01-26 | 天津市松正电动科技有限公司 | Dual-system integrated electric automobile controller |
| CN201689311U (en) * | 2010-01-04 | 2010-12-29 | 北汽福田汽车股份有限公司 | Vehicle-mounted controller used for remote monitoring |
| US8509982B2 (en) * | 2010-10-05 | 2013-08-13 | Google Inc. | Zone driving |
| CN103838189B (en) * | 2012-11-20 | 2016-05-04 | 北汽福田汽车股份有限公司 | CAN communication monitoring protector and vehicle |
| CN105346389A (en) * | 2014-08-18 | 2016-02-24 | 比亚迪股份有限公司 | Control system and method for vehicle, and vehicle |
| CN205113335U (en) * | 2015-11-01 | 2016-03-30 | 李俊娇 | Lane discernment vehicle of taking GPS signal device that cruises |
| CN107010028B (en) * | 2016-01-27 | 2020-06-19 | 比亚迪股份有限公司 | Anti-collision system and control method of electric automobile and electric automobile |
| CN106627438A (en) * | 2016-12-15 | 2017-05-10 | 奇瑞汽车股份有限公司 | New energy automobile vehicle controller connection structure |
| CN106527118A (en) * | 2017-01-05 | 2017-03-22 | 株洲中车时代电气股份有限公司 | Railway vehicle electric control loop monitoring device and method based on redundant structure |
| CN107351821A (en) * | 2017-07-10 | 2017-11-17 | 合肥思博特软件开发有限公司 | A kind of vehicle driving safety spacing control system |
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