CN205706212U - Centralized architecture controller and the electric intelligent automotive electrical system of power supply redundancy - Google Patents
Centralized architecture controller and the electric intelligent automotive electrical system of power supply redundancy Download PDFInfo
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- CN205706212U CN205706212U CN201620289652.6U CN201620289652U CN205706212U CN 205706212 U CN205706212 U CN 205706212U CN 201620289652 U CN201620289652 U CN 201620289652U CN 205706212 U CN205706212 U CN 205706212U
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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
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Abstract
nullThis utility model relates to a kind of centralized architecture controller and the electric intelligent automotive electrical system of power supply redundancy，Including the high-tension battery connected each other by electric wiring and battery management system (1)、Key switch (16)、Power supply unit、Intelligent decision and control unit、Sensor unit and actuator unit，Key switch (16) arranges OFF gear、ACC keeps off、ON gear and START keep off，Power supply unit includes main storage battery (12) and booster battery (11)，Electric wiring includes main ACC circuit、Auxiliary ACC circuit、ON circuit、START circuit and the normal electric line being connected with main storage battery (12) cathode output end，Compared with prior art，This utility model solves the requirement for redundancy of electric intelligent automobile control unit and line control system，Turning in travelling for vehicle、Braking、The critical components such as central control unit devise the redundancy of hardware and power supply，Improve the safety of autonomous driving vehicle.
Description
Technical field
This utility model relates to a kind of intelligent automobile electrical system, especially relates to a kind of centralized architecture controller and the electric intelligent automotive electrical system of power supply redundancy.
Background technology
The research and development of existing electric intelligent automobile are generally based on what pure electric automobile was carried out, and corresponding electrical system is also based on electrical system for pure electric vehicle and develops.But the development trend following due to electric intelligent automobile is steering-by-wire, brake-by-wire and ethernet communication, rather than the most universal mechanical steering, hydraulic braking communicate with CAN, it is therefore desirable to ensure hardware, power and communicate on redundancy.
A kind of electrical system for pure electric vehicle is described by Chinese patent CN102501770A, and electrical system for pure electric vehicle working method is described in greater detail by this electrical system, but does not does the design of redundancy for electric intelligent vehicle control system and line control system.If being still based on original electrical system for pure electric vehicle to develop, then when controller key, critical component or power supply go wrong, it will bring potential safety hazard for car load and passenger.
Utility model content
Defect that the purpose of this utility model is contemplated to overcome above-mentioned prior art to exist and a kind of centralized architecture controller and the electric intelligent automotive electrical system of power supply redundancy are provided.
The purpose of this utility model can be achieved through the following technical solutions:
A kind of centralized architecture controller and the electric intelligent automotive electrical system of power supply redundancy, including the high-tension battery connected each other by electric wiring and battery management system, key switch, power supply unit, intelligent decision and control unit, sensor unit and actuator unit, described high-tension battery and battery management system include battery bag and battery management system, described key switch arranges OFF gear, ACC gear, ON gear and START gear
It is characterized in that, described power supply unit includes main storage battery and booster battery, described main storage battery and booster battery cathode output end bonding, described electric wiring includes high-tension line and low-voltage circuit, low-voltage circuit includes main ACC circuit, auxiliary ACC circuit, ON circuit, START circuit and the normal electric line being connected with main storage battery cathode output end, described main ACC circuit and auxiliary ACC circuit connect intelligence sensor unit respectively, and connect actuator unit respectively；
Described intelligent decision and control unit include the respective main ECU with relay and redundancy ECU, the relay coil of described main ECU and main ACC connection, relay normally open contact is connected with main ACC circuit or normal electric line, the coil of the relay of described redundancy ECU and normally opened contact respectively with auxiliary ACC connection, it is provided with signal transmission passage, the comparison of signal when the two works simultaneously between main ECU and redundancy ECU；
When described key switch is in OFF gear, in electric wiring, each circuit in addition to normal electric line all disconnects with power supply unit, when key switch is in ACC gear, main ACC circuit connects with normal electric line, auxiliary ACC circuit connects with booster battery cathode output end, when key switch is in ON gear, main ACC circuit, ON circuit connects with normal electric line, auxiliary ACC circuit connects with booster battery cathode output end, when key switch is in START gear, main ACC circuit, ON circuit, START circuit connects with normal electric line, auxiliary ACC circuit connects with booster battery cathode output end.
Described steering wheel sensor is connected with steering wheel sensor single-pole double-throw relay, described electronic pedal sensor is connected with electronic pedal sensor single-pole double-throw relay, described steering wheel sensor single-pole double-throw relay and electronic pedal sensor single-pole double-throw relay are the most often connected to main ACC circuit and are controlled by main ACC circuit, when main ACC line voltage distribution is abnormal, automatically switch to assist ACC circuit to ensure steering wheel sensor and the power supply of electronic pedal sensor.
Described actuator unit includes left rear wheel brake actuator, off hind wheel brake actuator, steer motor, the antitheft ciphering unit of parking, the near front wheel brake actuator, off-front wheel brake actuator and redundancy steer motor；
Wherein steer motor and redundancy steer motor are connected one to one with main ACC circuit and auxiliary ACC circuit by respective relay respectively, left rear wheel brake actuator and off hind wheel brake actuator pass through respective relay and auxiliary ACC connection respectively by respective relay and main ACC connection and the near front wheel brake actuator and off-front wheel brake actuator respectively, or left rear wheel brake actuator and off hind wheel brake actuator pass through respective relay and main ACC connection by respective relay with assisting ACC connection and the near front wheel brake actuator and off-front wheel brake actuator respectively respectively, each relay break-make of powering is controlled with control unit by intelligent decision respectively；The antitheft ciphering unit that stops by the antitheft ciphering unit normally closed relay of parking and often electrically connects, and after main ACC circuit powers on, the normally-closed contact of the antitheft ciphering unit normally closed relay that stops disconnects.
Described system also includes automatic Pilot unit, described automatic Pilot unit includes respectively by automatic Pilot unit relay and the photographic head of main ACC connection, vehicle and infrastructure-based communication, GPS and inertial navigation, short distance radar, long away from radar and ultrasonic sensor, and described automatic Pilot unit relay break-make of powering is controlled with control unit by intelligent decision.
Described automatic Pilot unit also includes the remote monitor by automatic Pilot unit relay Yu main ACC connection.
Described system also includes Vehicular charger, described Vehicular charger is provided with charging pile interface, low-voltage output and high-voltage output end, described low-voltage output provides electric energy for the battery management system of high-tension battery with battery management system, described high-voltage output end is to the battery bag charging of high-tension battery with battery management system, and is charged to booster battery and main storage battery by DC-DC converter.
Described system also includes man-machine interaction electronic instrument, and described man-machine interaction electronic instrument is connected to normal electric line, the coil of described man-machine interaction electronic instrument relay and main ACC connection by man-machine interaction electronic instrument relay.
Described electric wiring also includes that high voltage dc bus, described high-tension battery are connected with high voltage safety switch, pre-charge-relay, pre-charge resistance, anode bus D.C. contactor, compressor of air conditioner, DC-DC converter and drive motor controller by high voltage dc bus with battery management system outfan.
Described high-tension battery is connected with high voltage safety switch input anode with battery management system output head anode, and high-tension battery is connected with high voltage safety switch input cathode by negative terminal bus D.C. contactor with battery management system negative pole of output end.
The positive pole output point two-way of described high voltage safety switch, one tunnel is connected to pre-charge-relay and pre-charge resistance, another road is connected to compressor of air conditioner, the input anode of DC-DC converter and the input of anode bus D.C. contactor, and the High voltage output of anode bus D.C. contactor is connected to the electrode input end of drive motor controller；The cathode output end of high voltage safety switch connects the negative input of compressor of air conditioner, DC-DC converter, drive motor controller；DC-DC converter is provided with two groups of outfans, is connected on the input of main storage battery and booster battery respectively.
This utility model electrical system working method is as follows:
[1] stopping for charging work process
External charging staking is to Vehicular charger, the low-voltage supply line of Vehicular charger provides electric energy for the battery management system of high-tension battery with battery management system, after high-tension battery and battery management system self-inspection complete, control the connection of negative terminal bus D.C. contactor, send charging simultaneously and enable message to Vehicular charger, the High voltage output of Vehicular charger begins through the high voltage dc bus battery bag charging to high-tension battery with battery management system, and is charged to booster battery, main storage battery by DC-DC converter.DC-DC converter automatically cuts off and the connection of two batteries after booster battery and main storage battery charging complete, after battery bag charging complete, high-tension battery sends charging complete message with battery management system to Vehicular charger, simultaneously switching off negative terminal bus D.C. contactor, Vehicular charger stops High voltage output.
The antitheft ciphering unit that stops is powered by the normal electric line powered by main storage battery in docking process, support vehicles safety.
[2] key starts work process
Key switch from OFF gear beat to ACC keep off time, the electricity under antitheft ciphering unit that stops quits work, and the whole modules in main ECU, automatic Pilot unit, steering wheel sensor, man-machine interaction electronic instrument, electronic pedal sensor are started working by main ACC line powering；Redundancy ECU is started working by auxiliary ACC line powering.
nullKey switch is when ACC gear to ON keeps off，High-tension battery and battery management system relay、Compressor of air conditioner relay、Drive motor controller relay is connected，High-tension battery and battery management system、Compressor of air conditioner、Drive motor controller is started working，If main ECU and redundancy ECU do not receive high-tension battery and battery management system、The fault-signal of drive motor controller，Then send commands to high-tension battery and close negative terminal bus D.C. contactor with battery management system，Simultaneously close off pre-charge-relay，Current limliting is carried out by pre-charge resistance，It is pre-charged for drive motor controller，Drive motor controller sends and is pre-charged successfully after message，Main ECU and redundancy ECU control anode bus D.C. contactor Guan Bi after comparing，And control pre-charge-relay disconnection，Complete high-pressure section power up.
Key switch switches to START gear from ON gear, after main ECU detection drive motor controller fault-free, control brake actuator relay, steer motor relay, redundancy steer motor relay adhesive, power on for left rear wheel brake actuator, off hind wheel brake actuator, the near front wheel brake actuator, off-front wheel brake actuator, steer motor, redundancy steer motor, brake, drive, turn to all startups, main ECU can be performed and driving instruction that redundancy ECU sends.If unmanned pattern, main ECU controls automatic Pilot unit and powers on.
[3] there is emergency work process
Main storage battery work is abnormal: then redundancy ECU takes over whole wagon control, redundancy ECU sends instruction to drive motor controller and gradually reduces output moment of torsion, steering wheel sensor and electronic pedal sensor automatically switch to assist ACC line powering simultaneously, using redundancy steer motor to turn to, brake actuator only retains two front wheel brake.If manned mode, redundancy ECU points out driver's current vehicle condition, prompting driver to reduce speed and stop nearby by man-machine interaction electronic instrument；If unmanned pattern, then redundancy ECU controls vehicle in roadside stop.
Main ECU detects the message of catastrophe failure, or vehicle collides: the most main ECU sends rapidly reduction output torque command to drive motor controller, cut off the most rapidly negative terminal bus D.C. contactor and anode bus D.C. contactor, driver's current vehicle condition is alerted by man-machine interaction electronic instrument, high voltage safety switch in driver can pull driving cabin if desired, ensures electrically and personal safety.
ECU breaks down: when normally travelling, and main ECU and redundancy ECU carry out identical work, constantly the two are compared the control command of vehicle output, identical, send to controlling network.When finding that a certain ECU breaks down, redundancy ECU is taken over immediately, ensures the safety that car load travels.
Compared with prior art, this utility model has the advantage that
(1) requirement for redundancy of electric intelligent automobile ECU and line control system is solved, power supply unit, intelligent decision in travelling for vehicle devise redundancy with control unit, power by booster battery when main storage battery fault, when main ECU fault, by redundancy ECU adapter system, improve the safety of autonomous driving vehicle.
(2) key switch is improved, remain the convenience that original key switch controls, and can independently control the battery-driven break-make of two-way.
(3) be turning to, brake during vehicle travels, etc. critical component devise hardware redundancy, for being not easy to carry out the critical component such as steering wheel, electronic pedal of hardware redundancy, employing single-pole double-throw relay controls, when main ACC line powering power down, automatically switch to assist ACC circuit to ensure power supply, thus be further ensured that driving safety.
(4) vehicle part is divided into intelligent decision and control unit, intelligence sensor and intelligent actuator three part by centralized architecture, and all controllers concentrate in central authorities' intelligent decision and control unit.Centralized architecture can be substantially reduced overall wire sheaves complexity, increases functional expansionary.
(5) system also includes that automatic Pilot unit, automatic Pilot unit relay break-make of powering is controlled with control unit by intelligent decision, if unmanned pattern, main ECU controls automatic Pilot unit and powers on, and remote monitor can remotely be monitored.
(6) system also includes by normally closed relay and the antitheft ciphering unit of parking often electrically connected, power supply acceptor's ACC circuit of normally closed relay controls, automatically can carry out antitheft to vehicle when stopping, key switch automatically terminates after switching to ACC gear, thus safety when improving parking of automobile.
(7) system also includes that system also includes, by relay and the man-machine interaction electronic instrument often electrically connected, pointing out driver's current vehicle condition.
Accompanying drawing explanation
Fig. 1 is this utility model electrical system architecture schematic diagram；
Fig. 2 is this utility model electrical system key switch principle schematic；
Reference:
1 high-tension battery and battery management system；2 negative terminal bus D.C. contactors；3 high voltage safety switchs；4 pre-charge-relay；5 pre-charge resistances；6 anode bus D.C. contactors；7 high-tension batteries and battery management system relay；8 Vehicular chargers；9 compressors of air conditioner；10 DC DC changers；11 booster batteries；12 main storage batterys；13 drive motor controller；14 compressor of air conditioner relays；15 drive motor controller relays；16 key switches；17 main ECU；18 redundancies ECU；19 steering wheel sensor single-pole double-throw relay；20 steering wheel sensors；21 man-machine interaction electronic instrument relays；22 man-machine interaction electronic instruments；23 left rear wheel brake actuator relays；24 left rear wheel brake actuators；25 off hind wheel brake actuator relays；26 off hind wheel brake actuators；27 steer motor relays；28 steer motor；29 electronic pedal sensor single-pole double-throw relay；30 electronic pedal sensors；The 31 antitheft ciphering unit relays of parking；The 32 antitheft ciphering units of parking；33 the near front wheel brake actuator relays；34 the near front wheel brake actuators；35 off-front wheel brake actuator relays；36 off-front wheel brake actuators；37 redundancy steer motor relays；38 redundancy steer motor；39 automatic Pilot unit relays；40 photographic head；41 vehicles and infrastructure-based communication；42 GPS and inertial navigation；43 short distance radars；44 is long away from radar；45 ultrasonic sensors；46 remote monitors；U1 intelligent decision and control unit；U2 sensor unit；U3 actuator unit；G1 OFF keeps off；G2 ACC keeps off；G3 ON keeps off；G4 START keeps off；The normal electric line of L1；L21 12V main ACC1 circuit；L22 12V assists ACC2 circuit L22；L3 ON circuit；L4 START circuit；No. 1 end of A-two-way low tension battery positive pole；No. 2 ends of B-two-way low tension battery positive pole.
Detailed description of the invention
With specific embodiment, this utility model is described in detail below in conjunction with the accompanying drawings.The present embodiment is implemented premised on technical solutions of the utility model, gives detailed embodiment and concrete operating process, but protection domain of the present utility model is not limited to following embodiment.
Embodiment
nullAs shown in Figure 1，The utility model discloses a kind of centralized architecture controller and the electric intelligent automotive electrical system of power supply redundancy，Including high-tension battery and battery management system 1、Negative terminal bus D.C. contactor 2、High voltage safety switch 3、Pre-charge-relay 4、Pre-charge resistance 5、Anode bus D.C. contactor 6、High-tension battery and battery management system relay 7、Vehicular charger 8、Compressor of air conditioner 9、DC-DC converter 10、Booster battery 11、Main storage battery 12、Drive motor controller 13、Compressor of air conditioner relay 14、Drive motor controller relay 15、Key switch 16、Main ECU17、Redundancy ECU18、Steering wheel sensor single-pole double-throw relay 19、Steering wheel sensor 20、Man-machine interaction electronic instrument relay 21、Man-machine interaction electronic instrument 22、Left rear wheel brake actuator relay 23、Left rear wheel brake actuator 24、Off hind wheel brake actuator relay 25、Off hind wheel brake actuator 26、Steer motor relay 27、Steer motor 28、Electronic pedal sensor single-pole double-throw relay 29、Electronic pedal sensor 30、Stop antitheft ciphering unit relay 31、Stop antitheft ciphering unit 32、The near front wheel brake actuator relay 33、The near front wheel brake actuator 34、Off-front wheel brake actuator relay 35、Off-front wheel brake actuator 36、Redundancy steer motor relay 37、Redundancy steer motor 38、Automatic Pilot unit relay 39、Photographic head 40、Vehicle and infrastructure-based communication 41、GPS and inertial navigation 42、Short distance radar 43、Long away from radar 44、Ultrasonic sensor 45 and remote monitor 46；
The high voltage dc bus positive pole of high-tension battery and battery management system 1 accesses to the input anode of high voltage safety switch 3, and high voltage dc bus negative pole accesses to the input negative terminal of high voltage safety switch 3 by negative terminal bus D.C. contactor 2；Vehicular charger 8 has two-way output, and a road low pressure is output as the battery management system of high-tension battery and battery management system 1 and powers, and another road High voltage output is high-tension battery and the battery bag of battery management system 1 charges；The positive pole output point two-way of high voltage safety switch 3, one tunnel is connected to pre-charge-relay 4 and pre-charge resistance 5, another road is connected to compressor of air conditioner 9, the input anode of DC-DC converter 10 and the input of anode bus D.C. contactor 6, and the High voltage output of anode bus D.C. contactor 6 is connected to the electrode input end of drive motor controller 13；The cathode output end of high voltage safety switch 3 connects compressor of air conditioner 9, DC-DC converter 10, the negative input of drive motor controller 13；DC-DC converter 10 two-way output altogether, is connected on main storage battery 12 and the positive-negative input end of booster battery 11 respectively；
In figure, heavy line is high voltage cable, and fine line is type low-voltage cable, and dotted line is for controlling cable.
As in figure 2 it is shown, described key switch 16 can control the i.e. 12V of main ACC1 circuit main ACC1 circuit L21 and the break-make of auxiliary ACC circuit i.e. 12V auxiliary ACC2 two low-voltage circuits of circuit L22 simultaneously；
The output plus terminal of main storage battery 12 is connected to normal electric line L1 of low-pressure section, and the two-way low tension battery positive pole 2 end B just terminating at key switch 16 of booster battery 11, two-way low tension battery positive pole 1 end A is connected with normal electric line L1；Main storage battery 12 and the minus earth of booster battery 11；Key switch 16 four keeps off totally, and wherein ACC gear G2 controls booster battery 11 positive pole and the 12V auxiliary connection of ACC2 circuit L22, main storage battery 12 positive pole and the connection of 12V main ACC1 circuit L21；ON gear G3 controls the connection of main storage battery 12 positive pole and ON circuit L3；START gear G4 controls the connection of main storage battery 12 positive pole and START circuit L4；When key switch 16 is in OFF gear G1, described 12V main ACC1 circuit L21,12V auxiliary ACC2 circuit L22, ON circuit L3, START circuit L4 disconnects with main storage battery 12 positive pole；
Main ECU17 is provided with two; carry out different work respectively; corresponding redundancy ECU18 of each main ECU17; each main ECU17 is connected with normal electric line L1 and auxiliary ACC circuit by respective relay (including coil and normally opened contact) with redundancy ECU18; the connection that main ECU17 powers is controlled by 12V main ACC1 circuit L21; the connection that redundancy ECU18 is powered is controlled by 12V auxiliary ACC2 circuit L22; relay is a kind of switch automatically going to control the running of big electric current with small area analysis, play in circuit be automatically adjusted, safeguard protection, the effect such as change-over circuit.
It is provided with signal transmission passage, in order to the correctness of comparison decision signal between main ECU and respective redundancy ECU.
Automatic Pilot unit includes that photographic head 40, vehicle and infrastructure-based communication 41, GPS and inertial navigation 42, short distance radar 43, length are away from radar 44, ultrasonic sensor 45, low-voltage power supply is connected by automatic Pilot unit relay 39 ACC1 main with 12V circuit L21, automatic Pilot unit relay 39 is controlled with control unit U1 by intelligent decision, can control, with control unit U1, the break-make that automatic Pilot unit is powered by intelligent decision；
Actuator unit U3 includes left rear wheel brake actuator 24, off hind wheel brake actuator 26, steer motor 28, stop antitheft ciphering unit 32, the near front wheel brake actuator 34, off-front wheel brake actuator 36 and redundancy steer motor 38, the near front wheel brake actuator 34 is connected to 12V by the near front wheel brake actuator relay 33 and assists ACC2 circuit L22, and off-front wheel brake actuator 36 is connected to 12V by off-front wheel brake actuator relay 35 and assists ACC2 circuit L22；Left rear wheel brake actuator 24 is connected to 12V main ACC1 circuit L21 by left rear wheel brake actuator relay 23, and off hind wheel brake actuator 26 is connected to 12V main ACC1 circuit L21 by off hind wheel brake actuator relay 25；The power supply break-make of the near front wheel brake actuator relay 33, off-front wheel brake actuator relay 35, left rear wheel brake actuator relay 23 and off hind wheel brake actuator relay 25 is controlled with control unit U1 by intelligent decision respectively；
Steer motor 28 is by being connected to 12V main ACC1 circuit L21, redundancy steer motor 38 is connected to 12V by redundancy steer motor relay 37 and assists ACC2 circuit L22, and steer motor relay 27 and redundancy steer motor relay 37 break-make of powering is controlled with control unit U1 by intelligent decision respectively；
Steering wheel sensor 20, man-machine interaction electronic instrument 22 and electronic pedal sensor 30 belong to sensor unit U2, and steering wheel sensor 20 is connected by steering wheel sensor single-pole double-throw relay 19 ACC1 main with 12V circuit L21 and 12V auxiliary ACC2 circuit L22；Electronic pedal sensor 30 is connected by electronic pedal sensor single-pole double-throw relay 29 ACC1 main with 12V circuit L21 and 12V auxiliary ACC2 circuit L22；Single-pole double-throw relay 19,29 is often connected to 12V main ACC1 circuit L21 and is controlled by 12V main ACC1 circuit L21, when 12V main ACC1 circuit L21 voltage is abnormal, switches to 12V auxiliary ACC2 circuit L22 automatically by single-pole double-throw relay and ensure steering wheel sensor 20 and the power supply of electronic pedal sensor 30；
Man-machine interaction electronic instrument 22 is connected to normal electric line L1 by relay, and relay is controlled break-make by 12V main ACC1 circuit L21；
Stop antitheft ciphering unit 32 by stopping antitheft ciphering unit normally closed relay 31 and often electrically connecting.When 12V main ACC1 circuit L21 does not powers on, i.e. vehicle is in dead ship condition, and the antitheft ciphering unit normally closed relay 31 that stops is in closure state, and the antitheft ciphering unit 32 that stops powers on.After key switch switches to ACC gear G2, the antitheft ciphering unit normally closed relay 31 that stops disconnects, and stop 32 times electricity of antitheft ciphering unit.
This utility model electrical system working method is as follows:
(1) stopping for charging work process
External charging staking is to Vehicular charger 8, the low-voltage supply line of Vehicular charger 8 provides electric energy for the battery management system of high-tension battery with battery management system 1, after high-tension battery and battery management system 1 self-inspection complete, control negative terminal bus D.C. contactor 2 to connect, send charging simultaneously and enable message to Vehicular charger 8, the High voltage output of Vehicular charger 8 begins through the high voltage dc bus battery bag charging to high-tension battery with battery management system 1, and is charged to booster battery 11, main storage battery 12 by DC-DC converter 10.DC-DC converter 10 automatically cuts off and the connection of two batteries after booster battery 11 and main storage battery 12 charging complete, after battery bag charging complete, high-tension battery sends charging complete message to Vehicular charger 8 with battery management system 1, simultaneously switching off negative terminal bus D.C. contactor 2, Vehicular charger 8 stops High voltage output.
The antitheft ciphering unit 32 that stops is powered by normal electric line L1 powered by main storage battery 12 in docking process, support vehicles safety.
(2) key starts work process
Key switch 16 is when OFF gear G1 beats to ACC gear G2, the 32 times electricity of antitheft ciphering unit that stop quit work, and the whole modules in main ECU17, automatic Pilot unit, steering wheel sensor 20, man-machine interaction electronic instrument 22, electronic pedal sensor 30 are started working by main ACC line powering；Redundancy ECU18 is started working by auxiliary ACC line powering.
nullKey switch 16 is when ACC gear G2 to ON keeps off G3，High-tension battery and battery management system relay 7、Compressor of air conditioner relay 14、Drive motor controller relay 15 is connected，High-tension battery and battery management system 1、Compressor of air conditioner 9、Drive motor controller 13 is started working，If main ECU17 and redundancy ECU18 do not receive high-tension battery and battery management system 1、The fault-signal of drive motor controller 13，Then send commands to high-tension battery and close negative terminal bus D.C. contactor 2 with battery management system 1，Simultaneously close off pre-charge-relay 4，Current limliting is carried out by pre-charge resistance 5，It is pre-charged for drive motor controller 13，Drive motor controller 13 sends and is pre-charged successfully after message，Main ECU17 and redundancy ECU18 control anode bus D.C. contactor 6 after comparing and close，And control pre-charge-relay 4 disconnects，Complete high-pressure section power up.
Key switch 16 switches to START from ON gear G3 and keeps off G4, after main ECU17 detection drive motor controller 13 fault-free, control the near front wheel brake actuator relay 33, off-front wheel brake actuator relay 35, left rear wheel brake actuator relay 23 and off hind wheel brake actuator relay 25, steer motor relay 27, redundancy steer motor relay 37 adhesive, for left rear wheel brake actuator 24, off hind wheel brake actuator 26, the near front wheel brake actuator 34, off-front wheel brake actuator 36, steer motor 28, redundancy steer motor 38 powers on, braking, drive, turn to all startups, main ECU17 can be performed and driving instruction that redundancy ECU18 sends.If unmanned pattern, main ECU17 controls automatic Pilot unit and powers on.
(3) there is emergency work process
Main storage battery 12 works abnormal: then redundancy ECU18 takes over whole wagon control, redundancy ECU18 sends instruction to drive motor controller 13 and gradually reduces output moment of torsion, steering wheel sensor 20 and electronic pedal sensor 30 automatically switch to assist ACC line powering simultaneously, using redundancy steer motor 38 to turn to, brake actuator only retains the near front wheel brake actuator 34 and off-front wheel brake actuator 36.If manned mode, redundancy ECU18 is pointed out driver current vehicle condition by man-machine interaction electronic instrument 22, is pointed out driver to reduce speed and stop nearby；If unmanned pattern, then redundancy ECU18 controls vehicle in roadside stop.
Main ECU17 detects the message of catastrophe failure, or vehicle collides: the most main ECU17 sends rapidly reduction output torque command to drive motor controller 13, cut off the most rapidly negative terminal bus D.C. contactor 2 and anode bus D.C. contactor 6, driver's current vehicle condition is alerted by man-machine interaction electronic instrument 22, high voltage safety switch 3 in driver can pull driving cabin if desired, ensures electrically and personal safety.
ECU breaks down: when normally travelling, and main ECU17 and redundancy ECU18 carry out identical work, constantly the two are compared the control command of vehicle output, identical, send to controlling network.When finding that a certain ECU breaks down, redundancy ECU is taken over immediately, ensures the safety that car load travels.
Superior effect of the present utility model is: solve the requirement for redundancy of electric intelligent automobile ECU and line control system, the critical components such as turning to, brake in travelling for vehicle, central control unit devise the redundancy of hardware and power supply, improve the safety of autonomous driving vehicle；For being not easy to carry out the critical component such as steering wheel, electronic pedal of hardware redundancy, use single-pole double-throw relay to control, when main 12V powers power down, automatically switch to assist 12V to ensure power supply；Key switch is improved, remains the convenience that original key switch controls, and can independently control the break-make that two-way 12V powers.
Claims (10)
1. a centralized architecture controller and the electric intelligent automotive electrical system of power supply redundancy, including the high-tension battery connected each other by electric wiring and battery management system (1), key switch (16), power supply unit, intelligent decision and control unit, sensor unit and actuator unit, described high-tension battery and battery management system (1) include battery bag and battery management system, described key switch (16) arranges OFF gear, ACC gear, ON gear and START gear
It is characterized in that, described power supply unit includes main storage battery (12) and booster battery (11), described main storage battery (12) and booster battery (11) cathode output end bonding, described electric wiring includes main ACC circuit, auxiliary ACC circuit, ON circuit, START circuit and the normal electric line being connected with main storage battery (12) cathode output end, described main ACC circuit and auxiliary ACC circuit connect intelligence sensor unit respectively, and connect actuator unit respectively；
Described intelligent decision and control unit include the respective main ECU (17) with relay and redundancy ECU (18), the relay coil of described main ECU (17) and main ACC connection, relay normally open contact is connected with main ACC circuit or normal electric line, the coil of the relay of described redundancy ECU (18) and normally opened contact respectively with auxiliary ACC connection, it is provided with signal transmission passage, the comparison of signal when the two works simultaneously between main ECU (17) and redundancy ECU (18)；
When described key switch (16) is in OFF gear, in electric wiring, each circuit in addition to normal electric line all disconnects with power supply unit, when key switch (16) is in ACC gear, main ACC circuit connects with normal electric line, auxiliary ACC circuit connects with booster battery (11) cathode output end, when key switch (16) is in ON gear, main ACC circuit, ON circuit connects with normal electric line, auxiliary ACC circuit connects with booster battery (11) cathode output end, when key switch (16) is in START gear, main ACC circuit, ON circuit, START circuit connects with normal electric line, auxiliary ACC circuit connects with booster battery (11) cathode output end.
A kind of centralized architecture controller the most according to claim 1 and the electric intelligent automotive electrical system of power supply redundancy, it is characterized in that, described sensor unit includes steering wheel sensor (20) and electronic pedal sensor (30), described steering wheel sensor (20) and electronic pedal sensor (30) are respectively by respective single-pole double-throw relay and main ACC circuit and auxiliary ACC connection, described single-pole double-throw relay is often connected to main ACC circuit and is controlled by main ACC circuit, when main ACC line voltage distribution is abnormal, automatically switch to assist ACC circuit to ensure steering wheel sensor (20) and the power supply of electronic pedal sensor (30).
A kind of centralized architecture controller the most according to claim 1 and the electric intelligent automotive electrical system of power supply redundancy, it is characterized in that, described actuator unit includes left rear wheel brake actuator (24), off hind wheel brake actuator (26), steer motor (28), the antitheft ciphering unit (32) that stops, the near front wheel brake actuator (34), off-front wheel brake actuator (36) and redundancy steer motor (38)；
nullWherein steer motor (28) and redundancy steer motor (38) are connected one to one with main ACC circuit and auxiliary ACC circuit by respective relay respectively，Left rear wheel brake actuator (24) and off hind wheel brake actuator (26) pass through respective relay and auxiliary ACC connection respectively by respective relay and main ACC connection and the near front wheel brake actuator (34) and off-front wheel brake actuator (36) respectively，Or left rear wheel brake actuator (24) and off hind wheel brake actuator (26) pass through respective relay and main ACC connection by respective relay with assisting ACC connection and the near front wheel brake actuator (34) and off-front wheel brake actuator (36) respectively respectively，Each relay break-make of powering is controlled with control unit by intelligent decision respectively；The antitheft ciphering unit (32) that stops by the antitheft ciphering unit normally closed relay (31) of parking and often electrically connects, and after main ACC circuit powers on, the normally-closed contact of antitheft ciphering unit normally closed relay (31) of stopping disconnects.
A kind of centralized architecture controller the most according to claim 1 and the electric intelligent automotive electrical system of power supply redundancy, it is characterized in that, described system also includes automatic Pilot unit, described automatic Pilot unit includes the photographic head (40) passing through automatic Pilot unit relay (39) and main ACC connection respectively, vehicle and infrastructure-based communication (41), GPS and inertial navigation (42), short distance radar (43), long away from radar (44) and ultrasonic sensor (45), described automatic Pilot unit relay (39) power supply break-make is controlled with control unit by intelligent decision.
A kind of centralized architecture controller the most according to claim 4 and the electric intelligent automotive electrical system of power supply redundancy, it is characterized in that, described automatic Pilot unit also includes the remote monitor (46) by automatic Pilot unit relay (39) Yu main ACC connection.
A kind of centralized architecture controller the most according to claim 1 and the electric intelligent automotive electrical system of power supply redundancy, it is characterized in that, described system also includes Vehicular charger (8), described Vehicular charger (8) is provided with charging pile interface, low-voltage output and high-voltage output end, described low-voltage output is the battery management system offer electric energy of high-tension battery and battery management system (1), described high-voltage output end is to the battery bag charging of high-tension battery with battery management system (1), and charge to booster battery (11) and main storage battery (12) by DC-DC converter (10).
A kind of centralized architecture controller the most according to claim 1 and the electric intelligent automotive electrical system of power supply redundancy, it is characterized in that, described system also includes man-machine interaction electronic instrument (22), described man-machine interaction electronic instrument (22) is connected to normal electric line, the coil of described man-machine interaction electronic instrument relay (21) and main ACC connection by man-machine interaction electronic instrument relay (21).
A kind of centralized architecture controller the most according to claim 1 and the electric intelligent automotive electrical system of power supply redundancy, it is characterized in that, described electric wiring also includes that high voltage dc bus, described high-tension battery are connected with high voltage safety switch (3), pre-charge-relay (4), pre-charge resistance (5), anode bus D.C. contactor (6), compressor of air conditioner (9), DC-DC converter (10) and drive motor controller (13) by high voltage dc bus with battery management system (1) outfan.
A kind of centralized architecture controller the most according to claim 8 and the electric intelligent automotive electrical system of power supply redundancy, it is characterized in that, described high-tension battery is connected with high voltage safety switch (3) input anode with battery management system (1) output head anode, and high-tension battery is connected with high voltage safety switch (3) input cathode by negative terminal bus D.C. contactor (2) with battery management system (1) negative pole of output end.
A kind of centralized architecture controller the most according to claim 8 and the electric intelligent automotive electrical system of power supply redundancy, it is characterized in that, the positive pole output point two-way of described high voltage safety switch (3), one tunnel is connected to pre-charge-relay (4) and pre-charge resistance (5), another road is connected to compressor of air conditioner (9), the input anode of DC-DC converter (10), and the input of anode bus D.C. contactor (6), the High voltage output of anode bus D.C. contactor (6) is connected to the electrode input end of drive motor controller (13)；The cathode output end of high voltage safety switch (3) connects compressor of air conditioner (9), DC-DC converter (10), the negative input of drive motor controller (13)；DC-DC converter (10) is provided with two groups of outfans, is connected on main storage battery (12) and the input of booster battery (11) respectively.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105857102A (en) * | 2016-04-08 | 2016-08-17 | 同济大学 | Electrical system of electric intelligent vehicle, for centralized architecture controller and electricity supply redundancy |
| CN108638868A (en) * | 2018-06-28 | 2018-10-12 | 南京恒天领锐汽车有限公司 | A kind of New Low Voltage power control box |
| CN110678375A (en) * | 2017-06-05 | 2020-01-10 | 日立汽车***株式会社 | Vehicle control device and vehicle control system |
| CN112714711A (en) * | 2018-09-18 | 2021-04-27 | 克诺尔商用车制动***有限公司 | System and method for providing redundant power |
| CN112867634A (en) * | 2018-09-10 | 2021-05-28 | 株式会社自动网络技术研究所 | Distribution branch box |
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2016
- 2016-04-08 CN CN201620289652.6U patent/CN205706212U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105857102A (en) * | 2016-04-08 | 2016-08-17 | 同济大学 | Electrical system of electric intelligent vehicle, for centralized architecture controller and electricity supply redundancy |
| CN110678375A (en) * | 2017-06-05 | 2020-01-10 | 日立汽车***株式会社 | Vehicle control device and vehicle control system |
| CN110678375B (en) * | 2017-06-05 | 2022-09-16 | 日立安斯泰莫株式会社 | Vehicle control device and vehicle control system |
| CN108638868A (en) * | 2018-06-28 | 2018-10-12 | 南京恒天领锐汽车有限公司 | A kind of New Low Voltage power control box |
| CN112867634A (en) * | 2018-09-10 | 2021-05-28 | 株式会社自动网络技术研究所 | Distribution branch box |
| CN112714711A (en) * | 2018-09-18 | 2021-04-27 | 克诺尔商用车制动***有限公司 | System and method for providing redundant power |
| US11804727B2 (en) | 2018-09-18 | 2023-10-31 | Knorr-Bremse Systeme Fuer Nutzfahrzeuge Gmbh | System and method for providing redundant electric power |
| CN112714711B (en) * | 2018-09-18 | 2024-02-20 | 克诺尔商用车制动***有限公司 | System and method for providing redundant power |
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