CN221239204U - Control device for automatic driving of vehicle - Google Patents

Abstract

The utility model discloses a control device for automatic driving of a vehicle, which comprises: an autopilot power switch for starting or stopping an autopilot function; the bottom layer controller is respectively connected with the automatic driving power switch and the automatic driving equipment; the power-down module is used for controlling the start and stop of power supply through the bottom layer controller; the automatic driving main relay is connected with the power-down module and the automatic driving power switch at the coil end, when the power-down module is stopped to supply power, the coil end stops supplying power to the contact end of the power-down module, so that the automatic driving main relay is turned off, wherein the bottom layer controller outputs a control signal to the automatic driving equipment when the automatic driving power switch is turned off, and stops supplying power to the power-down module after receiving a feedback signal from the automatic driving equipment. The device can prevent the problems of data loss and the like, thereby guaranteeing the safety and stability of vehicle driving, being capable of being rapidly deployed on the vehicle, and having lower cost and stable performance.

Description

Control device for automatic driving of vehicle

Technical Field

The utility model relates to the field of power supply systems and power supply redundancy design for automatic driving.

Background

The development of strong computing power has changed the understanding of embedded system ECU's by people, requiring increasingly high computing power for the autopilot field.

Most of the existing L4-level automatic driving vehicles are additionally provided with devices such as a laser radar, a millimeter wave sensor, a camera, a domain controller and the like on the basis of the existing prototype vehicle; the power of the whole automatic driving equipment is large, the power demand of the automatic driving equipment is not considered in the power supply of the prototype car, and only a single power supply system is provided, so that when the system cannot provide power due to faults, the sensing and decision-making components of the automatic driving such as the millimeter wave radar, the camera, the laser radar and the autonomous controller cannot work normally due to power failure. In addition, the throttle-by-wire, steering and braking systems also lose energy support, resulting in the vehicle being in an out of control condition throughout the autonomous driving mode.

In this case, serious accidents may occur if there is no backup power or other emergency mechanism to ensure that the car continues to run. Therefore, the design of the power supply system for automatic driving needs to be handled surely in the design and development, multiple safety strategies are considered, and the power supply system can respond in time and take appropriate measures in any situation so as to ensure the stable operation of the vehicle and the automatic driving system.

The prior art scheme is mostly to directly take electricity from the storage battery end of the vehicle, and control the automatic driving power supply through an automatic driving power switch and an automatic driving main relay.

Referring to fig. 1, a control device for an autopilot function provided by a prior art solution is shown.

The drawbacks of this solution are as follows:

① The automatic driving power switch takes normal electricity of the battery, and under the condition that the vehicle is flameout and forgets to turn off the switch, the battery is deficient;

② Lack of power redundancy design;

③ Lack of a delayed power-on design;

④ Lack of a delayed power down design;

⑤ Lack of lead-acid battery anti-power shortage design;

⑥ Lack of a voltage stabilizing design.

Therefore, for the vehicles with the automatic driving equipment installed on the fuel vehicles and the new energy vehicles, it is necessary to provide a complete design scheme of the automatic driving power supply system, wherein the scheme adopts a power redundancy scheme, can ensure the stable and reliable power supply of the automatic driving system, has the functions of delayed power-on and delayed power-off, and avoids the system faults caused by the power-on and power-off processes.

Disclosure of utility model

In order to solve at least one of the problems in the prior art described above, the present utility model provides a control device for automatic driving of a vehicle, comprising:

an autopilot power switch for starting or stopping an autopilot function;

The bottom layer controller is respectively connected with the automatic driving power switch and the automatic driving equipment;

The power-down module is used for controlling the start and stop of power supply through the bottom layer controller;

An automatic driving main relay, the coil end of which is connected with the power-down module and the automatic driving power switch, when the power-down module is stopped to supply power, the coil end stops supplying power to the contact end thereof, so that the automatic driving main relay is turned off,

The bottom layer controller outputs a control signal to the automatic driving equipment when the automatic driving power switch is turned off, and stops supplying power to the power-down module after receiving a feedback signal from the automatic driving equipment.

The power supply device for the automatic driving of the vehicle can enable related programs operated by an automatic driving system to obtain a soft shutdown process, and can not directly cut off power supply when the automatic driving function of the vehicle is finished, so that the problems of data loss, overlarge virtual space of a hard disk and the like can be prevented, and the safety and the stability of the driving of the vehicle are ensured. Especially, when the related automatic driving equipment is needed to be added to the existing vehicle without the automatic driving function, the power supply problem of the newly added automatic driving equipment is considered, and the normal operation of the automatic driving equipment can be still maintained in the power-off state.

In some embodiments of the present utility model, the power-down module is a time-lapse power-down relay, the bottom layer controller is connected in series with a coil end of the time-lapse power-down relay, and a coil end of the automatic driving main relay is connected in series with a contact end of the time-lapse power-down relay. The power-down module is constructed into the electromagnetic relay, so that the stability is high and the cost is low.

In some embodiments of the present utility model, the power-on control device further comprises a delay power-on module, wherein one end of the delay power-on module is connected with the automatic driving power switch, the other end of the delay power-on module is connected with a coil end of the automatic driving main relay, and the automatic driving main relay is controlled to be turned on through the coil end of the automatic driving main relay when the automatic driving power switch is turned on. This embodiment may avoid interaction between power-up of the autopilot system and vehicle start-up.

In some embodiments of the utility model, the autopilot power switch is connected to an ignition circuit in the generator power supply of the vehicle, wherein the ignition circuit is controlled by the vehicle to output an electrical signal and the ignition circuit stops outputting the electrical signal when the vehicle is turned off.

In the above embodiment, the bottom layer controller is in communication connection with the generator power supply of the vehicle and performs CAN communication, and if the bottom layer controller does not receive a CAN message related to automatic driving after the vehicle is flameout for a predetermined period of time, power supply to the coil end of the delay power-down relay is stopped. This embodiment can prevent and alleviate the power shortage phenomenon of the battery due to long-time discharge.

In the above embodiment, the predetermined period of time is 10 seconds to 15 seconds.

In some embodiments of the utility model, a backup power source for the autopilot function is also included.

In some embodiments of the utility model, the backup power source is a 12V/24V lead acid battery.

In some embodiments of the present utility model, the vehicle is a fuel vehicle, and the control device for automatic driving of the vehicle further includes a voltage stabilizing module, one end of which is connected to the automatic driving device, and the other end of which is connected to a contact terminal of the automatic driving main relay, for stabilizing a supply voltage for automatic driving, and storing a certain amount of electric energy.

In some embodiments of the utility model, the vehicle is a new energy vehicle, and the control device for vehicle autopilot further comprises a DC/DC converter connected to the backup power source and to the contact terminals of the autopilot main relay for supplementing the power of the DC/DC converter in the vehicle to stabilize the voltage.

The control device for automatic driving of the vehicle can realize the delay power-down requirement required by the automatic driving function with lower cost, and has high safety and strong stability. Moreover, the utility model considers the problem of matching between the power requirements of the original vehicle power supply system and the whole automatic driving equipment when equipment related to automatic driving is added on the basis of the existing prototype vehicle. Meanwhile, the device can be rapidly deployed on a vehicle, and has the advantages of low cost, stable performance and wide applicability.

Drawings

Fig. 1 is a schematic configuration diagram of a control device for automatic driving of a vehicle in the related art.

Fig. 2 is a schematic structural view of a control device for automatic driving of a vehicle according to an embodiment of the present utility model.

Fig. 3 is a schematic structural view of a control device for automatic driving of a vehicle according to another embodiment of the present utility model.

Fig. 4a is a schematic circuit diagram of a power supply system including a control device for automatic driving of a fuel vehicle according to an embodiment of the present utility model.

Fig. 4b is a schematic circuit diagram of a power supply system including a control device for automatic driving of a new energy vehicle according to an embodiment of the present utility model.

Detailed Description

In order to make the objects, technical solutions and advantages of the present utility model more apparent, the present utility model will be described in further detail with reference to the accompanying drawings and specific embodiments. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present utility model may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the utility model to those skilled in the art.

The present utility model provides a mobile tool, which can be a vehicle or a robot with various functions as follows:

(1) Manned functions such as home cars, buses, etc.;

(2) Cargo functions such as common trucks, van type trucks, swing trailers, closed trucks, tank trucks, flatbed trucks, container trucks, dump trucks, special structure trucks, and the like;

(3) Tool functions such as logistics distribution vehicles, automated guided vehicles, patrol vehicles, cranes, excavators, bulldozers, shovels, road rollers, loaders, off-road engineering vehicles, armored engineering vehicles, sewage treatment vehicles, sanitation vehicles, dust collection vehicles, floor cleaning vehicles, watering vehicles, sweeping robots, meal delivery robots, shopping guide robots, welcome robots, disinfection robot lawnmowers, golf carts, and the like;

(4) Entertainment functions such as recreational vehicles, casino autopilots, balance cars, etc.;

(5) Special rescue functions such as fire trucks, ambulances, electric power emergency vehicles, engineering emergency vehicles and the like.

Vehicles or robots having the above functions include, but are not limited to, vehicles or robotic devices of the L0-L5 autopilot technology class formulated by the International Association of automaton engineers (Society of Automotive Engineers International, SAE International) or the national Standard for automotive Automation classification in China.

The moving tool provided by the utility model can be provided with an autopilot domain controller and various sensors (including but not limited to a laser radar, a camera, a millimeter wave radar, an ultrasonic radar, an inertia measuring unit, a wheel speed meter and the like) for sensing environment information and information of the moving tool, wherein the autopilot domain controller is in communication connection with various sensors, and performs path planning for the moving tool according to the environment information acquired by the sensors and the information of the moving tool, so that the purpose of controlling the moving tool to automatically run is achieved.

In the mobile tool, the automatic driving domain controller and the various sensors are in communication connection with the control device for automatic driving of the vehicle.

Referring to fig. 2, a schematic structural diagram of a control device 100 for vehicle autopilot according to an embodiment of the present utility model is shown. As shown in fig. 2, the control device 100 for vehicle autopilot provided by the present utility model mainly includes an autopilot power switch 101, an underlying controller 102, a power-down module 103, and an autopilot main relay 104.

Wherein the opening or closing of the autopilot power switch 101 is used to start or stop the autopilot function of the moving tool.

The floor controller 102 is connected to the autopilot power switch 101 and is communicatively connected to the autopilot unit 200.

The power-down module 103 is connected with the bottom layer controller 102 and controls the start and stop of power supply through the bottom layer controller 102.

The coil end of the autonomous driving main relay 104 is connected to the power-down module 103 and the autonomous driving power switch 101, and when the power-down module 103 is stopped, the coil end of the autonomous driving main relay 104 stops supplying power to the contact end thereof, so that the autonomous driving main relay 104 is turned off.

Wherein, the bottom layer controller 102 receives the power-down signal from the automatic driving power switch 101 and outputs a signal to the automatic driving device 200 when the automatic driving power switch 101 is turned off, and stops the power supply to the power-down module 103 after receiving the feedback signal from the automatic driving device 200.

The circuit structure can provide a complete design scheme of the automatic driving power supply system, can ensure stable and reliable power supply of the automatic driving system, and avoids system faults caused by the power-on and power-off processes.

It will be appreciated by those skilled in the art that the automatic driving main relay for automatic driving control of the vehicle in the above-described embodiment is an electromagnetic relay, but may be other electronic devices as long as it is arranged so as to be able to realize the function of the automatic driving main relay in the present embodiment as well. For example, the device may be a conventional electronic switching device, the enable terminal (also called the control terminal) of which corresponds to the contact terminal of the relay, and the output terminal corresponds to the coil terminal of the relay. Those skilled in the art will be able to make corresponding modifications or variations of the device provided by the present utility model, depending on the principle and construction of the electronic switching device used.

In some embodiments, the power down module 103 may be a relay for time-lapse power down, with the underlying controller 102 connected in series with the coil end of the time-lapse power down relay and the coil end of the autonomous main relay 104 connected in series with the contact end of the time-lapse power down relay.

By constructing the power-down module in the form of an electromagnetic relay, the function of time-lapse power-down can be realized at a low cost, and the stability is high because the device involved is only a relay.

Optionally, the control device for vehicle autopilot may further include a delayed power-up module 105. One end of the delay power-on module 105 is connected with the autopilot power switch 101, the other end is connected with a coil end of the autopilot main relay 104, and when the autopilot power switch 101 is turned on, the autopilot main relay 104 is controlled to be turned on through the coil end of the autopilot main relay 104.

For example, referring to fig. 3, a schematic structural diagram of a control device for automatic driving of a vehicle according to another embodiment of the present utility model is shown. The device is added with a delay power-on module 105 compared with fig. 2, wherein the delay power-on module is connected with an automatic driving power switch 101 and an automatic driving main relay 104. When the autopilot power switch 101 is turned on, the power-on module 105 outputs the power supply voltage to the coil end of the autopilot main relay 104 after a time delay, thereby realizing the time delay power-on of the whole autopilot system.

In some embodiments, the autopilot power switch 101 is connected to an ignition circuit in the vehicle generator power supply that is controlled by the vehicle to output an electrical signal, and the ignition circuit stops outputting the electrical signal when the vehicle is turned off.

Alternatively, the bottom layer controller 102 may be communicatively connected to the vehicle generator power supply and in CAN communication, and if the bottom layer controller 102 does not receive a CAN message related to autopilot after a predetermined period of time has elapsed after the vehicle has been turned off, power to the coil end of the delay power down relay is stopped.

With this embodiment, it is possible to prevent the battery of the vehicle from being discharged for a long time after the vehicle has been turned off due to the operator forgetting to turn off the battery, and the like, from causing a power shortage phenomenon.

Preferably, the predetermined period of time is 10 seconds to 15 seconds. The predetermined time period may be customized according to different vehicle models or uses or usage scenarios, etc.

In some embodiments, the control device for autopilot further includes a backup power source dedicated to autopilot functions. When a vehicle fails or an unexpected power failure occurs, the standby power supply can be utilized to continue to maintain the power demand so as to smoothly transition the failure period.

Alternatively, the backup power source is a 12V/24V lead acid battery.

When the vehicle in the above embodiment is a fuel vehicle, the control device provided by the utility model may further include a voltage stabilizing module, one end of which is connected to the autopilot device, and the other end of which is connected to a contact end of the autopilot main relay, for stabilizing a supply voltage of the autopilot, and the voltage stabilizing module stores a certain amount of electric energy. It should be appreciated that the voltage stabilizing module may be designed accordingly for different vehicle models, power requirements, usage scenarios, and the like.

In some embodiments, the vehicle is a new energy vehicle, and the control device for autopilot further includes a DC/DC converter connected to the backup power source and to a contact terminal of the autopilot main relay for supplementing power of the DC/DC converter in the vehicle to stabilize the voltage.

A control device for automatic driving of a vehicle according to an embodiment of the present utility model will be specifically described below by taking a specific circuit as an example.

Referring to fig. 4a and 4b, there are shown schematic circuit diagrams of a power supply system including the control device for automatic driving of a fuel vehicle and a new energy vehicle of the present utility model, respectively.

The function of the modules in fig. 4a and 4b is as follows:

A drive-by-wire vehicle, denoted by reference numeral 1, includes vehicles employing an internal combustion engine as power, such as passenger cars, commercial vehicles, and the like, and is required to have a drive-by-wire function.

A battery, denoted by reference numeral 2, as a starting power source for a vehicle, in which the voltage of the battery for a passenger car is at most 12V and the voltage of a commercial car is at most 24V; the main function of the system is to provide power for the normal use of a starter, an ignition system and vehicle-mounted electronic equipment before the engine (fuel vehicle) or a power battery (new energy vehicle) is not powered, such as remote key identification, vehicle unlocking, instrument large screen display and the like. When the engine normally operates, the generator supplies power to electric equipment in the vehicle and simultaneously charges the storage battery; when the electricity consumption of the automobile electric equipment is overlarge and exceeds the power supply capacity of the generator, the storage battery and the generator supply power to the electric equipment in the automobile. The power supply and the power storage correspond to the discharging and charging processes of the storage battery respectively. Meanwhile, the storage battery is also a large-capacity capacitor, and can absorb instant high voltage generated in the circuit in the vehicle, so that electric equipment in the vehicle is protected.

In this embodiment, the battery is a lead acid battery.

A generator, denoted by reference numeral 3, for supplying power to the whole vehicle;

a fuse-1, denoted by reference numeral 4, for protecting a power supply line of the automatic driving power switch;

A fuse-2, indicated with 5, for protecting the supply line of the generator 3 to the accumulator 2;

A backup battery, designated by reference numeral 6, for use as a backup power source for an autopilot system, in this embodiment a 12V/24V autopilot lead acid battery;

A fuse-3, indicated with 7, for protecting the supply line of the automatic driving lead-acid battery 6;

A fuse-4, indicated by reference numeral 8, for protecting the power supply line of the autonomous main relay to the autonomous lead-acid battery 6;

An autopilot main relay, denoted by reference numeral 9, as an actuator for supplying power to the entire autopilot system, controlled by a power switch and a floor controller;

The 12V/24V voltage stabilizing module is denoted by reference numeral 10, and the fuel vehicle is easy to generate unstable power supply, so that the voltage stabilizing module is needed to ensure stable power supply voltage of automatic driving, and meanwhile, the voltage stabilizing module can store certain energy;

a bottom layer controller, denoted by reference numeral 11, for receiving a turn-off signal of the power switch and controlling the delay time down relay;

A delay relay, denoted by reference numeral 12, as a delay-down actuator;

The delay power-on module is denoted by reference numeral 13 and is used as an execution mechanism for delay power-on;

a power switch, indicated by reference numeral 14, for controlling the power up and down of the automatic driving system;

an autopilot device, denoted by reference numeral 15, refers to all aftermarket sensors, controllers, etc.;

A drive-by-wire vehicle, denoted by reference numeral 16, refers to a vehicle having a power battery as a power source;

A fuse-5, indicated by reference numeral 17, for protecting a power supply line of the DC/DC converter to the power battery pack;

The DC/DC converter, indicated by reference numeral 18, is a direct current high voltage to low voltage module for taking power from the power battery pack to power the autopilot system.

The specific working principle and the functions of the system are described as follows:

1. automatic driving system delay power-down function

Related programs running in an automatic driving system need a soft shutdown process, and if power supply is directly cut off, problems such as data loss, overlarge virtual space of a hard disk and the like can be caused.

The system in fig. 4a and 4b accomplishes this by the following design:

When the autopilot power switch 14 is turned off, the underlying controller 11 receives a high-activity switch input, and the underlying controller 11 notifies the autopilot device 15 to stop the running of the program, log recording, and the like; after the automatic driving device 15 performs the stopping action, feeding back to the floor controller 11; the bottom controller 11 stops supplying power to the coil end of the delay power-down relay 12, so that the coil end of the automatic driving main relay 9 loses power supply, thereby realizing the power-down action of the whole automatic driving system.

2. Delay power-on function of automatic driving system

Aiming at the situations that the vehicle needs to be started remotely and the automatic driving function needs to be started remotely, the automatic driving is required to have a time delay power-on function, and the aim is to avoid the mutual influence between the power-on of an automatic driving system and the starting of the vehicle.

The system in fig. 4a and 4b accomplishes this by the following design:

When the remote start vehicle and the remote start automatic driving function are needed, the automatic driving power switch 14 needs to be turned on in advance, and after the vehicle is started, the delay power-on module 13 receives high effective input and outputs power to the coil end of the automatic driving main relay 9 after delaying for a period of time, so that the delay power-on of the whole automatic driving system is realized.

3. Prevent lead acid battery deficiency of power function

If the automatic driving power switch 14 is forgotten to be turned off after the vehicle is flameout, the electric quantity of the lead-acid batteries 2 and 6 is continuously consumed, and the phenomenon of power shortage is caused.

The system in fig. 4a and 4b accomplishes this by the following design:

① The power input of the automatic driving power switch 14 is the IG power source of the fuel-powered vehicle or the new energy vehicle 1, 16. The IG power supply refers to a power supply which is turned ON by a key when the key is turned ON, namely, a power supply which is not turned off in the starting process of the engine; the electric appliance supplies power to necessary electric appliances in the starting process of the engine, and the electric appliance is used only when the engine works and runs, and the power supply from the generator is used for avoiding the possibility of competing for the power supply when the storage battery is charged. Such as: an instrument power supply, a brake lamp power supply, an airbag power supply and the like.

The ACC power supply refers to a power supply that a key is used for an ACC gear, namely, a power supply to be disconnected in the starting process of an engine, the load of the electric devices is large, the electric devices do not need to work when an automobile starts, and the electric devices generally comprise a cigar lighter power supply, an air conditioner power supply, a transceiver power supply, a wiper power supply and the like. The IG electricity is controlled by the vehicle, and when the vehicle is turned off, the electricity stops being outputted.

② The bottom layer controller 11 is in CAN communication with the vehicles 1 and 16 all the time, when the vehicles are in flameout, part of the messages of the vehicles are stopped to be sent, and when the bottom layer controller 11 continuously monitors no corresponding CAN message for 10S, a delayed power down strategy is started, namely, the bottom layer controller stops supplying power to the coil end of the delayed power down relay.

4. Power redundancy and power regulation design

The system in fig. 4a and 4b accomplishes this by the following design:

① Aiming at the wire control vehicle-fuel vehicle 1, a 12V/24V lead-acid battery 6 and a 12V/24V voltage stabilizing module 10 for automatic driving are added, wherein the voltage stabilizing module 10 has a voltage stabilizing function, and the problem of unstable voltage of the fuel vehicle can be effectively solved; when the power supply of the drive-by-wire vehicle-fuel vehicle 1 is lost, the lead-acid battery 6 and the voltage stabilizing module 10 can be used for supplying power to support the automatic driving equipment 15 to continue to operate for a certain time.

② For the drive-by-wire vehicle-new energy vehicle 16, an automatic driving 12V/24V lead-acid battery 6 and a DC/DC converter 18 are added, wherein the DC/DC converter 18 is independently added, the problem of unstable voltage caused by insufficient power of a DC/DC module of an original vehicle can be avoided, the lead-acid battery 6 is used as a redundant power supply, and when the problem of power supply loss of the drive-by-wire vehicle-new energy vehicle 16 occurs, power supply can be provided through the lead-acid battery 6, so that the automatic driving equipment 15 is supported to continue to run for a certain time.

The utility model provides a control device for automatic driving of a vehicle, which can realize the delay power-down requirement required by an automatic driving function with lower cost, and has high safety and strong stability. Moreover, the utility model considers the problem of matching between the power requirements of the original vehicle power supply system and the whole automatic driving equipment when equipment related to automatic driving is added on the basis of the existing prototype vehicle. Meanwhile, the device can be rapidly deployed on a vehicle, and has the advantages of low cost, stable performance and wide applicability.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "some examples," or the like, 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 present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

In the present utility model, the terms "connected," "connected," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be directly coupled or indirectly coupled through intermediaries. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

Finally, it should be noted that the above embodiments are only intended to illustrate the technical solution of the utility model and are not limiting. Although the present utility model has been described in detail with reference to the embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the present utility model, which is intended to be covered by the claims.

Claims (10)

1. A control device for automatic driving of a vehicle, characterized by comprising:

an autopilot power switch for starting or stopping an autopilot function;

The bottom layer controller is respectively connected with the automatic driving power switch and the automatic driving equipment;

The power-down module is used for controlling the start and stop of power supply through the bottom layer controller;

An automatic driving main relay, the coil end of which is connected with the power-down module and the automatic driving power switch, when the power-down module is stopped to supply power, the coil end stops supplying power to the contact end thereof, so that the automatic driving main relay is turned off,

The bottom layer controller outputs a control signal to the automatic driving equipment when the automatic driving power switch is turned off, and stops supplying power to the power-down module after receiving a feedback signal from the automatic driving equipment.

2. The apparatus of claim 1, wherein the power down module is a time delay power down relay, the bottom layer controller is connected in series with a coil end of the time delay power down relay, and the coil end of the autopilot main relay is connected in series with a contact end of the time delay power down relay.

3. The device according to claim 2, further comprising a delay power-up module, wherein one end of the delay power-up module is connected to the automatic driving power switch, and the other end of the delay power-up module is connected to a coil end of the automatic driving main relay, and the automatic driving main relay is controlled to be turned on by the coil end of the automatic driving main relay when the automatic driving power switch is turned on.

4. A device according to claim 3, wherein the autopilot power switch is connected to an ignition circuit in the vehicle generator power supply, wherein the ignition circuit is controlled by the vehicle to output an electrical signal, and wherein the ignition circuit stops outputting the electrical signal when the vehicle is turned off.

5. The apparatus of claim 4 wherein the floor controller is in communication with the vehicle generator power supply and in CAN communication, and wherein the floor controller ceases to supply power to the coil terminals of the delay down relay after a predetermined period of time has elapsed after the vehicle has been turned off without receiving a CAN message associated with autopilot.

6. The apparatus of claim 5, wherein the predetermined period of time is between 10 seconds and 15 seconds.

7. The apparatus of any one of claims 1-6, further comprising a backup power source for an autopilot function.

8. The apparatus of claim 7, wherein the backup power source is a 12V/24V lead acid battery.

9. The apparatus of claim 7, wherein the vehicle is a fuel vehicle, and further comprising a voltage stabilizing module having one end connected to the autopilot device and the other end connected to a contact terminal of the autopilot main relay for stabilizing the autopilot supply voltage.

10. The apparatus of claim 7, wherein the vehicle is a new energy vehicle, the apparatus further comprising a DC/DC converter connected to the backup power source and to a contact terminal of the autonomous main relay for supplementing power of the DC/DC converter in the vehicle to stabilize the voltage.