CN111559329B - Control network architecture system of pure electric automatic driving passenger car - Google Patents
Control network architecture system of pure electric automatic driving passenger car Download PDFInfo
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- CN111559329B CN111559329B CN202010322950.1A CN202010322950A CN111559329B CN 111559329 B CN111559329 B CN 111559329B CN 202010322950 A CN202010322950 A CN 202010322950A CN 111559329 B CN111559329 B CN 111559329B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
Abstract
The invention discloses a control network architecture system of a pure electric automatic driving passenger car, which mainly comprises a VCU (vehicle control unit), an IPK (Internet protocol K) combined instrument, an IPC (industrial personal computer), an EBS (electronic brake system), a GW (gateway), an EPS (electric power steering) system and a CAN (controller area network) network harness; the GW gateway and the CAN network wire harness are electrically connected to serve as a physical carrier of CAN data communication, and data forwarding and data summarizing communication modes among different CAN networks are achieved; the IPC industrial personal computer serves as a whole vehicle operation control core and becomes a data transmission source of a driving instruction, a braking instruction, a steering instruction and an indicator light instruction; and simultaneously sending feedback information data of the current state of each subsystem through a CAN bus and a GW gateway of each subsystem, and feeding the feedback information data back to the VCU vehicle control unit and the IPC industrial personal computer. The invention has the beneficial effects that: the load rate of each CAN bus is reduced, and meanwhile, the high-efficiency communication rate of modules such as IPC (industrial personal computer) and EBS (electronic brake system), EPS (electric power steering) and the like and the low system communication time delay during automatic driving state switching are ensured.
Description
Technical Field
The invention relates to the field of pure electric bus control, in particular to a control network architecture system of a pure electric automatic driving bus.
Background
The control network used by pure electric bus is CAN control local area network developed by BOSCH company in Germany in 80 th century, realizes data exchange between a plurality of control devices and instruments, and has the advantages of short cable length of bus structure, easy wiring, high reliability, easy expansion and the like. In the practical application process of the pure electric bus, the whole CAN network is generally divided into a plurality of small CAN bus networks, each network respectively realizes a part of control functions, and the networks are physically isolated and do not communicate with each other. After an automatic driving system is used as a part of a whole vehicle control system, the prior art scheme is to use newly added modules such as IPC and EPS as a node of a certain small CAN bus network to realize data communication.
The existing design scheme has the disadvantages that the automatic driving system has higher requirement on controlling network delay, and when modules such as IPC, EPS and EBS related to the system carry out CAN communication, the requirements on message period, baud rate and the like are greatly different from the normal communication of the whole vehicle, and the system is incompatible with the original CAN, and CAN cause the problems of overhigh CAN bus load rate, data loss, communication interruption and the like when being directly used as a node of a certain small CAN bus network for data communication.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a control network architecture system of a pure electric automatic driving passenger car.
The object of the present invention is achieved by the following technical means. A control network architecture system of a pure electric automatic driving passenger car mainly comprises a VCU (vehicle control unit), an IPK (Internet protocol K) combined instrument, an IPC industrial personal computer, an EBS (electronic brake system), a GW (gateway), an EPS (electric power steering) system and a CAN (controller area network) network harness; the GW gateway and the CAN network wire harness are electrically connected to serve as a physical carrier of CAN data communication, and data forwarding and data summarizing communication modes among different CAN networks are achieved; the IPC industrial personal computer serves as a whole vehicle operation control core, becomes a data transmission source of a driving instruction, a braking instruction, a steering instruction and an indicator light instruction, and forwards the data to each corresponding subsystem through a CAN bus and a GW gateway which each subsystem belongs to realize the implementation of a specific function instruction; each subsystem simultaneously sends feedback information data of the current state of each subsystem through a CAN bus and a GW gateway of each subsystem, and the feedback information data are fed back to a VCU vehicle control unit and an IPC industrial personal computer; the IPC industrial personal computer performs fusion control and motion planning according to the current environment state of the vehicle and the running state information of the whole vehicle, and realizes closed-loop data cycle control of the IPC industrial personal computer on the running control of the whole vehicle; the VCU vehicle controller is used as a vehicle state control core, and controls the vehicle to rapidly, safely and stably switch modes in an automatic driving state and a manual driving state after data summarization analysis is carried out according to the current state fed back by each subsystem and the running state of the vehicle is judged.
The CAN network wire harness mainly comprises a chassis CAN wire harness, an instrument and control CAN wire harness and an automatic driving control CAN wire harness.
Each subsystem and the GW gateway carry out data communication through the CAN network, the GW gateway carries out data forwarding, and the subsystems are not in direct communication.
All subsystems and the GW gateway carry out data communication through a CAN network, the GW gateway carries out data forwarding, and partial subsystems are directly communicated.
Furthermore, the EBS electric control braking system sends the braking state to the GW gateway through the CAN network and forwards the braking state, and the VCU vehicle control unit directly sends the braking instruction to the EBS electric control braking system.
The invention has the beneficial effects that: the load rate of each CAN bus is reduced, and meanwhile, the high-efficiency communication rate of modules such as IPC (industrial personal computer) and EBS (electronic brake system), EPS (electric power steering) and the like and the low system communication time delay during automatic driving state switching are ensured.
Drawings
Fig. 1 is a schematic view of embodiment 1 of the present invention.
Fig. 2 is a schematic diagram of embodiment 2 of the present invention.
Detailed Description
The invention will be described in detail below with reference to the following drawings:
the invention mainly solves the technical problem that the existing pure electric bus control network is not compatible with an automatic driving system. The communication period of the normal communication message of the whole vehicle is generally set to be 500ms, and the communication period is generally set to be 10-20ms when the modules related to the system, such as IPC, EPS, EBS and the like, carry out CAN network communication because the requirement of an automatic driving system on the delay of a control network is higher. If the CAN bus network is directly used as a communication node to be accessed to the original CAN bus network, the problems of data loss, data errors, communication interruption and the like easily occur when the bus load rate exceeds 50 percent due to the limitation of the communication bandwidth on the physical property of the CAN bus network.
The invention not only realizes the reduction of the load rate of each CAN bus, but also ensures the high-efficiency communication rate of modules such as IPC, EBS, EPS and the like and the low system communication time delay during automatic driving state switching through a special CAN bus network architecture.
In order to solve the above problems, the present invention provides a control network architecture system of a pure electric automatic driving passenger car, which mainly comprises: the system comprises a VCU (vehicle control unit), an IPK (internet protocol keying) combined instrument, an IPC industrial personal computer, an EBS (electronic brake system), a GW (gateway), an EPS (electric power steering) system and CAN (controller area network) wire harnesses, wherein the CAN wire harnesses comprise but are not limited to a chassis CAN wire harness, an instrument and control CAN wire harness, an automatic driving control CAN wire harness and the like.
The architecture is designed by taking a GW gateway as a data transfer core, a VCU vehicle controller as a vehicle state control core and an IPC industrial personal computer as a vehicle operation control core. The GW gateway is electrically connected with the chassis CAN wire harness, the instrument and control CAN wire harness, the automatic driving control CAN wire harness and the like to be used as a physical carrier of CAN data communication, and communication modes such as data forwarding, data summarization and the like among different CAN networks are realized.
The information data stream is used as the actual content of CAN network communication, and comprises 4 communication contents including vehicle and driving information, braking information, steering information and indicator light information, wherein each communication content CAN be divided into instruction information and state feedback information.
The IPC industrial personal computer serves as a whole vehicle operation control core, becomes a data transmission source of a driving instruction, a braking instruction, a steering instruction and an indicator light instruction, and forwards the data to each corresponding subsystem through a CAN bus and a GW gateway which each subsystem belongs to realize the implementation of a specific function instruction. And the IPC industrial control machine performs fusion control and motion planning according to the current environment state of the vehicle and the running state information of the whole vehicle, so that closed-loop data cycle control of the IPC industrial control machine on the running control of the whole vehicle is realized.
The VCU vehicle controller is used as a vehicle state control core, and controls the vehicle to rapidly, safely and stably switch modes in an automatic driving state and a manual driving state after data summarization analysis is carried out according to the current state fed back by each subsystem and the running state of the vehicle is judged.
Example 1:
as shown in fig. 1, in this embodiment, each subsystem and the GW gateway perform data communication through the CAN network, and the GW gateway performs data forwarding, but the subsystems do not directly communicate with each other. The embodiment ensures the communication time delay and the communication efficiency between the IPC industrial personal computer and each subsystem, but is weaker in the aspect of real-time performance of the VCU vehicle controller for switching the running state of the whole vehicle.
Example 2:
as shown in fig. 2, in this embodiment, each subsystem and the GW gateway perform data communication through the CAN network, and the GW gateway performs data forwarding, but performs direct communication between some subsystems. Such as: the EBS electric control braking system sends the braking state to the GW gateway through the CAN network and forwards the braking state, and the VCU vehicle control unit directly sends the braking instruction to the EBS electric control braking system. The embodiment enhances the real-time performance of the VCU on the control of the state of the whole vehicle, but increases the communication time delay of part of subsystems and the IPC industrial personal computer, and reduces part of communication efficiency.
After the application of the automatic driving system and the control system of the original CAN of the vehicle are implemented, the automatic driving system and the original CAN network control system of the vehicle are physically cut through the GW gateway, the data communication of the instruction information and the state feedback information of the automatic driving system is realized under the condition that the original control system is not influenced, and the stability of the control network of the whole vehicle is ensured. Meanwhile, through a special CAN bus network architecture, modules with high communication efficiency such as EBS, EPS and IPC are split and configured in the network, so that the load rate of each CAN bus is reduced, the high-efficiency communication rate of the IPC with the modules such as EBS and EPS and the low system communication time delay during automatic driving state switching are ensured, a pointed project implementation scheme CAN be provided through 2 different embodiment schemes according to different project requirements, and the accuracy, the specialty and the safety of related project schemes are improved.
The noun explains:
VCU (vessel Control Unit): vehicle control unit
IPK (Instrument pack): combined instrument
IPC (industry Personal computer): industrial control machine
EBS (electronic Braking System): electric control brake system
Gw (gateway): gateway
EPS (electric Power Steering): electric control power-assisted steering system
The above description is only two embodiments of the present invention, and not intended to limit the scope of the present invention, and all modifications of the equivalent structure and equivalent flow path, which are made by the contents of the present specification, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (5)
1. The utility model provides a control network architecture system of electricelectric moves autopilot passenger train which characterized in that: the system mainly comprises a VCU (vehicle control Unit), an IPK (Internet protocol K) combined instrument, an IPC industrial personal computer, an EBS (electronic brake system), a GW (gateway), an EPS (electric power steering) system and a CAN (controller area network) wire harness; the GW gateway and the CAN network wire harness are electrically connected to serve as a physical carrier of CAN data communication, and data forwarding and data summarizing communication modes among different CAN networks are achieved;
the IPC industrial personal computer serves as a whole vehicle operation control core, becomes a data transmission source of a driving instruction, a braking instruction, a steering instruction and an indicator light instruction, and forwards the data to each corresponding subsystem through a CAN bus and a GW gateway which each subsystem belongs to realize the implementation of a specific function instruction; each subsystem simultaneously sends feedback information data of the current state of each subsystem through a CAN bus and a GW gateway of each subsystem, and the feedback information data are fed back to a VCU vehicle control unit and an IPC industrial personal computer; the IPC industrial personal computer performs fusion control and motion planning according to the current environment state of the vehicle and the running state information of the whole vehicle, and realizes closed-loop data cycle control of the IPC industrial personal computer on the running control of the whole vehicle;
the VCU vehicle controller is used as a vehicle state control core, and controls the vehicle to rapidly, safely and stably switch modes in an automatic driving state and a manual driving state after data summarization analysis is carried out according to the current state fed back by each subsystem and the running state of the vehicle is judged.
2. The control network architecture system of a full electric autonomous bus according to claim 1, characterized in that: the CAN network wire harness mainly comprises a chassis CAN wire harness, an instrument and control CAN wire harness and an automatic driving control CAN wire harness.
3. The control network architecture system of a full electric autonomous bus according to claim 1, characterized in that: each subsystem and the GW gateway carry out data communication through the CAN network, the GW gateway carries out data forwarding, and the subsystems are not in direct communication.
4. The control network architecture system of a full electric autonomous bus according to claim 1, characterized in that: all subsystems and the GW gateway carry out data communication through a CAN network, the GW gateway carries out data forwarding, and partial subsystems are directly communicated.
5. The control network architecture system of a full electric autonomous bus as claimed in claim 4, wherein: the EBS electric control braking system sends the braking state to the GW gateway through the CAN network and forwards the braking state, and the VCU vehicle control unit directly sends the braking instruction to the EBS electric control braking system.
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| WO2004059505A1 (en) * | 2002-12-17 | 2004-07-15 | Systemauto | System, method and computer program product for sharing information in a distributed framework |
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| CN105450722A (en) * | 2014-09-19 | 2016-03-30 | 福特全球技术公司 | Automated driving solution gateway |
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