CN102541016B - Intelligent vehicle controller - Google Patents
Intelligent vehicle controller Download PDFInfo
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- CN102541016B CN102541016B CN201210008163.5A CN201210008163A CN102541016B CN 102541016 B CN102541016 B CN 102541016B CN 201210008163 A CN201210008163 A CN 201210008163A CN 102541016 B CN102541016 B CN 102541016B
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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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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses an intelligent vehicle controller. The intelligent vehicle controller comprises a micro controller unit, wherein the signal input end of the micro controller unit is connected with a switching signal acquisition circuit unit, an analog signal acquisition circuit unit, a collision signal acquisition circuit unit and a vehicle body inclination signal acquisition circuit unit; the signal output end of the micro controller unit is connected with an output control circuit unit; the output control circuit unit outputs a control signal to an executive mechanism of a vehicle; the micro controller unit communicates with a controller area network (CAN) bus interface circuit unit, a local interconnect network (LIN) bus interface circuit unit and a memory unit; and a power management unit supplies power to the micro controller unit, other units and a vehicle sensor. The vehicle controller has high stability, strong functions, high universality and high anti-interference capability, is low in cost and meets the requirements of different working conditions.
Description
Technical field
The present invention relates to vehicle entirety control field, particularly a kind of Intelligent vehicle controller that is applied to electronic class vehicle.
Background technology
Along with the development of human society, the progress of science and technology, automobile becomes the vehicles of each family's outgoing indispensability, but becoming increasingly conspicuous of environmental problem and energy problem realizes energy-conserving and environment-protective, low-carbon emission reduction requirement, is badly in need of producing new energy vehicle; One is clean environment firendly more, simple in structure, the vehicles safe and reliable and that have a hommization become people in the urgent need to.But the Intelligent vehicle controller using on a kind of new energy vehicle is not yet reported.
Summary of the invention
The object of this invention is to provide a kind of Intelligent vehicle controller; This controller has certain platform versatility, dirigibility and extendability, and real-time high-efficiency, cost are low.
The technical solution adopted in the present invention is for achieving the above object:
A kind of Intelligent vehicle controller, comprise: micro controller unit, switching signal Acquisition Circuit unit, analogue signal acquisition circuit unit, collision alarm Acquisition Circuit unit, car body obliqueness signal acquisition circuit unit, output control circuit unit, CAN bus interface circuit unit, LIN bus interface circuit unit, memory cell, Power Management Unit; Described micro controller unit signal input part is connected with switching signal Acquisition Circuit unit and analogue signal acquisition circuit unit;
Described micro controller unit signal input part is also connected with collision alarm Acquisition Circuit unit and car body obliqueness signal acquisition circuit unit; Described micro controller unit signal output part is connected with output control circuit unit, and output control circuit unit outputs control signals to the topworks of vehicle; Described micro controller unit is connected with CAN bus interface circuit unit and LIN bus interface circuit unit communication, described micro controller unit and memory cell communication connection; Described Power Management Unit, separately supplies to be electrically connected with above-mentioned other unit for being electrically connected with micro controller unit, also supplies to be electrically connected with vehicle sensors.
Described switching signal Acquisition Circuit unit has interface level identification module and filtration module, and described level identification module can be identified incoming level type, and transfers to micro controller unit; Described analogue signal acquisition circuit unit comprises integrated operational amplifier, and described integrated operational amplifier is realized the acquisition buffer processing of simulating signal and the insulation blocking of interior external circuit.
Described collision alarm testing circuit unit has voltage comparator, described voltage comparator protection internal circuit, simultaneously the collision alarm strength information collecting is carried out to filter shape processing and transfers to the input capture comparison signal of micro controller unit, described micro controller unit is according to collision strength delivering control signal, cut off power, handling safety air bag; Described car body obliqueness sensor unit gathers body sway angle information and transfers to micro controller unit, described micro controller unit sends and controls signal to CAN bus interface circuit unit according to grade information value, speed of a motor vehicle control while realizing ascents and descents, automatically stays the operation of slope, constant-speed traveling.
Described CAN bus interface circuit unit, LIN bus interface circuit unit obtain vehicle operation data and CAN terminal input message, export control protocol simultaneously, realize vehicle operating and the demonstration of information of vehicles feedback.Described output control circuit unit receives the control signal that micro controller unit sends, and outputs control signals to topworks; Control the opening and closing of outside topworks.
In micro controller unit, store the module of executing the task as follows:
Task 1, carries out communicate by letter with host computer (a),
Task 2, carries out analog quantity and digital data acquisition (b),
Task 3, carries out CAN data processing and transmitting-receiving (c),
Task 4, carries out fault handling (d),
Task 5, realizes the logic judgement (e) of driving procedure,
Above-mentioned task is carried out task scheduling according to priority and interruption separately, and is realized and controlled outside topworks by CAN bus interface, controls car load safety, travel speed and automatically stays slope.
Described task 1 is specially:
Described micro controller unit communicates by CAN bus interface and host computer, realizing host computer modifies to the nominal data table of analog quantity, nominal data table is stored in memory cell, system control module is tabled look-up according to image data content, and adopts linear interpolation algorithm to determine the actual condition of vehicle.
Described task 2 is specially:
Described micro controller unit is to digital quantity (air conditioner refrigerating switch, air-conditioning PTC asks input, whether key inserts switch, key ON shelves state, key START shelves state, brake 1 current state, brake 2 current states, gear information), analog quantity (gas pedal 1 sensor voltage, gas pedal 2 sensor voltage, brake pedal sensor voltage, vacuum pump sensor voltage, Slope Transducer voltage) carry out continuous acquisition, obtain the state of vehicle critical quantity, described critical quantity is carried out to logic judgement, output judges that signal is to host computer, make vehicle safety, stable work.
Described task 3 is specially:
Described micro controller unit is by CAN bus interface access vehicle CAN bus network, real time parsing electric machine controller, battery management system, gear controller, the CAN data protocol of hand-held fault test set; By sending Electric Machine Control frame, meter status frame, fault frame after the judgement of Data Analysis logic, make the operation of the vehicle coordinating and unifying.
Described task 4 is specially:
Described micro controller unit compares by the demarcation value of the collection of analog digital amount and the CAN data of parsing and car load, judges the fault that vehicle is current, and record trouble; In the time reaching fault level, carry out and stop motor operation and close High-Voltage Electrical Appliances, to protect vehicle safety.
Described task 5 is specially:
Described micro controller unit is determined vehicle operating pattern by the state of key switch, and described vehicle operating pattern is: park mode, upper power mode, driving model, charge mode;
Described park mode is for closing all high-voltage electrical equipments, and self enters dormant state, and power consumption is down to minimum;
Described upper power mode is for to judge whether vehicle High-Voltage Electrical Appliances power on and electric sequence.
Described driving model is to travel by expectation according to driver intention control vehicle, realizes and automatically stay slope in driving model, makes vehicle on slope, pass through the parking of extension P shelves.
Described charge mode is for detecting in real time the mark of having charged, and while judging charging, on vehicle, whether High-Voltage Electrical Appliances power on and electric sequence, in conjunction with vehicle energy situation, carry out energy distribution, recycle, and make operating range and environment for use Optimization Balancing.
Advantage of the present invention is:
1, realization of the present invention and host computer communication task can be very convenient, utilize clearly host computer amendment table scale, and the data such as table content and scalar quantity, also can carry out Real-Time Monitoring to the state of vehicle, carry out fault diagnosis.
2, the present invention realizes the processing of CAN data and transmitting-receiving task and automobile modules and communicates by CAN bus, resolves the CAN data of modules and also carries out Macro or mass analysis judgement, and send CAN data and make the safe operation of the modules coordinating and unifying.
3, the present invention has fault diagnosis functions, judges the fault of vehicle, and record trouble, stops in time motor operation and close High-Voltage Electrical Appliances with protection vehicle safety in the time that fault level is too high.
4, the present invention, by judging the pattern of vehicle operating, is divided into vehicle mode: park mode, upper power mode, driving model, charge mode.Different mode of operations is carried out different operations makes vehicle operation at different states, makes vehicle safety in all cases, the work of power saving.
5, the present invention has improved the hommization degree of the vehicles, substitutes existing physical construction by electronic circuit, makes fault detect and maintenance more convenient.
Brief description of the drawings
Fig. 1 is the system chart of Intelligent vehicle controller in the embodiment of the present invention.
Fig. 2 is the switching signal Acquisition Circuit of Intelligent vehicle controller in the embodiment of the present invention.
Fig. 3 is the analogue signal acquisition circuit of Intelligent vehicle controller in the embodiment of the present invention.
Fig. 4 is the collision detection circuit of Intelligent vehicle controller in the embodiment of the present invention.
Fig. 5 is the body sway Acquisition Circuit of Intelligent vehicle controller in the embodiment of the present invention.
Fig. 6 is the output control circuit of Intelligent vehicle controller in the embodiment of the present invention.
Fig. 7 is the CAN bus interface circuit of Intelligent vehicle controller in the embodiment of the present invention.
Fig. 8 is the LIN bus interface circuit of Intelligent vehicle controller in the embodiment of the present invention.
Fig. 9 is the FeRAM circuit of Intelligent vehicle controller in the embodiment of the present invention.
Figure 10 is the power supply input protection circuit of Intelligent vehicle controller in the embodiment of the present invention.
Figure 11 is the interior power supply mu balanced circuit of Intelligent vehicle controller in the embodiment of the present invention.
Figure 12 is the outer power supply mu balanced circuit of Intelligent vehicle controller in the embodiment of the present invention.
Figure 13 is the microcontroller logic interfacing circuit of Intelligent vehicle controller in the embodiment of the present invention.
Figure 14 is the main flow program of Intelligent vehicle controller in the embodiment of the present invention.
Figure 15 be in the embodiment of the present invention Intelligent vehicle controller with upper machine communication program.
Figure 16 is the analog digital amount capture program of Intelligent vehicle controller in the embodiment of the present invention.
Figure 17 is CAN data processing and the transmitting/receiving program of Intelligent vehicle controller in the embodiment of the present invention.
Figure 18 is the exception handles of Intelligent vehicle controller in the embodiment of the present invention.
Figure 19 is the logic determining program of Intelligent vehicle controller in the embodiment of the present invention.
Embodiment
By reference to the accompanying drawings shown in Fig. 1～19, a kind of Intelligent vehicle controller, comprising: micro controller unit, switching signal Acquisition Circuit unit, analogue signal acquisition circuit unit, collision alarm Acquisition Circuit unit, car body obliqueness signal acquisition circuit unit, CAN bus interface circuit unit, LIN bus interface circuit unit, output control circuit unit, memory cell, Power Management Unit; Described micro controller unit signal input part is connected with switching signal Acquisition Circuit unit and analogue signal acquisition circuit unit; Gather driver's input signal.
Described micro controller unit signal input part is also connected with collision alarm Acquisition Circuit unit and car body obliqueness signal acquisition circuit unit; Described micro controller unit signal output part is connected with output control circuit unit, and output control circuit unit outputs control signals to the topworks of vehicle; Described micro controller unit is connected with CAN bus interface circuit unit and LIN bus interface circuit unit communication, described micro controller unit with go back memory cell communication connection; Described Power Management Unit, separately supplies to be electrically connected with above-mentioned other unit for being electrically connected with micro controller unit, also supplies to be electrically connected with vehicle sensors.
Described switching signal Acquisition Circuit unit has interface level identification module and filtration module, and described level identification module can be identified incoming level type, and transfers to micro controller unit.
For micro controller unit improves physical method and the protection that switching signal gathers, in application, can gather at present key and insert signal, key ON shelves; key START shelves; braking 1, braking 2 is opened, gear (P; D; R, N) arrange, compressor of air conditioner is opened; air conditioning warm air start signal, and can expand as required.
Described analogue signal acquisition circuit unit comprises integrated operational amplifier, and described integrated operational amplifier is realized the acquisition buffer processing of simulating signal and the insulation blocking of interior external circuit.At present in application, gather gas pedal 1,2, brake pedal, vacuum pump, obliquity sensor is to the A/D converter of micro controller unit, and spare extension passage is provided.
Described collision alarm testing circuit unit has voltage comparator, and described voltage comparator protection internal circuit transfers to micro controller unit signal the high-quality collision alarm collecting simultaneously; Once signal changes, operating system makes an immediate response and makes vehicle control, cuts off power, air bag operation.
Described car body obliqueness sensor unit gathers body sway angle information and transfers to micro controller unit, described micro controller unit sends and controls signal to CAN bus interface circuit unit according to grade information value, speed of a motor vehicle control while realizing ascents and descents, automatically stays the operation of slope, constant-speed traveling.Described CAN bus interface circuit unit, LIN bus interface circuit unit obtain vehicle operation data and CAN terminal input message, export control protocol simultaneously, realize vehicle operating and the demonstration of information of vehicles feedback.
Described output control circuit unit receives the control signal that micro controller unit sends, and outputs control signals to topworks; Control the opening and closing of outside topworks.Described outside topworks comprises battery access, air-conditioning switch, heater switch, charge switch, battery management system switch, vacuum pump switch.Described Power Management Unit provides 5V power supply for all control circuits, and the 5V power supply that provides of external analog sensor, and has the reverse power connection of preventing, overvoltage, overcurrent protection ability.
In micro controller unit, store the module of executing the task as follows:
Task 1, carries out communicate by letter with host computer (a);
Task 2, carries out analog quantity and digital data acquisition (b);
Task 3, carries out CAN data processing and transmitting-receiving (c);
Task 4, carries out fault handling (d);
Task 5, realizes the logic judgement (e) of driving procedure;
Above-mentioned task is carried out task scheduling according to priority and interruption separately, and is realized and controlled outside topworks by CAN bus interface, controls car load safety, travel speed and automatically stays slope.
Described modules quantity and function can continue expansion according to the actual requirements, and each task is carried out task scheduling according to priority and interruption separately.Combined with hardware system, gather the driving information of driver's input by switching signal, simulating signal, CAN bus entry terminal, by collision Acquisition Circuit unit and body sway signal acquisition circuit unit, control car load safety, travel speed and automatically stay slope, and the functional module information in CAN and LIN bus is read, by information real-time gathering and handle it in micro controller unit, make operation by CAN bus informing function module, shown at CAN field bus instrument, implemented by output control circuit control topworks.
Described task 1 is specially: described micro controller unit communicates by CAN bus interface and host computer, realizing host computer modifies to the nominal data table of analog quantity, nominal data table is stored in memory cell, micro controller unit is tabled look-up according to image data content, and adopts linear interpolation algorithm to determine the actual condition of vehicle.For example: gas pedal voltage is changed through A/D, table look-up and try to achieve gas pedal aperture, brake pedal voltage is tabled look-up and is tried to achieve brake pedal aperture, and whether car acceleration and the speed of a motor vehicle to try to achieve vehicle abnormal etc. if being tabled look-up.Scalar quantity is the ultimate value of vehicle used in program.For example: the effective maximal value of throttle voltage, minimum value, the effective maximal value of brake voltage, minimum value, tire size, wheel box is than number etc.Can be very directly perceived by host computer communication, the data that simply these are fixed in ferroelectric memory are modified.Can also carry out Real-Time Monitoring to each service data of vehicle by host computer, the failure message of vehicle is shown, simple, what understand tests and fault eliminating vehicle.
Described task 2 is specially: described micro controller unit is to digital quantity (air conditioner refrigerating switch, air-conditioning PTC asks input, whether key inserts switch, key ON shelves state, key START shelves state, brake 1 current state, brake 2 current states, gear information), analog quantity (gas pedal 1 sensor voltage, gas pedal 2 sensor voltage, brake pedal sensor voltage, vacuum pump sensor voltage, Slope Transducer voltage) carry out continuous acquisition, obtain the state of vehicle critical quantity, described critical quantity is carried out to logic judgement, output judges that signal is to host computer, make the vehicle can safety, stable work.
Described task 3 is specially: described micro controller unit is by CAN bus interface access vehicle CAN bus network, real time parsing electric machine controller, battery management system, gear controller, the CAN data protocol of hand-held fault test set; By sending Electric Machine Control frame, meter status frame, fault frame after the judgement of Data Analysis logic, make the operation of the vehicle coordinating and unifying.
Described task 4 is specially: described micro controller unit compares by the demarcation value of the collection of analog digital amount and the CAN data of parsing and car load, judges the fault that vehicle is current, and record trouble; In the time reaching fault level, carry out and stop motor operation and close High-Voltage Electrical Appliances, to protect vehicle safety.
Described task 5 is specially: described micro controller unit is determined vehicle operating pattern by the state of key switch, and described vehicle operating pattern is: park mode, upper power mode, driving model, charge mode; Described park mode is for closing all high-voltage electrical equipments, and self enters dormant state, and power consumption is down to minimum; Described upper power mode is for to judge whether vehicle High-Voltage Electrical Appliances power on and electric sequence.Described driving model is to travel by expectation according to driver intention control vehicle, realizes and automatically stay slope in driving model, makes vehicle on slope, pass through the parking of extension P shelves.Described charge mode is for detecting in real time the mark of having charged, and while judging charging, on vehicle, whether High-Voltage Electrical Appliances power on and electric sequence, in conjunction with vehicle energy situation, carry out energy distribution, recycle, and make operating range and environment for use Optimization Balancing.
Embodiment
Fig. 1 is general structure block diagram, and taking micro controller unit as core, micro controller unit inside is integrated with AD converter, CAN bus controller, LIN bus controller, pulse input capture unit, eeprom memory and digital I/O, only need be equipped with part peripheral interface circuit and power control unit.
Fig. 2 is switching signal Acquisition Circuit unit, realizes the protection of voltage transitions to controller self, and input signal is passed to micro controller unit, and these switching values comprise, key open and close, gear P, D, N, R, air-conditioning cold, warm, brake switch.
Fig. 3 is analogue signal acquisition circuit unit, input signal is carried out to protectiveness collection with operational amplifier, when having stablized input signal, also micro controller unit has been carried out to insulation blocking.This circuit accesses the simulating signal that will gather, and output is received on the multi-way switch of micro controller unit analog acquisition, and micro controller unit is selected to gather different simulating signals, and simulating signal comprises: accelerator pedal signal, brake pedal signal, vacuum transducer signal.
Fig. 4 is collision alarm testing circuit unit; adopt voltage comparator to do interface protection; and use Schmidt trigger to carry out filter shape to signal; output connects the capture compare module of micro controller unit and carries out pulse width measuring; after bumping, collision alarm pulse generation changes; micro controller unit responds after measuring the pulse of variation immediately, stops and disconnects allly during electrical appliance is relevant, sends fault alarm.
Fig. 5 is car body obliqueness Acquisition Circuit unit, and sensor is according to the different different analog voltage signals continuously that produce in the angle of inclination of vehicle body, and micro controller unit is determined the angle of inclination of vehicle body after AD conversion, for speed of a motor vehicle control, automatically stays the application such as slope.
Fig. 6 is output control circuit unit, and the output pin control electronic switch of micro controller unit is controlled outside contactor to topworks's power on/off after increasing driving force.Topworks comprises battery contactor, battery management system contactor, DC converter, precharge, charge switch, air conditioner cold-warm switch, reversing indicator light switch etc.
Fig. 7 is CAN bus place in circuit unit, its pin TXD connects the CAN-TXD pin of micro controller unit, pin RXD connects the CAN-RXD pin of micro controller unit, and pin S is used for controlling the quiet low-power consumption mode of being operated in of CAN transceiver or common sending mode.CAN bus network in pin CANH and pin CANL access car, has independently anti-electrostatic discharging protection device.
Fig. 8 is LIN bus place in circuit unit, the pin TXD of interface chip, and RXD, receives respectively the pin SCI-TXD of micro controller unit, on SCI-RXD; Its pin NSLP, the mode of operation of cause microprogrammed control unit control device for NWAKE, thereby the power consumption of control device.
Fig. 9 is memory cell, adopt SPI interface to be connected to micro controller unit, for micro controller unit provides extra data storage requirement, adopt a kind of Nonvolatile ferroelectric memory, this memory cell has higher read or write speed and longer reading-writing life-span than FLASH storer and eeprom memory, and the electric weight simultaneously consuming but reduces greatly.
Figure 10 is the power supply input circuit of Power Management Unit, adopts magnetic bead and electric capacity filter out power high frequency noise and spike, restriction input voltage protection internal circuit, and series diode prevents that power lead reversal connection from causing damage to circuit, electric capacity is done instantaneous power compensation.
Figure 11 is the switching type power supply voltage stabilizer of Power Management Unit, for the rear class of power supply input circuit, input power is converted to and stablizes 5V power supply, supply with inner each components and parts and use, ON Enable Pin ground connection, FB connects the feedback of output, conversion efficiency is high, and oneself power consumption is low, and maximum input voltage can reach 40V, output current can reach 3A, for system provides sufficient electric power supply.
Figure 12 is the linear stabilized power supply of Power Management Unit, by the input power power supply supply external analog signal sensor use that furnishing goes out 5V more after treatment, comprises accelerator pedal, brake pedal, vacuum transducer.
Except above-mentioned physical arrangement, in the micro controller unit of built-in uCOS-II, also carry multitask, be respectively initial task, with host computer communication task, analog quantity and digital data acquisition task, the processing of CAN data and transmitting-receiving task, the Processing tasks of fault, judgement task and the interrupt service routine of logic.
Figure 14 is the operating system process flow diagram of intelligent vehicle controller of the present invention:
S13a, master routine creates initial task.In this step, call operation system initialization function, creates the highest initial task of priority, and starts the operating system.
S13b, calls initialization function in initial task.In this step, initialization function has been realized the initialization of all resources of the present invention, comprises coprocessor, CAN bus, ferroelectric memory, IO port, clock, global variable and the initialization of catching timer.The initialization procedure of this step can be achieved in any way by one of skill in the art, describes in detail no longer one by one at this.
S13c-S13g, 5 tasks that create in initial task.In this step, the priority of task 1-5 reduces successively, and task 5 is communicated by letter with task 3 by message queue, between each task, all can communicate by global variable, and their operation is dispatched according to priority separately by operating system.
S13h, the interrupt service routine under operating system.In this step, because the present invention adopts coprocessor, CAN data are received and dispatched, the interrupt service routine of CAN0 and CAN1 is removed the interrupt flag bit of corresponding coprocessor passage.
In this step, CAN1 wakes up with key insertion interrupt service routine the CPU of dormancy is waken up.
In this step, collision alarm interrupt service routine catches by the edge of catching the square wave of timer to input, and the sampling period is while being greater than 135ms; judgement has collision to occur; fault level is the highest, to stop in time the High-Voltage Electrical Appliances on motor and car, and protection vehicle safety.
In this step, timeticks interrupt service routine provides periodic signal source for operating system, for realizing time delays and confirming overtime.Timeticks rate of the present invention is 1000 times/second.
In this step, the scheduling that software interruption service routine is multitask provides a kind of mechanism.
Referring to Figure 15, in S13c with the process flow diagram of host computer communication task.
S14a, calls ferroelectric memory and reads function and from ferroelectric, read table scale data and put into overall array, reads scalar quantity and puts into global variable.In program, need utilization table scale to table look-up, scalar quantity carries out logic judgement.
S14b, the data of host computer being sent by CAN0 receive and resolve its ID and judge.
S14c, CAN data ID is one of in 0x0CFE0100-0x0CFE0B00, the CAN data that receive are downloaded to address corresponding to table 1 scale-table 11 scale in ferroelectric memory by program, to realize the change of table scale.
For example, table 1 is 30*1 form, has 30 scale data, and each data are 2 bytes.ID is that the CAN data of 0x0CFE0100 are table 1 scale data, every frame CAN data totally 8 bytes, rear 6 bytes are table 1 scale data, upper computer software sends ten frame CAN data altogether, jointly formed the scale of table 1, slave computer software is write function by ferroelectric memory table 1 scale is write to address fixing in ferroelectric memory.
S14d, CAN data ID is one of in 0x0CFF0100-0x0CFF0B00, the CAN data that receive are downloaded to address corresponding to ferroelectric middle table 1 content-table 11 content by program, to realize the change of table content.
S14e, CAN data ID is one of in 0x0CFF3100-0x0CFF3B00, program downloads to the CAN data that receive the address of ferroelectric middle scalar quantity 1-scalar quantity 11 correspondences, to realize gauged change.
For example, CAN data ID is that 0x0CFF3100 is that single scalar quantity is downloaded 1 ID, and every two bytes of CAN data of 8 bytes are respectively the effective minimum value of throttle 1 voltage, the effective maximal value of throttle 1 voltage, the effective minimum value of throttle 2 voltage, the effective maximal value of throttle 2 voltage.Slave computer receives this CAN Frame and resolves, and corresponding scalar quantity is downloaded to the corresponding address of ferroelectric memory place.
S14f, CAN data ID is 0x0CFF0000, continues to judge first byte of this Frame.
In this step, when first byte is 0x01, program of lower computer writes 0xff to all addresses in ferroelectric and reaches the object that empties EE.
In this step, when first byte is 0x03, data are cured, only for scale data, after change scale data, only have through overcuring just scale data can be downloaded to ferroelectric among.
In this step, when first byte is 0x04, judge according to CAN data the 3rd byte receiving.The 3rd byte is one of in 0x01-0x0c, one of reads in corresponding table scale 1-table scale 11, and sends to host computer by CAN0, and show on host computer from ferroelectric.The 3rd byte is one of in 0x04-0x4c, one of reads in corresponding table content 1-table content 11, and sends to host computer by CAN0, and show on host computer from ferroelectric.
The 3rd byte is one of in 0x81-0x8c, one of reads in corresponding scalar quantity 1-scalar quantity 11, and sends to host computer by CAN0, and show on host computer from ferroelectric.
In this step, when first byte is 0x05, vehicle is carried out to Real-Time Monitoring, send continuously CAN data that multiframe comprises each measured value of vehicle to host computer, and show one by one on host computer.
For example, the CAN data that ID is 0x0CFF0101, every two bytes of data of 8 bytes are respectively air conditioner refrigerating on off state, and air-conditioning PTC asks input state, key ON shelves current state, key START shelves current state.Slave computer sends to host computer by these frame data by CAN0 4 switching values can be shown intuitively on host computer.
In this step, when first byte is 0x07, send fault frame to host computer, make host computer can show the failure message that vehicle is current.
Referring to Figure 16, the process flow diagram of analog quantity and digital data acquisition task in S13d.
S15a, judges key START shelves state, when START shelves effectively and the duration be greater than the value of regulation, START is effective, can judge vehicle launch.
S15b, every 200MS to digital quantity (air conditioner refrigerating switch, air-conditioning PTC ask input, whether key inserts switch, key ON shelves state, braking 1 current state, brake 2 current states, gear information) once gather, and write corresponding global variable.
S15c, once gathers and is write corresponding global variable by the every 50MS of AD converter to analog quantity (gas pedal 1 sensor voltage, gas pedal 2 sensor voltage, brake pedal sensor voltage, vacuum pump sensor voltage).
S15d, once gathers analog quantity (Slope Transducer voltage) by the every 1s of AD converter, and is write corresponding global variable.
Referring to Figure 17, the process flow diagram of the processing of CAN data and transmitting-receiving task in S13e.
S16a, judges whether to receive data from CAN1.
S16b, while receiving the data of CAN1, resolves its data according to its ID.The CAN data that receive are mainly from electric machine controller, battery management system, and P shelves controllers etc. send.
For example, the CAN data that ID is 0x0CF11F05 are that electric machine controller sends, high byte and low byte that 3,4 bytes of its CAN data are actual motor torque, the high byte that 5,6 bytes are motor speed and low byte.By resolving this frame data, rotating speed and torque that motor is current are determined.
S16c, while not receiving the data of CAN1, and when vehicle is not during in dormant state, the interval stipulated time, sends Electric Machine Control frame and instrument shape frame by CAN1 to vehicle CAN bus.
For example, the CAN data that ID is 0x08F10501, the operational mode that the first byte is motor, the high byte that 4,5 bytes are motor torque and low byte, make motor according to desired operation by sending this Frame.
S16d, message queue is hung up and is waited for the CAN data that will send by CAN1, sends after receiving data by CAN1.
Referring to Figure 18, the process flow diagram of the Processing tasks of fault in S13f.
S17a, the fault level current to vehicle judges, carries out corresponding operation according to different fault levels, knows in time the fault of vehicle with protection vehicle safety.
S17b, fault level is 0, non-fault, trouble light does not work.
S17c, fault level is 1, has fault, trouble light does not work.
S17d, fault level is 2, has fault, trouble light is bright.
S17e, fault level is 3, has fault, trouble light is bright, walks lamely, the output torque of restriction vehicle.
S17f, fault level is 4, has fault, and trouble light is bright, and the fault of highest ranking stops in time motor rotation and closes High-Voltage Electrical Appliances on car with protection vehicle driving safety.
S17g, compares each virtual condition amount of vehicle, or according to respective logic, judges the fault of vehicle reality with scalar quantity, and adds global fault's array record.In the time that fault is got rid of, in overall array, delete in time this fault.
For example, in the time that the value of throttle sensor is greater than gauged maximal value, adding fault label is 2, the fault that fault level is 3.
Again for example, as P in the nominal time, D, R, when tetra-gears of N are all invalid, adding fault label is 12, the fault that fault level is 4.
Adding with delete procedure of stage S17g fault can be judged according to existing fault diagnosis mode by those skilled in the art, do not enumerate at this.
Referring to Figure 19, the process flow diagram of the judgement task of logic in S13g.
S18a, the present invention carries out sleep operation while powering on first, and motor shuts down, and sends a frame Electric Machine Control frame and a frame meter status frame closeall D.C. contactor.
S18b, judges the operator scheme of vehicle.
S18c, when charge switch is for closing, and whether key insert switch for closing, or when charge switch is for closing, whether key inserts switch for opening, and key ON shelves current state is when pass, and operator scheme is all park mode.If previous operator scheme is not park mode, carry out the sleep operation in S18a.And in the time that whether key inserts switch for pass, CPU enters park mode, to reduce power consumption.
S18d, when charge switch is for closing, key whether insert switch for open and key ON shelves current state when opening, operator scheme is upper power mode.
In this step, in the time that previous operator scheme is charge mode, carry out the sleep operation in S18a.
In this step, in the time that previous operator scheme is park mode, whether the High-Voltage Electrical Appliances of controlling in accordance with regulations on car power on and electric sequence.
In this step, in the time that previous operator scheme is upper power mode, according to the key START shelves state judging in S15a, in the time that it is effective, system enters driving model.
S18e, when charge switch is when opening, operator scheme is charge mode.
In this step, when previous operator scheme is for powering on or when driving model, carrying out the sleep operation in S18a.
In this step, in the time that previous operator scheme is park mode, whether the High-Voltage Electrical Appliances of controlling in accordance with regulations on car power on and electric sequence.
S18f, when receiving fault claim frame, and current operation pattern is not park mode, sends fault frame by message queue to CAN1.
S18g, when motor speed is 0, gear is P shelves, current operation pattern is not that the state of park mode and P shelves controller is not locking, sends P shelves freeze frame by message queue.
S18h, in the time that operator scheme is park mode or upper power mode, the operation of not executing the task.
S18i, in the time that operator scheme is driving model, uses linear interpolation algorithm computation of table lookup gas pedal aperture and brake pedal aperture, identification of driver intention.
In this step, when gas pedal aperture or brake pedal aperture are greater than while demarcating value, vehicle is in normal transport condition, and braking is preferential, according to motor speed and accelerator open degree definite acceleration torque of tabling look-up.
In this step, when gas pedal aperture or brake pedal aperture are when invalid, when gear is P shelves, determine the gradient according to the value of obliquity sensor, calculate torque in slope by pid algorithm, and export to electric machine controller, to realize function in slope automatically.
In this step, when gas pedal aperture or brake pedal aperture invalid, when gear is not P shelves yet, output torque be 0.
S18j, in the time that operator scheme is charge mode, detects charged mark and overtime condition, to exit charge mode.
So far, software section of the present invention finishes.
The foregoing is only better implementation method of the present invention, be not intended to limit protection scope of the present invention.Within the spirit and principles in the present invention all, to do any amendments, are equal to replacement and improvement etc., within all should being included in protection scope of the present invention.
Claims (8)
1. an Intelligent vehicle controller, is characterized in that,
Comprise: micro controller unit, switching signal Acquisition Circuit unit, analogue signal acquisition circuit unit, collision alarm Acquisition Circuit unit, car body obliqueness signal acquisition circuit unit, CAN bus interface circuit unit, LIN bus interface circuit unit, output control circuit unit, memory cell, Power Management Unit;
Described micro controller unit signal input part is connected with switching signal Acquisition Circuit unit and analogue signal acquisition circuit unit;
Described micro controller unit signal input part is also connected with collision alarm Acquisition Circuit unit and car body obliqueness signal acquisition circuit unit;
Described micro controller unit signal output part is connected with output control circuit unit, and output control circuit unit outputs control signals to the topworks of vehicle;
Described micro controller unit is connected with CAN bus interface circuit unit and LIN bus interface circuit unit communication, and described micro controller unit also communicates to connect with memory cell;
Described Power Management Unit, separately supplies to be electrically connected with above-mentioned other unit except micro controller unit for being electrically connected with micro controller unit, also supplies to be electrically connected with vehicle sensors;
In micro controller unit, store the module of executing the task as follows:
Task 1, carries out communicate by letter with host computer (a);
Task 2, carries out analog quantity and digital data acquisition (b);
Task 3, carries out CAN data processing and transmitting-receiving (c);
Task 4, carries out fault handling (d);
Task 5, realizes the logic judgement (e) of driving procedure;
Above-mentioned task is carried out task scheduling according to priority and interruption separately, and is realized and controlled outside topworks by CAN bus interface, controls car load safety, travel speed and automatically stays slope;
Described task 1 is specially: micro controller unit communicates by CAN bus interface and host computer, realizing host computer modifies to the nominal data table of analog quantity, nominal data table is stored in memory cell, system control module is tabled look-up according to image data content, and adopts linear interpolation algorithm to determine the actual condition of vehicle.
2. Intelligent vehicle controller according to claim 1, is characterized in that:
Described switching signal Acquisition Circuit unit has interface level identification module and filtration module, described level identification module identification incoming level type, and transfer to micro controller unit;
Described analogue signal acquisition circuit unit comprises integrated operational amplifier, and described integrated operational amplifier is realized the acquisition buffer processing of simulating signal and the insulation blocking of interior external circuit.
3. Intelligent vehicle controller according to claim 1, is characterized in that:
Described collision alarm testing circuit unit has voltage comparator, described voltage comparator protection internal circuit, simultaneously the collision strength information collecting is carried out to filter shape processing and is transferred to the input capture comparison signal of micro controller unit, described micro controller unit is according to collision strength delivering control signal, cut off power, handling safety air bag;
Described car body obliqueness sensor unit gathers body sway angle information and transfers to micro controller unit, described micro controller unit sends and controls signal to CAN bus interface circuit unit according to grade information value, speed of a motor vehicle control while realizing ascents and descents, automatically stays the operation of slope, constant-speed traveling.
4. Intelligent vehicle controller according to claim 1, is characterized in that:
Described CAN bus interface circuit unit, LIN bus interface circuit unit obtain vehicle operation data and CAN terminal input message, export control protocol simultaneously, realize vehicle operating and the demonstration of information of vehicles feedback;
Described output control circuit unit receives the control signal that micro controller unit sends, and outputs control signals to topworks; Control the opening and closing of outside topworks.
5. Intelligent vehicle controller according to claim 1, is characterized in that, described task 2 is specially:
Described micro controller unit carries out continuous acquisition to digital quantity analog quantity, obtains the state of vehicle critical quantity, and described critical quantity is carried out to logic judgement, and output judges that signal, to host computer, makes vehicle safety, stable work.
6. Intelligent vehicle controller according to claim 1, is characterized in that, described task 3 is specially:
Described micro controller unit is by CAN bus interface access vehicle CAN bus network, real time parsing electric machine controller, battery management system, gear controller, the CAN data protocol of hand-held fault test set; By sending Electric Machine Control frame, meter status frame, fault frame after the judgement of Data Analysis logic, make the operation of the vehicle coordinating and unifying.
7. Intelligent vehicle controller according to claim 1, is characterized in that, described task 4 is specially:
Described micro controller unit compares by the demarcation value of the collection of analog digital amount and the CAN data of parsing and car load, judges the fault that vehicle is current, and record trouble; In the time reaching fault level, carry out and stop motor operation and close High-Voltage Electrical Appliances, to protect vehicle safety.
8. Intelligent vehicle controller according to claim 1, is characterized in that, described task 5 is specially:
Described micro controller unit is determined vehicle operating pattern by the state of key switch, and described vehicle operating pattern is: park mode, upper power mode, driving model, charge mode;
Described park mode is for closing all high-voltage electrical equipments, and self enters dormant state, and power consumption is down to minimum;
Described upper power mode is for to judge whether vehicle High-Voltage Electrical Appliances power on and electric sequence;
Described driving model is to travel by expectation according to driver intention control vehicle, realizes and automatically stay slope in driving model, makes vehicle on slope, pass through the parking of extension P shelves;
Described charge mode is for detecting in real time the mark of having charged, and while judging charging, on vehicle, whether High-Voltage Electrical Appliances power on and electric sequence, in conjunction with vehicle energy situation, carry out energy distribution, recycle, and make operating range and environment for use Optimization Balancing.
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