CN104571042A - Complete-vehicle control method and complete-vehicle controller of intelligent vehicle - Google Patents
Complete-vehicle control method and complete-vehicle controller of intelligent vehicle Download PDFInfo
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41835—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by programme execution
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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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
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Abstract
The invention discloses a complete-vehicle control method and a complete-vehicle controller of an intelligent vehicle. The method includes the steps that after a BSP is initialized and a system is initialized, a main task of the system is created; after system parameters are initialized, unit sub-tasks are created in the main task of the system; according to the priorities of the unit sub-tasks, time slice round-robin scheduling is performed; a time slice comprises a preset mode and/or a user-defined mode. Different task priorities can be distributed among the unit sub-tasks of the vehicle according to the importance of events, time slice round-robin scheduling is adopted for circulation, operation time of all the tasks is reasonably distributed, the requirement for real-time performance is met, in addition, the multi-task performance can be used for integrating part of intelligent unit modules into the complete-vehicle controller, in this way, the cost of each unit module is lowered, space inside the vehicle is saved, and communication faults among the modules are reduced.
Description
Technical field
The present invention relates to intelligent automobile field, particularly relate to a kind of control method of finished and entire car controller of intelligent automobile.
Background technology
Along with country is to the fast development of support and the new forms of energy industry energetically of new forms of energy industry, many provinces and cities are open electric automobile market.Electric automobile has entered the flourish stage, and number of users and day increase suddenly, and electric automobile is about to one of the main traffic instrument as people's trip, thus has to pay close attention to the security of operation grade of vehicle and intelligentized priority application.And entire car controller is the control core of electric automobile, industry has more and more higher requirement by the security of automobile controller; Meanwhile the intelligent demand in electric automobile field is also day by day obvious, and various intelligentized module is just constantly applied on electric automobile, if the various module of perfecting program not only can not waste hardware resource, also can affect vehicle operating safety.
At present, entire car controller system has had development to a certain degree, but great majority have just done part improvement on controlling functions, and the security of operation of system does not cause enough attention.Such as existing a kind of car load integrated system and fault handling method thereof, have employed the CAN(Controller Area Network of three kinds of different rates, controller local area network) bus carrys out mitigation system load, improves the security of full-vehicle control.Separately there are a kind of control method of finished and entire car controller in existing, have employed dispersant system and independently control the device security that tightens control.Above two kinds of methods are all by strengthening system function on software and hardware, to improve the security of system, current urgently a kind of can from the control mode of system bottom elevator system security.
Summary of the invention
Fundamental purpose of the present invention, for providing a kind of control method of finished of intelligent automobile, reduces the communication failure between each intelligent object in the manual operation of human pilot and vehicle, elevator system security.
The present invention proposes a kind of control method of finished of intelligent automobile, comprises step:
Entire car controller, after the initialization of BSP board suppot package and system initialization, creates system manager's business;
After systematic parameter initialization, creating unit subtask in system manager's business;
Priority according to unit subtask carries out Time Slice Circular Scheduling; Described timeslice comprises the mode of presetting and/or User Defined mode.
Preferably, also comprise after described method:
Entire car controller, in intelligent vehicle running, receives phonetic control command, controls travel speed and/or direction.
Preferably, described unit subtask comprises:
Hardware circuit subtask, operation control subtask, battery management subtask, speech recognition subtask, auto-steering subtask and/or automatic obstacle-avoiding subtask.
Preferably, data interaction is carried out by the mode of mutex amount and/or message queue between described unit subtask.
Preferably, the described startup running control subtask comprises:
Initialization survey, calculating and logic control timer;
Judge whether to power on; In this way, next step is carried out; Otherwise, reseting register, timeing closing device hang up current task;
Carry out safety detection, judge whether to there is level fault; In this way, carry out fault handling, reseting register, timeing closing device hang up current task; Otherwise, carry out next step;
Detect vehicle and whether be in charge mode; In this way, by vehicle locking; Otherwise, carry out security control and drived control respectively, enter time delay circulation.
Preferably, describedly carry out security control and drived control respectively, the step entering time delay circulation comprises:
Carry out security control;
Judge whether to enter automatic driving mode; In this way, by CAN drived control; Otherwise, with analog quantity drived control;
After time delay 0.1-1S, return and judge whether the step that powers on, start circulation.
Preferably, the startup of described battery management subtask comprises:
Open log task;
Detect battery whether can use; In this way, next step is carried out; Otherwise, carry out fault handling, and hang up current task;
Carry out initialize Timer, survey calculation task, parametic fault rating calculation task and fault handling task;
Judge whether system sleeps; In this way, current task is hung up; Otherwise, continue to judge.
The present invention also proposes a kind of entire car controller of intelligent automobile, comprising:
Main task unit, for after the initialization of BSP board suppot package and system initialization, creates system manager's business;
Subtask unit, for after systematic parameter initialization, creating unit subtask in system manager's business;
Scheduling unit, carries out Time Slice Circular Scheduling for the priority according to unit subtask; Described timeslice comprises the mode of presetting and/or User Defined mode.
Preferably, described entire car controller also comprises:
Speech control unit, in intelligent vehicle running, receives phonetic control command, controls travel speed and/or direction.
Preferably, described subtask unit comprises:
Hardware circuit subelement, operation control subelement, battery management subelement, speech recognition subelement, auto-steering subelement and/or automatic obstacle-avoiding subelement.
Preferably, data interaction is carried out by the mode of mutex amount and/or message queue between described unit subtask.
Preferably, described operation control subelement comprises:
Run initialization module, for initialization survey, calculating and logic control timer;
Operation powers on detection module, powers on for judging whether;
Operation task hangs up module, for when being in non-power-up state, and reseting register, timeing closing device hang up current task;
Operation troubles detection module, for when being in power-up state, carrying out safety detection, judging whether to there is level fault;
Operation troubles processing module, for when there is level fault, carries out fault handling, hangs up module process by operation task;
Mode detection module, for when there is not level fault, detecting vehicle and whether being in charge mode;
Locking module, for when being in charge mode, by vehicle locking;
Safety and drive control module, for when not being in charge mode, carry out security control and drived control respectively, enters time delay circulation.
Preferably, described safety and drive control module comprise:
Security control submodule, for carrying out security control;
Driving model submodule, enters automatic driving mode for judging whether;
Bus driver submodule, for when automatic driving mode, by CAN drived control;
Analog-driven submodule, for when manual drive, with analog quantity drived control;
Time delay cyclic submodule block, after time delay 0.1-1S, judging whether to power on by running the detection module that powers on, starting circulation.
Preferably, described battery management subelement comprises:
Battery log pattern, for opening log task;
Whether battery detecting module, can use for detecting battery;
Battery failures processing module, for when battery is unavailable, carries out fault handling, and hangs up current task;
Battery initialization module, for when battery is available, carries out initialize Timer, survey calculation task, parametic fault rating calculation task and fault handling task;
Sleep detection module, for judging whether system sleeps; When sleeping, hang up current task; When not sleeping, continue to judge.
The control method of finished of intelligent automobile of the present invention and entire car controller, different task priorities is distributed by event importance between unit subtask, and adopt the mode of Time Slice Circular Scheduling to circulate, the working time of each task of reasonable distribution, meet the requirement of real-time, and the data sharing between task to carry out control task by mutex amount etc. synchronous; On the other hand, utilize its multitask performance to be integrated in entire car controller by intelligentized for part unit module, reduce unit module cost, save interior space, reduce the communication failure of intermodule.
Accompanying drawing explanation
Fig. 1 is the steps flow chart schematic diagram in control method of finished one embodiment of intelligent automobile of the present invention;
Fig. 2 is the steps flow chart schematic diagram in another embodiment of control method of finished of intelligent automobile of the present invention;
Fig. 3 runs the setting up procedure schematic flow sheet controlling subtask in control method of finished one embodiment of intelligent automobile of the present invention;
Fig. 4 is the steps flow chart schematic diagram carrying out security control and drived control in control method of finished one embodiment of intelligent automobile of the present invention;
Fig. 5 is the setting up procedure schematic flow sheet of battery management subtask in control method of finished one embodiment of intelligent automobile of the present invention;
Fig. 6 is the illustrative view of functional configuration in entire car controller one embodiment of intelligent automobile of the present invention;
Fig. 7 is the illustrative view of functional configuration of the entire car controller one embodiment neutron TU task unit of intelligent automobile of the present invention;
Fig. 8 is the illustrative view of functional configuration in another embodiment of entire car controller of intelligent automobile of the present invention;
Fig. 9 runs the illustrative view of functional configuration controlling subelement in another embodiment of entire car controller of intelligent automobile of the present invention;
Figure 10 is the illustrative view of functional configuration of safety and drive control module in another embodiment of entire car controller of intelligent automobile of the present invention;
Figure 11 is the illustrative view of functional configuration of battery management subelement in another embodiment of entire car controller of intelligent automobile of the present invention.
The realization of the object of the invention, functional characteristics and advantage will in conjunction with the embodiments, are described further with reference to accompanying drawing.
Embodiment
Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
With reference to Fig. 1, an embodiment of the control method of finished of a kind of intelligent automobile of the present invention is proposed.This control method of finished can comprise:
Step S10, after (the Board Support Package) initialization of BSP board suppot package and system initialization, create system manager business;
Step S11, after systematic parameter initialization, system manager business in creating unit subtask;
Step S12, carry out Time Slice Circular Scheduling according to the priority of unit subtask; Described timeslice comprises the mode of presetting and/or User Defined mode.
Mainly comprise in the personal vehicle system of the present embodiment: hardware circuit (BSP) subelement, operation control subelement, battery management subelement, speech recognition subelement, auto-steering subelement and automatic collision avoidance subelement etc., if there is other to need the intelligent cell module of Control on Communication also can add, only corresponding task need be added in systems in which.Intelligent automobile in the present embodiment utilizes real time operating system to manipulate, such as the system such as μ C/OS-II or μ C/OS-III.
Above-mentioned hardware circuit subelement can be arranged (support of BSP plate level): watchdog module, lock to ring module, real-time interrupt timer module, AD(analog to digital conversion) module, IO(input and output) module, (between system) CAN(Controller Area Network, controller local area network) communication module and timing power down memory module (SPI) etc.
Above-mentioned operation controls subelement and can arrange: charged state processing module, running status processing module, new-energy automobile internal mode analog quantity/pulsed quantity timing acquiring computing module and internal logic timing controlled output module etc.
Above-mentioned battery management subelement can be arranged: voltage/current and temperature-measuring module, voltage/current and temperature computation module, battery charge state computing module, voltage/current and temperature grade processing module, fault processing module and log management module etc.
Above-mentioned speech recognition subelement can be arranged: speech recognition start unit and voice recognition processing unit etc.
Above-mentioned auto-steering subelement can be arranged: rotating speed and/or turn to, and realizes travel speed and/or (angle) direction controlling unit etc.This angle can between 0-90 degree, round numbers under normal circumstances.
Above-mentioned automatic obstacle-avoiding subelement can be arranged: image keeps away barrier module and infrared ray keeps away barrier module etc.
As described in step S10, to the initialization of BSP board suppot package (hardware circuit) various functions after system starts; The timeticks obtained according to hardware initialization is the clock frequency that Operation system setting is suitable, and is changed storehouse size and the word length of operating system by the difference of microprocessor.
In the present embodiment, first house dog, locking system bus clock, real-time clock, analog to digital conversion, input and output and various communication bus are set for hardware circuit board.Then come for Operation system setting clock reference according to real-time clock, then according to different microprocessor amendment task initialization storehouse.Microprocessor used in this example needs to be better performances, better can transplant the single-chip microcomputer (can be such as the MC9S12XEP100 of Freescale company, this chip be that enhancement mode 16 single-chip microcomputers more fortunately can be transplanted and run the code of uCOS-III) of real time operating system code.Above-mentioned lock can suitable regulating system bus clock to the initialization of ring, the RTI(real-time interrupt timer in chip) timeticks will be provided for real time operating system.Above-mentioned I/O module carries out logic control by by the locking signal, high low speed fan etc. of external circuits to intelligence (electronic) automobile, and AD mouth will be used for reading the signals such as temperature.PERCOM peripheral communication (information transmission) in this example can be undertaken by the external device such as CAN and electric machine controller.
After the initialization of above-mentioned BSP board suppot package and system initialization, entire car controller can create and start up system main task.
As described in step S11, system manager is engaged in after establishment, and other task can be made all to carry out in this system manager business, thus structure of simplifying procedures.In system manager's business, initialization (also comprise and read power fail preventing data from EEPROM by SPI) is carried out to system variable parameter.In entire car controller establishment system, the subtask of unit, then enters cycle detection, judges that the state of each subtask is the need of restarting.Said units subtask can comprise: hardware circuit subtask, operation control subtask, battery management subtask, speech recognition subtask, auto-steering subtask and/or automatic obstacle-avoiding subtask etc., and the quantity of unit subtask can set according to actual conditions.
After system starts, can judge whether that needing to open operation controls subtask, judges whether to need to open battery management subtask, judges whether to need opening voice recognin task, judges whether to need to open auto-steering subtask and/or judge whether to need to open automatic obstacle-avoiding subtask etc., can also add other unit subtask when needed.
As described in step S12, different task priorities is distributed by event importance in above-mentioned unit subtask, and adopts the mode of Time Slice Circular Scheduling to circulate, and the working time of reasonable distribution unit subtask, meets the requirement of real-time.Data interaction is carried out by the mode of mutex amount and/or message queue between said units subtask.This timeslice can comprise the mode of presetting and/or User Defined mode.
The control method of finished of the intelligent automobile of the present embodiment, from the bottom of system, utilize based on real time operating system and establish a set of entire car controller system, set up each task in systems in which and have similar and different task priority, identical task priority can carry out the scheduling of timeslice wheel, each task can commissioning test separately, carries out tasks synchronization, carry out Message Transmission etc. by message queue between task by mutex amount.Said method is by adding real time operating system, the stability of the application of controller on vehicle can be improved, simultaneously by various function i ntegration in entire car controller, not only saved hardware cost and interior space, decrease the faults such as inter-module communication, elevator system security.
With reference to Fig. 2, in another embodiment of the invention, also can comprise after above-mentioned steps S12:
Step S13, in intelligent vehicle running, receive phonetic control command, control travel speed and/or direction.
In the present embodiment, control the rotating speed of intelligent automobile by phonetic control command and/or turn to, realizing the control to travel speed and/or direction.Entire car controller after reception phonetic control command, can carry out the time delay (such as about 0.5S roughly can be set between 0.1S-1S, specifically determine according to actual conditions) of setting-up time; Can detect when travel conditions in time delay process, judge whether to perform this phonetic control command, reach and can perform this phonetic control command during executive condition.
Such as: entire car controller receives a phonetic control command and " turns right with the speed of 30KM/ hour ".This entire car controller, in the 0.1-1S receiving this phonetic control command, need judge whether to perform.First it can judge whether the necessary condition reaching right-hand bend, and namely whether right turn lamp starts; Separately, the speed that can reach 30KM/ hour need be judged whether, can judge whether battery can reach 30KM/ hour by support unit, or whether the maximum turning speed of a motor vehicle of setting is more than or equal to 30KM/ hour; Again, security judges, namely judges whether to there is barrier.Only open at right turn lamp, battery can support unit reaches the speed of 30KM/ hour, the maximum turning speed of a motor vehicle is more than or equal to 30KM/ hour, and when there is not turning barrier, entire car controller performs above-mentioned phonetic control command and " turns right with the speed of 30KM/ hour ", make wagon control more convenient and intelligent, and make the Voice command of vehicle have more security.
With reference to Fig. 3, in another embodiment of the invention, the startup of above-mentioned operation control subtask can comprise:
Step S1121, initialization survey, calculating and logic control timer;
Step S1122, judge whether to power on; In this way, step S1123 is carried out; Otherwise, carry out step S1124;
Step S1123, carry out safety detection, judge whether to there is level fault; In this way, step S1125 is carried out; Otherwise, carry out step S1126;
Step S1124, reseting register, timeing closing device hang up current task;
Step S1125, carry out fault handling, and carry out step S1124;
Whether step S1126, detection vehicle are in charge mode; In this way, step S1127 is carried out; Otherwise, carry out step S1128;
Step S1127, by vehicle locking;
Step S1128, carry out security control and drived control respectively, enter time delay circulation.
After above-mentioned entire car controller judges that vehicle operating control task starts, namely carry out initialization and unlocking vehicle is measured, calculated and logic control timer that logic control exports.Then, determine whether power on (namely key starts); As do not powered on, can direct reduction register, timeing closing device hang up current task; Safety detection can be carried out to battery system and electric system as powered on.In the detection, if there is level fault, reseting register after entering fault handling, timeing closing device hang up current task; If there is no level fault, then judge whether to be in charge mode.As being in charge mode, by vehicle locking, error starting can be prevented and enter time delay circulation, namely again getting back in the detection circulation judging whether to power on after the delay adjustments time (such as 0.1-1S); As not being in charge mode, then can carry out security control and drived control respectively, and enter above-mentioned time delay circulation.
Also can comprise with reference to Fig. 4, above-mentioned steps S1128:
Step S1129, carry out security control;
Step S1130, judge whether to enter automatic driving mode; In this way, step S1131 is carried out; Otherwise, carry out step S1132;
Step S1131, by CAN drived control, and carry out step S1133;
Step S1132, with analog quantity drived control, and carry out step S1133;
After step S1133, time delay 0.1-1S, return and judge whether the step that powers on, start circulation.
When vehicle is not in charge mode, following possibility will start vehicle and travel, then need to start vehicle driving security control, control the vehicle condition in driving conditions, judge whether vehicle may run into the emergency in traveling, such as start and travel obstacle prompting etc.Judge that the current control mode of vehicle is Non-follow control or automatically controls again, whether select to enter automatic driving mode; When entering automatic driving mode, namely by CAN drived control vehicle; When entering manual drive pattern, namely can analog quantity drived control vehicle.After startup is driven, time delay about 0.1S to 1S (such as 0.5S etc.) allows system process other task if having time, returns the step powering on and judge, trigger circulates.Above-mentioned traveling obstacle is reminded, and as urgent or special status, whether entire car controller by performing unit subtask is in real time reminded, i.e. so-called traveling obstruction warning function.
The present embodiment is that the operation of vehicle operating in entire car controller controls subtask, and when after vehicle launch, start to perform this task, initialization also opens survey calculation and logic control timer.AD mouth respectively from entire car controller in this timer reads every temperature value and the speed of a motor vehicle and obtain motor speed etc. from electric machine controller, then measured value is converted to unified metric in program, can carry out output control according to following logic:
As motor temperature > 40 °, then connect and control to disconnect after water pump relay continues to motor temperature < 35 °; Or as cooling-water temperature sensor > 45 °, then low speed fan disconnects after connecting and continuing to cooling-water temperature sensor < 35 °; Or as water temperature > 75 °, then high speed fan disconnects after connecting and continuing to water temperature < 65 °; Or, as speed of a motor vehicle > 80KM/H, disconnect low speed fan and high speed fan; Or as A/C signal > 10V, blower fan signal > 10V and evaporation tank temperature sensor > 7 °, compressor relay is connected; Or, when disconnecting compressor relay during air outlet temperature sensor < setting value in evaporation tank temperature sensor < 3 ° or car; Or as blower fan signal > 10V and warm braw signal > 10V, control PTC connects, and when disconnecting during air outlet temperature sensor > setting value in car; Or, as A/C signal > 10V, then control high speed fan and connect, if now A/C signal at stop, then disconnect after high speed fan time delay 15S.
After above-mentioned logic control timer is opened and moved in the present embodiment, enter cycle control.Whether first, detect vehicle and still continue at power-up state, if power-off, reseting register, timeing closing device also hangs up task, until next time activates this task.Continue detection system fault when being in power-up state, if there is level fault, carry out corresponding fault handling and enter the processing mode of power-off; If be not level fault or there is no fault time detect be in charge mode or driving pattern, charge mode, then by vehicle locking, prevents vehicle error starting; Driving pattern then carries out security control and drived control respectively, then enters time delay circulation.So, the intelligentized control method of car load and stablizing and safety of system can be beneficial to.
With reference to Fig. 5, in another embodiment of the invention, the startup of above-mentioned battery management subtask can comprise:
Step S1141, unlatching log task;
Whether step S1142, detection battery can be used; In this way, step S1143 is carried out; Otherwise, carry out step S1144;
Step S1143, carry out initialize Timer, survey calculation task, parametic fault rating calculation task and fault handling task, and carry out step S1145;
Step S1144, carry out fault handling, and carry out step S1146;
Step S1145, judge whether system sleeps; In this way, step S1146 is carried out; Otherwise, continue to judge;
Step S1146, hang-up current task.
After battery management subtask starts in the present embodiment, first open battery management system log task.Then, determine whether to there is level fault, namely whether battery can be used; As unavailable, carry out fault handling, and hang up current task; As available, then carry out initialization and start cell timers, unlatching survey calculation task, unlatching parametic fault rating calculation task and open fault handling task.Then, cycle criterion system whether power-off; Enter cycle detection when non-power-off, hang up current task when power-off.
The present embodiment is described for the task control of battery management subtask to car load.Battery in the present embodiment can be electrokinetic cell.This battery management subtask starts after vehicle powers on, first open/recover log managing task, this on time, start voltage and start SOC value (State Of Charge is recorded in task, residual capacity), calculate battery and shelve the performance datas such as time, for later stage battery maintenance etc. provides support.When System self-test exists level fault (battery is unavailable), directly hang up log managing task.Otherwise, enter battery normal handling procedures, open cell timers and carry out every 0.1S monitoring from module electrokinetic cell, read temperature value in monomer battery voltage value, module as by electric battery monitor, and read current value in Hall current sensor by AD mouth.Survey calculation task, parametic fault rating calculation task process measuring the raw data obtained respectively, obtain the voltage of cell, monomer ceiling voltage, monomer minimum voltage, battery ceiling voltage and numbering, battery total voltage, battery minimum voltage and numbering, battery case temperature groups, maximum temperature and numbering, minimum temperature and numbering, immediate current size, average current size etc.Then average current value is carried out to the integration of △ t, obtain current integration SOCi value, and be empirically weighted to sue for peace obtain the measured value SOCt-1 of battery with average total voltage gained SOCV value of tabling look-up, then carry out expanded Kalman filtration algorithm using this value as measured value.After calculating parameters value, will have fault handling task to calculating the grade settings such as the numerical value got is reported to the police, fault, such as: when battery cell voltage is higher than 3.9V, the one-level can carrying out battery cell overtension is reported to the police; When battery cell voltage is lower than 2.5V, carry out the one-level warning etc. of battery cell brownout.And when having warning or fault, enter fault handling function, disconnect relevant relay or send relevant information to electric machine controller and entire car controller (CAN interrupt communication mode).Finally, 0.5S(can be entered and roughly can be set between 0.1S-1S) each battery sleep detection circulation, each task and timer carry out real time execution according to the mode such as priority, round-robin simultaneously.When timeing closing device after system cut-off, and each task is hung up in order to fast quick-recovery after powering on next time.
The control method of finished of above-mentioned intelligent automobile, adopt unit subtask independent, wherein measure portion, calculating section and output control part timer circulate, different task priorities is distributed by event importance in unit subtask, and adopt the mode of Time Slice Circular Scheduling to circulate, the working time of each task of reasonable distribution, meet the requirement of real-time, and the data sharing between task to carry out control task by mutex amount etc. synchronous; On the other hand, utilize its multitask performance to be integrated in entire car controller by intelligentized for part unit module, reduce unit module cost, save interior space, reduce the communication failure of intermodule.
With reference to Fig. 6, an embodiment of the entire car controller 30 of a kind of intelligent automobile of the present invention is proposed.This entire car controller 30 can comprise: main task unit 31, subtask unit 32 and scheduling unit 33; This main task unit 31, for after the initialization of BSP board suppot package and system initialization, creates system manager's business; This subtask unit 32, for after systematic parameter initialization, creating unit subtask in system manager's business; This scheduling unit 33, carries out Time Slice Circular Scheduling for the priority according to unit subtask; Described timeslice comprises the mode of presetting and/or User Defined mode.
With reference to Fig. 7, above-mentioned subtask unit 32 can comprise: hardware circuit (BSP) subelement 321, operation control subelement 322, battery management subelement 323, speech recognition subelement 324, auto-steering subelement 325 and/or automatic obstacle-avoiding subelement 326 etc., if there is other to need the intelligent cell module of Control on Communication also can add, only corresponding task need be added in systems in which.Intelligent automobile in the present embodiment utilizes real time operating system to manipulate, such as the system such as μ C/OS-II or μ C/OS-III.
Above-mentioned hardware circuit subelement 321 can be arranged (support of BSP plate level): watchdog module, lock to ring module, real-time interrupt timer module, AD(analog to digital conversion) module, IO(input and output) module, (between system) CAN(Controller Area Network, controller local area network) communication module and timing power down memory module (SPI) etc.
Above-mentioned operation controls subelement 322 and can arrange: charged state processing module, running status processing module, new-energy automobile internal mode analog quantity/pulsed quantity timing acquiring computing module and internal logic timing controlled output module etc.
Above-mentioned battery management subelement 323 can be arranged: voltage/current and temperature-measuring module, voltage/current and temperature computation module, battery charge state computing module, voltage/current and temperature grade processing module, fault processing module and log management module etc.
Above-mentioned speech recognition subelement 324 can be arranged: speech recognition start unit and voice recognition processing unit etc.
Above-mentioned auto-steering subelement 325 can be arranged: rotating speed and/or turn to, and realizes travel speed and/or accurate (angle) direction controlling unit etc.This angle can be controlled between 0-90 degree, round numbers under normal circumstances.
Above-mentioned automatic obstacle-avoiding subelement 326 can be arranged: image keeps away barrier module and infrared ray keeps away barrier module etc.
To the initialization of BSP board suppot package (hardware circuit) various functions after system starts; The timeticks obtained according to hardware initialization is the clock frequency that Operation system setting is suitable, and is changed storehouse size and the word length of operating system by the difference of microprocessor.
In the present embodiment, first house dog, locking system bus clock, real-time clock, analog to digital conversion, input and output and various communication bus are set for hardware circuit board.Then come for Operation system setting clock reference according to real-time clock, then according to different microprocessor amendment task initialization storehouse.Microprocessor used in this example needs to be better performances, better can transplant the single-chip microcomputer (can be such as the MC9S12XEP100 of Freescale company, this chip be that enhancement mode 16 single-chip microcomputers more fortunately can be transplanted and run the code of uCOS-III) of real time operating system code.Above-mentioned lock can suitable regulating system bus clock to the initialization of ring, the RTI(real-time interrupt timer in chip) timeticks will be provided for real time operating system.Above-mentioned I/O module carries out logic control by by the locking signal, high low speed fan etc. of external circuits to intelligence (electronic) automobile, and AD mouth will be used for reading the signals such as temperature.PERCOM peripheral communication (information transmission) in this example can be undertaken by the external device such as CAN and electric machine controller.
Above-mentioned main task unit 31 after the initialization of above-mentioned BSP board suppot package and system initialization, can be able to create and start up system main task.
System manager is engaged in after establishment, and other task can be made all to carry out in this system manager business, thus structure of simplifying procedures.In system manager's business, initialization (also comprise and read power fail preventing data from EEPROM by SPI) is carried out to system variable parameter.Above-mentioned subtask unit 32 can the subtask of unit in establishment system, then entering cycle detection, judging that the state of each subtask is the need of restarting.The unit subtask that in the present embodiment, above-mentioned subtask unit 32 can create can comprise: hardware circuit subtask, operation control subtask, battery management subtask, speech recognition subtask, auto-steering subtask and/or automatic obstacle-avoiding subtask etc., and the quantity of unit subtask can set according to actual conditions.
After system starts, can judge whether that needing to open operation controls subtask, judges whether to need to open battery management subtask, judges whether to need opening voice recognin task, judges whether to need to open auto-steering subtask and/or judge whether to need to open automatic obstacle-avoiding subtask etc., can also add other unit subtask when needed.
Above-mentioned scheduling unit 33 can be above-mentioned unit subtask and distributes different task priorities by event importance, and adopts the mode of Time Slice Circular Scheduling to circulate, and the working time of reasonable distribution unit subtask, meets the requirement of real-time.Data interaction is carried out by the mode of mutex amount and/or message queue between said units subtask.This timeslice can comprise the mode of presetting and/or User Defined mode.
The entire car controller 30 of the intelligent automobile of the present embodiment, from the bottom of system, utilize based on real time operating system and establish a set of entire car controller 30 system, set up each task in systems in which and have similar and different task priority, identical task priority can carry out the scheduling of timeslice wheel, each task can commissioning test separately, carries out tasks synchronization, carry out Message Transmission etc. by message queue between task by mutex amount.Above-mentioned entire car controller 30 is by adding real time operating system, the stability of the application of controller on vehicle can be improved, simultaneously by various function i ntegration in entire car controller 30, not only saved hardware cost and interior space, decrease the faults such as inter-module communication, elevator system security.
With reference to Fig. 8, in an alternative embodiment of the invention, above-mentioned entire car controller 30 also can comprise: speech control unit 34, in intelligent vehicle running, receives phonetic control command, controls travel speed and/or direction.
In the present embodiment, above-mentioned speech control unit 34 controls the rotating speed of intelligent automobile by phonetic control command and/or turns to, and realizes the control to travel speed and/or direction.Entire car controller 30 after reception phonetic control command, can carry out the time delay (such as about 0.5S roughly can be set between 0.1S-1S, specifically determine according to actual conditions) of setting-up time; Can detect when travel conditions in time delay process, judge whether to perform this phonetic control command, reach and can perform this phonetic control command during executive condition.
Such as: above-mentioned speech control unit 34 receives a phonetic control command and " turns right with the speed of 30KM/ hour ", it, need judge whether to perform by entire car controller 30 in the 0.1-1S receiving this phonetic control command.First it can judge whether the necessary condition reaching right-hand bend, and namely whether right turn lamp starts; Separately, the speed that can reach 30KM/ hour need be judged whether, can judge whether battery can reach 30KM/ hour by support unit, or whether the maximum turning speed of a motor vehicle of setting is more than or equal to 30KM/ hour; Again, security judges, namely judges whether to there is barrier.Only open at right turn lamp, battery can support unit reaches the speed of 30KM/ hour, the maximum turning speed of a motor vehicle is more than or equal to 30KM/ hour, and when there is not turning barrier, entire car controller 30 performs above-mentioned phonetic control command and " turns right with the speed of 30KM/ hour ", make wagon control more convenient and intelligent, and make the Voice command of vehicle have more security.
With reference to Fig. 9, in another embodiment of the invention, above-mentioned operation control subelement 322 can comprise: run initialization module 3221, run the detection module 3222 that powers on, operation task hangs up module 3223, operation troubles detection module 3224, operation troubles processing module 3225, mode detection module 3226, locking module 3227 and safety and drive control module 3228; This operation initialization module 3221, for initialization survey, calculating and logic control timer; This operation powers on detection module 3222, powers on for judging whether; This operation task hangs up module 3223, for when being in non-power-up state, and reseting register, timeing closing device hang up current task; This operation troubles detection module 3224, for when being in power-up state, carrying out safety detection, judging whether to there is level fault; This operation troubles processing module 3225, for when there is level fault, carries out fault handling, hangs up module 3223 process by operation task; This mode detection module 3226, for when there is not level fault, detecting vehicle and whether being in charge mode; This locking module 3227, for when being in charge mode, by vehicle locking; This safety and drive control module 3228, for when not being in charge mode, carry out security control and drived control respectively, enters time delay circulation.
After above-mentioned entire car controller 30 judges that vehicle operating control task starts, above-mentioned operation initialization module 3221 carry out initialization and unlocking vehicle measure, calculate and logic control export logic control timer.Then, the above-mentioned operation detection module 3222 that powers on determines whether to power on (namely key starts); As do not powered on, namely hang up module 3223 direct reduction register, timeing closing device hang up current task by operation task; As powered on, namely carry out safety detection by operation troubles detection module 3224 pairs of battery systems and electric system.In the detection, if there is level fault, then after entering fault handling by operation troubles processing module 3225, operation task is utilized to hang up module 3223 reseting register, timeing closing device hang up current task; If there is no level fault, then judge whether to be in charge mode by mode detection module 3226.As being in charge mode, namely by locking module 3227 by vehicle locking, prevent error starting and enter time delay circulation, namely again get back to after the delay adjustments time (such as 0.1-1S) judge whether to power on detection circulation in; As not being in charge mode, then safety and drive control module 3228 can be utilized to carry out security control and drived control respectively, and enter above-mentioned time delay circulation.
With reference to Figure 10, above-mentioned safety and drive control module 3228 can comprise: security control submodule 32281, driving model submodule 32282, bus driver submodule 32283, analog-driven submodule 32284 and time delay cyclic submodule block 32285; This security control submodule 32281, for carrying out security control; This driving model submodule 32282, enters automatic driving mode for judging whether; This bus driver submodule 32283, for when automatic driving mode, by CAN drived control; This analog-driven submodule 32284, for when manual drive, with analog quantity drived control; This time delay cyclic submodule block 32285, after time delay 0.1-1S, judging whether to power on by running the detection module 3222 that powers on, starting circulation.
When vehicle is not in charge mode, following possibility will start vehicle and travel, then need to start vehicle driving security control by security control submodule 32281, control the vehicle condition in driving conditions, judge whether vehicle may run into the emergency in traveling, such as start and travel obstacle prompting etc.Whether recycling driving model submodule 32282 judges that the current control mode of vehicle is Non-follow control or automatically controls, select to enter automatic driving mode; When entering automatic driving mode, bus driver submodule 32283 can be utilized by CAN drived control vehicle; When entering manual drive pattern, analog-driven submodule 32284 can be utilized with analog quantity drived control vehicle.Above-mentioned time delay cyclic submodule block 32285 can after startup be driven, and between time delay 0.1S to 1S, (such as 0.5S etc.) allow system process other task if having time, returns the above-mentioned operation detection module 3222 that powers on and carries out judgements that power on, trigger circulation.Above-mentioned traveling obstacle is reminded, and as urgent or special status, whether entire car controller by performing unit subtask is in real time reminded, i.e. so-called traveling obstruction warning function.
The present embodiment is that the operation of vehicle operating in entire car controller 30 controls subtask, and when after vehicle launch, start to perform this task, initialization also opens survey calculation and logic control timer.AD mouth respectively from entire car controller 30 in this timer reads every temperature value and the speed of a motor vehicle and obtain motor speed etc. from electric machine controller, then measured value is converted to unified metric in program, can carry out output control according to following logic:
As motor temperature > 40 °, then connect and control to disconnect after water pump relay continues to motor temperature < 35 °; Or as cooling-water temperature sensor > 45 °, then low speed fan disconnects after connecting and continuing to cooling-water temperature sensor < 35 °; Or as water temperature > 75 °, then high speed fan disconnects after connecting and continuing to water temperature < 65 °; Or, as speed of a motor vehicle > 80KM/H, disconnect low speed fan and high speed fan; Or as A/C signal > 10V, blower fan signal > 10V and evaporation tank temperature sensor > 7 °, compressor relay is connected; Or, when disconnecting compressor relay during air outlet temperature sensor < setting value in evaporation tank temperature sensor < 3 ° or car; Or as blower fan signal > 10V and warm braw signal > 10V, control PTC connects, and when disconnecting during air outlet temperature sensor > setting value in car; Or, as A/C signal > 10V, then control high speed fan and connect, if now A/C signal at stop, then disconnect after high speed fan time delay 15S.
After above-mentioned logic control timer is opened and moved in the present embodiment, enter cycle control.Whether first, detect vehicle and still continue at power-up state, if power-off, reseting register, timeing closing device also hangs up task, until next time activates this task.Continue detection system fault when being in power-up state, if there is level fault, carry out corresponding fault handling and enter the processing mode of power-off; If be not level fault or there is no fault time detect be in charge mode or driving pattern, charge mode, then by vehicle locking, prevents vehicle error starting; Driving pattern then carries out security control and drived control respectively, then enters time delay circulation.So, the intelligentized control method of car load and stablizing and safety of system can be beneficial to.
With reference to Figure 11, in an alternative embodiment of the invention, above-mentioned battery management subelement 323 can comprise: battery log pattern 3231, battery detecting module 3232, battery failures processing module 3233, battery initialization module 3234 and sleep detection module 3235; This battery log pattern 3231, for opening log task; Whether this battery detecting module 3232, can use for detecting battery; This battery failures processing module 3233, for when battery is unavailable, carries out fault handling, and hangs up current task; This battery initialization module 3234, for when battery is available, carries out initialize Timer, survey calculation task, parametic fault rating calculation task and fault handling task; This sleep detection module 3235, for judging whether system sleeps; When sleeping, hang up current task; When not sleeping, continue to judge.
After battery management subtask starts in the present embodiment, first open battery management system log task by above-mentioned battery log pattern 3231.Then, determine whether to there is level fault by battery detecting module 3232, namely whether battery can be used; As unavailable, carry out fault handling by battery failures processing module 3233, and hang up current task; As available, then carry out initialization by battery initialization module 3234 and start cell timers, unlatching survey calculation task, unlatching parametic fault rating calculation task and open fault handling task.Then, the whether power-off of sleep detection module 3235 cycle criterion system is utilized; Enter cycle detection when non-power-off, hang up current task when power-off.
The present embodiment is described for the task control of battery management subtask to car load.Battery in the present embodiment can be electrokinetic cell.This battery management subtask starts after vehicle powers on, first open/recover log managing task, this on time, start voltage and start SOC value (State Of Charge is recorded in task, residual capacity), calculate battery and shelve the performance datas such as time, for later stage battery maintenance etc. provides support.When System self-test exists level fault (battery is unavailable), directly hang up log managing task.Otherwise, enter battery normal handling procedures, open cell timers and carry out every 0.1S monitoring from module electrokinetic cell, read temperature value in monomer battery voltage value, module as by electric battery monitor, and read current value in Hall current sensor by AD mouth.Survey calculation task, parametic fault rating calculation task process measuring the raw data obtained respectively, obtain the voltage of cell, monomer ceiling voltage, monomer minimum voltage, battery ceiling voltage and numbering, battery total voltage, battery minimum voltage and numbering, battery case temperature groups, maximum temperature and numbering, minimum temperature and numbering, immediate current size, average current size etc.Then average current value is carried out to the integration of △ t, obtain current integration SOCi value, and be empirically weighted to sue for peace obtain the measured value SOCt-1 of battery with average total voltage gained SOCV value of tabling look-up, then carry out expanded Kalman filtration algorithm using this value as measured value.After calculating parameters value, will have fault handling task to calculating the grade settings such as the numerical value got is reported to the police, fault, such as: when battery cell voltage is higher than 3.9V, the one-level can carrying out battery cell overtension is reported to the police; When battery cell voltage is lower than 2.5V, carry out the one-level warning etc. of battery cell brownout.And when having warning or fault, enter fault handling function, disconnect relevant relay or send relevant information to electric machine controller and entire car controller 30(CAN interrupt communication mode).Finally, 0.5S(can be entered and roughly can be set between 0.1S-1S) each battery sleep detection circulation, each task and timer carry out real time execution according to the mode such as priority, round-robin simultaneously.When timeing closing device after system cut-off, and each task is hung up in order to fast quick-recovery after powering on next time.
The entire car controller 30 of above-mentioned intelligent automobile, adopt unit subtask independent, wherein measure portion, calculating section and output control part timer circulate, different task priorities is distributed by event importance in unit subtask, and adopt the mode of Time Slice Circular Scheduling to circulate, the working time of each task of reasonable distribution, meet the requirement of real-time, and the data sharing between task to carry out control task by mutex amount etc. synchronous; On the other hand, utilize its multitask performance to be integrated in entire car controller 30 by intelligentized for part unit module, reduce unit module cost, save interior space, reduce the communication failure of intermodule.
The foregoing is only the preferred embodiments of the present invention; not thereby the scope of the claims of the present invention is limited; every utilize instructions of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (14)
1. a control method of finished for intelligent automobile, is characterized in that, comprises step:
After the initialization of BSP board suppot package and system initialization, create system manager's business;
After systematic parameter initialization, creating unit subtask in system manager's business;
Priority according to unit subtask carries out Time Slice Circular Scheduling; Described timeslice comprises the mode of presetting and/or User Defined mode.
2. the control method of finished of intelligent automobile according to claim 1, is characterized in that, also comprises after described method:
In intelligent vehicle running, receive phonetic control command, control travel speed and/or direction.
3. the control method of finished of intelligent automobile according to claim 1 and 2, is characterized in that, described unit subtask comprises:
Hardware circuit subtask, operation control subtask, battery management subtask, speech recognition subtask, auto-steering subtask and/or automatic obstacle-avoiding subtask.
4. the control method of finished of intelligent automobile according to claim 3, is characterized in that, carries out data interaction between described unit subtask by the mode of mutex amount and/or message queue.
5. the control method of finished of intelligent automobile according to claim 3, is characterized in that, the described startup running control subtask comprises:
Initialization survey, calculating and logic control timer;
Judge whether to power on; In this way, next step is carried out; Otherwise, reseting register, timeing closing device hang up current task;
Carry out safety detection, judge whether to there is level fault; In this way, carry out fault handling, reseting register, timeing closing device hang up current task; Otherwise, carry out next step;
Detect vehicle and whether be in charge mode; In this way, by vehicle locking; Otherwise, carry out security control and drived control respectively, enter time delay circulation.
6. the control method of finished of intelligent automobile according to claim 5, is characterized in that, describedly carries out security control and drived control respectively, and the step entering time delay circulation comprises:
Carry out security control;
Judge whether to enter automatic driving mode; In this way, by CAN drived control; Otherwise, with analog quantity drived control;
After time delay 0.1-1S, return and judge whether the step that powers on, start circulation.
7. the control method of finished of intelligent automobile according to claim 3, is characterized in that, the startup of described battery management subtask comprises:
Open log task;
Detect battery whether can use; In this way, next step is carried out; Otherwise, carry out fault handling, and hang up current task;
Carry out initialize Timer, survey calculation task, parametic fault rating calculation task and fault handling task;
Judge whether system sleeps; In this way, current task is hung up; Otherwise, continue to judge.
8. an entire car controller for intelligent automobile, is characterized in that, comprising:
Main task unit, for after the initialization of BSP board suppot package and system initialization, creates system manager's business;
Subtask unit, for after systematic parameter initialization, creating unit subtask in system manager's business;
Scheduling unit, carries out Time Slice Circular Scheduling for the priority according to unit subtask; Described timeslice comprises the mode of presetting and/or User Defined mode.
9. the entire car controller of intelligent automobile according to claim 1, is characterized in that, described entire car controller also comprises:
Speech control unit, in intelligent vehicle running, receives phonetic control command, controls travel speed and/or direction.
10. the entire car controller of intelligent automobile according to claim 8 or claim 9, it is characterized in that, described subtask unit comprises:
Hardware circuit subelement, operation control subelement, battery management subelement, speech recognition subelement, auto-steering subelement and/or automatic obstacle-avoiding subelement.
The entire car controller of 11. intelligent automobiles according to claim 10, is characterized in that, carries out data interaction between described unit subtask by the mode of mutex amount and/or message queue.
The entire car controller of 12. intelligent automobiles according to claim 10, is characterized in that, described operation controls subelement and comprises:
Run initialization module, for initialization survey, calculating and logic control timer;
Operation powers on detection module, powers on for judging whether;
Operation task hangs up module, for when being in non-power-up state, and reseting register, timeing closing device hang up current task;
Operation troubles detection module, for when being in power-up state, carrying out safety detection, judging whether to there is level fault;
Operation troubles processing module, for when there is level fault, carries out fault handling, hangs up module process by operation task;
Mode detection module, for when there is not level fault, detecting vehicle and whether being in charge mode;
Locking module, for when being in charge mode, by vehicle locking;
Safety and drive control module, for when not being in charge mode, carry out security control and drived control respectively, enters time delay circulation.
The entire car controller of 13. intelligent automobiles according to claim 12, is characterized in that, described safety and drive control module comprise:
Security control submodule, for carrying out security control;
Driving model submodule, enters automatic driving mode for judging whether;
Bus driver submodule, for when automatic driving mode, by CAN drived control;
Analog-driven submodule, for when manual drive, with analog quantity drived control;
Time delay cyclic submodule block, after time delay 0.1-1S, judging whether to power on by running the detection module that powers on, starting circulation.
The entire car controller of 14. intelligent automobiles according to claim 10, is characterized in that, described battery management subelement comprises:
Battery log pattern, for opening log task;
Whether battery detecting module, can use for detecting battery;
Battery failures processing module, for when battery is unavailable, carries out fault handling, and hangs up current task;
Battery initialization module, for when battery is available, carries out initialize Timer, survey calculation task, parametic fault rating calculation task and fault handling task;
Sleep detection module, for judging whether system sleeps; When sleeping, hang up current task; When not sleeping, continue to judge.
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