CN104571042B - The control method of finished and entire car controller of intelligent automobile - Google Patents
The control method of finished and entire car controller of intelligent automobile Download PDFInfo
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- CN104571042B CN104571042B CN201410856224.2A CN201410856224A CN104571042B CN 104571042 B CN104571042 B CN 104571042B CN 201410856224 A CN201410856224 A CN 201410856224A CN 104571042 B CN104571042 B CN 104571042B
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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
Present invention is disclosed the control method of finished and entire car controller of a kind of intelligent automobile, this method may include step：After the initialization of BSP board suppot packages and system initialization, system manager's business is created；After systematic parameter initialization, the creating unit subtask in system manager is engaged in；Time Slice Circular Scheduling is carried out according to the priority of unit subtask；The timeslice includes presetting mode and/or User Defined mode.The present invention is distributed different task priorities by event importance between can using the unit subtask of vehicle, and circulated by the way of Time Slice Circular Scheduling, the run time of each task of reasonable distribution, meet the requirement of real-time, on the other hand, the intelligentized unit module in part is integrated into entire car controller using its multitask performance, reduces unit module cost, interior space is saved, reduces the communication failure of intermodule.
Description
Technical field
The present invention relates to intelligent automobile field, the control method of finished and vehicle of a kind of intelligent automobile are especially related to
Controller.
Background technology
With energetically support and the fast development of new energy industry of the country to new energy industry, many provinces and cities have opened
Put electric automobile market.Electric automobile has come into the booming stage, and number of users will be made with day abruptly increase, electric automobile
One of main means of transport for people's trip, so that the have to grade safe for operation to vehicle and intelligentized priority application
Concern.And entire car controller is the control core of electric automobile, industry will have the security of automobile controller higher and higher
Requirement；At the same time the intelligent demand in electric automobile field is also increasingly apparent, and various intelligentized modules just constantly should
With on electric automobile, if the various modules of perfecting program can not only not waste hardware resource, vehicle fortune can be also influenced
Row safety.
At present, entire car controller system has had a degree of development, but most of is in control function
It is partially improved, and the safe for operation of system does not cause enough attention.A kind of such as existing vehicle integrated system
And its fault handling method, employ the CAN of three kinds of different rates（Controller Area Network, controller LAN
Network）Bus mitigates system loading, improves the security of full-vehicle control.Separately there are a kind of control method of finished and vehicle control in existing
Device processed, employs decentralized system independent control come the device security that tightens control.Both the above method is all by software and hardware
Strengthening system function, to improve the security of system, it is currently urgently a kind of can be from system bottom lifting system security
Control mode.
The content of the invention
The main object of the present invention reduces the manual behaviour of driver to provide a kind of control method of finished of intelligent automobile
Communication failure in work and vehicle between each intelligent object, lifting system security.
The present invention proposes a kind of control method of finished of intelligent automobile, including step：
Entire car controller creates system manager's business after the initialization of BSP board suppot packages and system initialization；
After systematic parameter initialization, the creating unit subtask in system manager is engaged in；
Time Slice Circular Scheduling is carried out according to the priority of unit subtask；The timeslice includes presetting mode
And/or User Defined mode.
Preferably, further included after the method：
Entire car controller receives phonetic control command in intelligent vehicle running, controls travel speed and/or direction.
Preferably, the unit subtask includes：
Hardware circuit subtask, operation control subtask, battery management subtask, speech recognition subtask, auto-steering
Subtask and/or automatic obstacle-avoiding subtask.
Preferably, between the unit subtask data friendship is carried out by way of mutex amount and/or message queue
Mutually.
Preferably, the startup of the operation control subtask includes：
Initialization survey, calculating and logic control timer；
Judge whether to power on；If so, carry out next step；Otherwise, reseting register, Off Timer and hang-up are as predecessor
Business；
Safety detection is carried out, judges whether level fault；If so, carrying out troubleshooting, reseting register, close and determine
When device and hang up current task；Otherwise, next step is carried out；
Whether detection vehicle is in charge mode；If so, by vehicle locking；Otherwise, security control and driving are carried out respectively
Control, into delay loop.
Preferably, it is described to carry out security control and drive control respectively, include into the step of delay loop：
Carry out security control；
Judge whether to enter automatic driving mode；If so, pass through CAN bus drive control；Otherwise, driven and controlled with analog quantity
System；
It is delayed after 0.1-1S, return judges whether to power on step, starts the cycle over.
Preferably, the startup of the battery management subtask includes：
Open log task；
Whether detection battery can use；If so, carry out next step；Otherwise, troubleshooting is carried out, and hangs up current task；
Carry out initialization timer, survey calculation task, parametic fault rating calculation task and troubleshooting task；
Judge whether system sleeps；If so, hang up current task；Otherwise, continue to judge.
The present invention also proposes a kind of entire car controller of intelligent automobile, including：
Main task unit, for after the initialization of BSP board suppot packages and system initialization, creating system manager's business；
Subtask unit, for after systematic parameter initializes, the creating unit subtask in system manager is engaged in；
Scheduling unit, for carrying out Time Slice Circular Scheduling according to the priority of unit subtask；The timeslice includes
Preset mode and/or User Defined mode.
Preferably, the entire car controller further includes：
Speech control unit, in intelligent vehicle running, receives phonetic control command, control travel speed and/or
Direction.
Preferably, the subtask unit includes：
Hardware circuit subelement, operation control subelement, battery management subelement, speech recognition subelement, auto-steering
Subelement and/or automatic obstacle-avoiding subelement.
Preferably, between the unit subtask data friendship is carried out by way of mutex amount and/or message queue
Mutually.
Preferably, the operation control subelement includes：
Initialization module is run, for initialization survey, calculating and logic control timer；
Operation powers on detection module, for judging whether to power on；
Operation task suspension module, for when in non-power-up state, reseting register, Off Timer and hang-up to be worked as
Preceding task；
Operation troubles detection module, for when in power-up state, carrying out safety detection, judges whether level-one event
Barrier；
Operation troubles processing module, for when there are during level fault, progress troubleshooting, mould is hung up by operation task
Block is handled；
Mode detection module, for when there is no during level fault, whether detection vehicle is in charge mode；
Locking module, for when in charge mode, by vehicle locking；
Safety and drive control module, for when being not in charge mode, carrying out security control and drive control respectively,
Into delay loop.
Preferably, the safety and drive control module include：
Security control submodule, for carrying out security control；
Driving model submodule, for judging whether to enter automatic driving mode；
Bus driver submodule, in automatic driving mode, passing through CAN bus drive control；
Analog-driven submodule, in manual drive, with analog quantity drive control；
Delay loop submodule, after the 0.1-1S that is delayed, powers on detection module by operation and judges whether to power on, start
Circulation.
Preferably, the battery management subelement includes：
Battery journal module, for opening log task；
Battery detecting module, for detecting whether battery can use；
Battery failures processing module, for when battery is unavailable, carrying out troubleshooting, and hang up current task；
Battery initialization module, for when battery can use, carrying out initialization timer, survey calculation task, parameter event
Hinder rating calculation task and troubleshooting task；
Sleep detection module, for judging whether system sleeps；In sleep, current task is hung up；When not sleeping, after
It is continuous to judge.
The control method of finished and entire car controller of the intelligent automobile of the present invention, press event importance between unit subtask
Different task priorities is distributed, and is circulated by the way of Time Slice Circular Scheduling, during the operation of each task of reasonable distribution
Between, meet the requirement of real-time, and the data sharing between task is synchronous come control task by mutex amount etc.；The opposing party
The intelligentized unit module in part, is integrated into entire car controller by face using its multitask performance, reduces unit module
Cost, saves interior space, reduces the communication failure of intermodule.
Brief description of the drawings
Fig. 1 is the step flow diagram in one embodiment of control method of finished of intelligent automobile of the present invention；
Fig. 2 is the step flow diagram in another embodiment of control method of finished of intelligent automobile of the present invention；
Fig. 3 is the starting step that control subtask is run in one embodiment of control method of finished of intelligent automobile of the present invention
Flow diagram；
Fig. 4 is to carry out security control and drive control in one embodiment of control method of finished of intelligent automobile of the present invention
Steps flow chart schematic diagram；
Fig. 5 be intelligent automobile of the present invention one embodiment of control method of finished in battery management subtask starting step
Flow diagram；
Fig. 6 is the illustrative view of functional configuration in one embodiment of entire car controller of intelligent automobile of the present invention；
Fig. 7 is the illustrative view of functional configuration of the one embodiment neutron TU task unit of entire car controller 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 is the functional structure that control subelement is run in another embodiment of entire car controller of intelligent automobile of the present invention
Schematic diagram；
Figure 10 be intelligent automobile of the present invention another embodiment of entire car controller in safety and the function of drive control module
Structure diagram；
Figure 11 be intelligent automobile of the present invention another embodiment of entire car controller in battery management subelement functional structure
Schematic diagram.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
With reference to Fig. 1, an a kind of embodiment of the control method of finished of intelligent automobile of the present invention is proposed.The control method of finished
It may include：
Step S10, in BSP board suppot packages（Board Support Package）After initialization and system initialization,
Create system manager's business；
Step S11, after systematic parameter initialization, the creating unit subtask in system manager is engaged in；
Step S12, Time Slice Circular Scheduling is carried out according to the priority of unit subtask；The timeslice includes setting in advance
Determine mode and/or User Defined mode.
Mainly include 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 needs
The intelligent cell module of communication control can also add, and only need to add corresponding task in systems.Intelligence in the present embodiment
Energy automobile is manipulated using real time operating system, such as the system such as μ C/OS-II or μ C/OS-III.
Above-mentioned hardware circuit subelement can be set（BSP plates level is supported）：Watchdog module, lock to ring moulds block, 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）Deng.
Above-mentioned operation control subelement can be set：Charged state processing module, operating 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 set：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 daily record pipe
Manage module etc..
Above-mentioned speech recognition subelement can be set：Speech recognition start unit and voice recognition processing unit etc..
Above-mentioned auto-steering subelement can be set：Rotating speed and/or steering, realize to travel speed and/or（Angle）Direction
Control unit etc..The angle can be between 0-90 degree, round numbers under normal conditions.
Above-mentioned automatic obstacle-avoiding subelement can be set：Image obstacle avoidance module and infrared ray obstacle avoidance module etc..
As described in step S10, to BSP board suppot packages after system startup（Hardware circuit）Various functions initialize；According to
The timeticks obtained according to hardware initialization set suitable clock frequency for system, and behaviour is changed by the difference of microprocessor
Make the storehouse size and word length of system.
In the present embodiment, first against hardware circuit board set house dog, locking system bus clock, real-time clock,
Analog-to-digital conversion, input and output and various communication bus.Then come to set clock reference for system according to real-time clock, further according to not
Task initialization storehouse is changed with microprocessor.Microprocessor used needs to be better performances in this example, can preferably transplant
The microcontroller of real time operating system code（For example can be the MC9S12XEP100 of Freescale company, which is enhanced
16 microcontrollers can more fortunately be transplanted and run the code of uCOS-III）.Initialization of the above-mentioned lock to ring can be adjusted suitably
System bus clock, the RTI in chip（Real-time interrupt timer）Timeticks will be provided for real time operating system.Above-mentioned IO moulds
Block will be by external circuits to intelligence（It is electronic）The locking signal of automobile, high low speed fan etc. carry out logic control, and AD mouthfuls will use
To read the signals such as temperature.PERCOM peripheral communication in this example（Information transmits）Can be by CAN bus and electric machine controller etc.
External device carries out.
After the initialization of above-mentioned BSP board suppot packages and system initialization, entire car controller can create and activation system
Main task.
As described in step S11, system manager be engaged in create after, may be such that other tasks all the system manager be engaged in into
OK, so as to simplify program structure.System variable parameter is initialized in system manager is engaged in（Further include and pass through from EEPROM
SPI reads power fail preventing data）.The subtask of unit in entire car controller establishment system, subsequently into cycle detection, judges
Whether the state of each subtask, which needs, restarts.Said units subtask may include：Hardware circuit subtask, operation control
Subtask, battery management subtask, speech recognition subtask, auto-steering subtask and/or automatic obstacle-avoiding subtask etc., unit
The quantity of subtask can be set according to actual conditions.
After system starts, it can determine whether to need to open operation control subtask, judge whether to need to open battery management
Subtask, judge whether to need to open speech recognition subtask, judge whether to need to open auto-steering subtask and/or judgement
Whether need to open automatic obstacle-avoiding subtask etc., other unit subtasks can also be added when needed.
As described in step S12, above-mentioned unit subtask is distributed different task priorities by event importance, and
Circulated by the way of Time Slice Circular Scheduling, the run time of reasonable distribution unit subtask, meet wanting for real-time
Ask.Data interaction is carried out between said units subtask by way of mutex amount and/or message queue.The timeslice can
Including presetting mode and/or User Defined mode.
The control method of finished of the intelligent automobile of the present embodiment, from the bottom of system, is using real time operating system
The a set of entire car controller system of Foundation, establishes each task and possesses similar and different task priority in systems,
Identical task priority can carry out timeslice wheel scheduling, each task can independent commissioning test, pass through mutex between task
Amount carries out tasks synchronization, and message transmission etc. is carried out by message queue.The above method is by adding real time operating system, Ke Yiti
The stability of application of the high controller on vehicle, while integrate various function into entire car controller, not only save hard
Part cost and interior space, decrease the failures such as inter-module communication, lifting system security.
With reference to Fig. 2, in another embodiment of the invention, may also include after above-mentioned steps S12：
Step S13, in intelligent vehicle running, phonetic control command is received, controls travel speed and/or direction.
In the present embodiment, rotating speed and/or the steering of intelligent automobile can be controlled by phonetic control command, is realized to traveling speed
Degree and/or the control in direction.Entire car controller can carry out the delay of setting time after phonetic control command is received（Such as
0.5S or so, can substantially be set between 0.1S-1S, depending on actual conditions）；Can be to when row during delay
The situation of sailing is detected, and judges whether to perform the phonetic control command, and the voice control is can perform when reaching executable condition
Instruction.
Such as：Entire car controller receives a phonetic control command " turning right with speed of 30KM/ when small ".The vehicle
Controller need to judge whether to perform in the 0.1-1S for receiving this phonetic control command.It can be it is first determined whether reach right
Whether the necessary condition of turning, i.e. right turn lamp start；In addition, need to judge whether to can reach 30KM/ it is small when speed, you can judge
Battery whether can support vehicle reach 30KM/ it is small when, or setting maximum turning speed whether be more than or equal to 30KM/ it is small when；
It is that security judges, that is, judges whether barrier again.Only opened in right turn lamp, battery can support vehicle to reach
Speed when 30KM/ is small, maximum turning speed be more than or equal to 30KM/ it is small when, and there is no during turning barrier, full-vehicle control
Device performs above-mentioned phonetic control command " turning right with speed of 30KM/ when small ", makes wagon control more convenient and intelligent,
And the voice control of vehicle is set to have more security.
With reference to Fig. 3, in another embodiment of the invention, the startup of above-mentioned operation control subtask may include：
Step S1121, initialization survey, calculating and logic control timer；
Step S1122, judge whether to power on；If so, carry out step S1123；Otherwise, step S1124 is carried out；
Step S1123, safety detection is carried out, judges whether level fault；If so, carry out step S1125；Otherwise,
Carry out step S1126；
Step S1124, reseting register, Off Timer and current task is hung up；
Step S1125, troubleshooting is carried out, and carries out step S1124；
Step S1126, whether detection vehicle is in charge mode；If so, carry out step S1127；Otherwise, step is carried out
S1128；
Step S1127, by vehicle locking；
Step S1128, security control and drive control are carried out respectively, into delay loop.
After above-mentioned entire car controller judges that vehicle operation control task has been started up, that is, carry out initializing and unlocking vehicle is surveyed
The logic control timer of amount, calculating and logic control output.Then, it is determined that whether power on（I.e. key starts）；As do not powered on,
Can direct reduction register, Off Timer and hang up current task；Such as power on can to battery system and electric system into
Row safety detection.In the detection, then into reseting register, Off Timer after troubleshooting and hung if there is level fault
Play current task；If there is no level fault, then judge whether to be in charge mode.Such as it is in charge mode, you can by car
Locking, prevents error starting and enters delay loop, i.e., in the delay adjustments time（Such as 0.1-1S）After turn again to judgement and be
In the no detection circulation powered on；Charge mode is such as not in, then can carry out security control and drive control respectively, and enter above-mentioned
Delay loop.
It may also include with reference to Fig. 4, above-mentioned steps S1128：
Step S1129, security control is carried out；
Step S1130, judge whether to enter automatic driving mode；If so, carry out step S1131；Otherwise, step is carried out
S1132；
Step S1131, by CAN bus drive control, and step S1133 is carried out；
Step S1132, with analog quantity drive control, and step S1133 is carried out；
Step S1133, it is delayed after 0.1-1S, return judges whether to power on step, starts the cycle over.
When vehicle is not in charge mode, next it may will start vehicle and travel, then need to start to vehicle row
Car security control, controls the vehicle condition in driving conditions, judges the emergency whether vehicle is likely encountered in traveling, such as
Start traveling obstacle prompting etc..It is to control or automatically control manually to judge that vehicle currently controls mode again, if selection enters
Automatic driving mode；When into automatic driving mode, you can pass through CAN bus drive control vehicle；When entrance manual drive mould
Formula, you can with analog quantity drive control vehicle.After driving is started, delay 0.1S to 1S or so（Such as 0.5S etc.）System is allowed to have
The step of other tasks of time-triggered protocol, return powers on judgement, trigger circulation.It can be in car that above-mentioned traveling obstacle, which is reminded,
Traveling during, such as promptly or special status, entire car controller whether unit subtask will can perform in real time into
Row is reminded, i.e., so-called traveling obstruction warning function.
The present embodiment is that the operation that vehicle is run in entire car controller controls subtask, after vehicle launch, starts to perform
This task, initializes and opens survey calculation and logic control timer.Respectively from the AD mouths of entire car controller in the timer
Read every temperature value and speed and motor speed etc. is obtained from electric machine controller, be then converted to measured value in program
Unified metric, can carry out output control according to following logic：
As 40 ° of motor temperature ＞, then connect control water pump relay and continue to 35 ° of motor temperature ＜ to disconnect；Alternatively, work as
45 ° of cooling-water temperature sensor ＞, then low speed fan, which is connected, continues to 35 ° of cooling-water temperature sensor ＜ to disconnect；Alternatively, work as 75 ° of water temperature ＞, then
High speed fan, which is connected, to be continued to 65 ° of water temperature ＜ to disconnect；Alternatively, as speed ＞ 80KM/H, low speed fan and high speed winds are disconnected
Fan；Alternatively, as A/C signals ＞ 10V, wind turbine signal ＞ 10V and 7 ° of evaporation tank temperature sensor ＞, compressor relay connects
It is logical；Alternatively, disconnect compressor relay when 3 ° of evaporation tank temperature sensor ＜ or in-car air outlet temperature sensor ＜ setting values
Device；Alternatively, as wind turbine signal ＞ 10V and warm wind signal ＞ 10V, control PTC is connected, and when in-car air outlet temperature sensor
Disconnected during ＞ setting values；Alternatively, as A/C signal ＞ 10V, then high speed fan is controlled to connect, if A/C signal-off at this time,
Disconnected after high speed fan delay 15S.
After above-mentioned logic control timer unlatching is dynamic in the present embodiment, into loop control.First, detect vehicle whether according to
Right to continue in power-up state, the reseting register if power-off, Off Timer simultaneously hangs up task, until next time activates this
Business.Continue detecting system failure during in power-up state, corresponding troubleshooting is then carried out if there is level fault and is entered
The processing mode of power-off；If be not level fault or not in the event of failure detection be in charge mode or drive mode, charge
Pattern then by vehicle locking, prevents vehicle error starting；Drive mode then carries out security control and drive control respectively, subsequently into
Delay loop.In this way, the intelligentized control method of vehicle and the stabilization 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 may include：
Step S1141, log task is opened；
Step S1142, whether detection battery can use；If so, carry out step S1143；Otherwise, step S1144 is carried out；
Step S1143, initialization timer, survey calculation task, parametic fault rating calculation task and failure are carried out
Processing task, and carry out step S1145；
Step S1144, troubleshooting is carried out, and carries out step S1146；
Step S1145, judge whether system sleeps；If so, carry out step S1146；Otherwise, continue to judge；
Step S1146, current task is hung up.
After battery management subtask starts in the present embodiment, battery management system log task is first turned on.Then, it is determined that
With the presence or absence of level fault, i.e. whether battery can use；As unavailable, progress troubleshooting, and hang up current task；As available,
Then initialized and start cell timers, open survey calculation task, opened parametic fault rating calculation task and open
Open troubleshooting task.Then, whether cycle criterion system powers off；Enter cycle detection when not powering off, hang up when power is off
Current task.
The present embodiment is that the task control to vehicle by taking battery management subtask as an example illustrates.Electricity in the present embodiment
Pond can be power battery.The battery management subtask is when vehicle starts after the power is turned on, be first turned on/recover log managing task,
This available machine time, start voltage and start SOC value are recorded in task（State Of Charge, residual capacity）, calculate
Go out battery and shelve the performance datas such as time, be the offer supports such as later stage battery maintenance.In System self-test, there are level fault（Battery
It is unavailable）When, directly hang up log managing task.Otherwise, into battery normal handling procedures, cell timers is opened and are carried out often
0.1S is monitored the slave module of power battery, such as by battery pack monitor reading monomer battery voltage value, module
Temperature value, and read current value in Hall current sensor by AD mouthfuls.Survey calculation task, parametic fault rating calculation task
The initial data obtained respectively to measurement is handled, and obtains the voltage, monomer ceiling voltage, the minimum electricity of monomer of single battery
Pressure, battery ceiling voltage and numbering, battery total voltage, battery minimum voltage and numbering, battery case temperature group, maximum temperature and volume
Number, minimum temperature and numbering, immediate current size, average current size etc..Then the integration of △ t is carried out to average current value,
Obtain current integration SOCi values, and be empirically weighted to sum and obtain battery with average total voltage gained SOCV values of tabling look-up
Measured value SOCt-1, is then extended Kalman filtering algorithm using this value as measured value.After parameters value is calculated,
By faulty processing task to be alarmed the numerical value that gets of calculating, the grade such as failure set, such as：Battery cell voltage is high
When 3.9V, you can carry out the level-one alarm of battery cell overtension；When battery cell voltage is less than 2.5V, battery list is carried out
Too low level-one alarm of bulk voltage etc..And when having alarm or failure, into troubleshooting function, disconnect related relay or hair
Relevant information is sent to electric machine controller and entire car controller（CAN interrupts communication mode）.Finally, 0.5S can be entered（It can substantially set
It is scheduled between 0.1S-1S）Each battery sleep detection circulation, while each task and timer are according to priority, timeslice
The modes such as rotation carry out real time execution.Off Timer after system cut-off, and by each task hang up in case next time after the power is turned on
Fast quick-recovery.
The control method of finished of above-mentioned intelligent automobile, using unit subtask independent, wherein measurement part, calculating
Part and output control part are circulated with timer, and unit subtask is excellent by the different task of event importance distribution
First level, and circulated by the way of Time Slice Circular Scheduling, the run time of each task of reasonable distribution, meet wanting for real-time
Ask, and the data sharing between task is synchronous come control task by mutex amount etc.；On the other hand, its multitask is utilized
The intelligentized unit module in part can be integrated into entire car controller, reduce unit module cost, save interior space,
Reduce the communication failure of intermodule.
With reference to Fig. 6, an a kind of embodiment of the entire car controller 30 of intelligent automobile of the present invention is proposed.The entire car controller 30
It may include：Main task unit 31, subtask unit 32 and scheduling unit 33；The main task unit 31, in BSP plate level branch
After holding initialization packet and system initialization, system manager's business is created；The subtask unit 32, for being initialized in systematic parameter
Afterwards, the creating unit subtask in system manager is engaged in；The scheduling unit 33, during for being carried out according to the priority of unit subtask
Between piece robin scheduling；The timeslice includes presetting mode and/or User Defined mode.
With reference to Fig. 7, above-mentioned subtask unit 32 may include：Hardware circuit（BSP）Subelement 321, operation control subelement
322nd, battery management subelement 323, speech recognition subelement 324, auto-steering subelement 325 and/or automatic obstacle-avoiding subelement
326 etc., if there are other intelligent cell modules for needing communication control to add, only corresponding task need to be added in systems i.e.
Can.Intelligent automobile in the present embodiment is manipulated using real time operating system, for example μ C/OS-II or μ C/OS-III etc. is
System.
Above-mentioned hardware circuit subelement 321 can be set（BSP plates level is supported）：Watchdog module, lock to ring moulds block, in real time in
Disconnected 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）Deng.
Above-mentioned operation control subelement 322 can be set：Charged state processing module, operating status processing module, new energy
Automotive interior analog quantity/pulsed quantity timing acquiring computing module and internal logic timing controlled output module etc..
Above-mentioned battery management subelement 323 can be set：Voltage/current and temperature-measuring module, voltage/current and thermometer
Calculate module, battery charge state computing module, voltage/current and temperature grade processing module, fault processing module and daily record
Management module etc..
Above-mentioned speech recognition subelement 324 can be set：Speech recognition start unit and voice recognition processing unit etc..
Above-mentioned auto-steering subelement 325 can be set：Rotating speed and/or steering, are realized to travel speed and/or accurate
（Angle）Direction controlling unit etc..The angle is can be controlled between 0-90 degree, under normal conditions round numbers.
Above-mentioned automatic obstacle-avoiding subelement 326 can be set：Image obstacle avoidance module and infrared ray obstacle avoidance module etc..
To BSP board suppot packages after system startup（Hardware circuit）Various functions initialize；Obtained according to hardware initialization
Timeticks for system, suitable clock frequency is set, and the storehouse size of operating system is changed by the difference of microprocessor
And word length.
In the present embodiment, first against hardware circuit board set house dog, locking system bus clock, real-time clock,
Analog-to-digital conversion, input and output and various communication bus.Then come to set clock reference for system according to real-time clock, further according to not
Task initialization storehouse is changed with microprocessor.Microprocessor used needs to be better performances in this example, can preferably transplant
The microcontroller of real time operating system code（For example can be the MC9S12XEP100 of Freescale company, which is enhanced
16 microcontrollers can more fortunately be transplanted and run the code of uCOS-III）.Initialization of the above-mentioned lock to ring can be adjusted suitably
System bus clock, the RTI in chip（Real-time interrupt timer）Timeticks will be provided for real time operating system.Above-mentioned IO moulds
Block will be by external circuits to intelligence（It is electronic）The locking signal of automobile, high low speed fan etc. carry out logic control, and AD mouthfuls will use
To read the signals such as temperature.PERCOM peripheral communication in this example（Information transmits）Can be by CAN bus and electric machine controller etc.
External device carries out.
Above-mentioned main task unit 31 be able to can create simultaneously after the initialization of above-mentioned BSP board suppot packages and system initialization
Activation system main task.
System manager is engaged in after creating, and may be such that other tasks all carry out in the system manager is engaged in, so as to simplify program knot
Structure.System variable parameter is initialized in system manager is engaged in（Further include from EEPROM by SPI and read power down preventing number
According to）.Above-mentioned subtask unit 32 can in establishment system unit subtask, subsequently into cycle detection, judge each height
Whether the state of task, which needs, restarts.The unit subtask Ke Bao that above-mentioned subtask unit 32 can create in the present embodiment
Include：Hardware circuit subtask, operation control subtask, battery management subtask, speech recognition subtask, auto-steering subtask
And/or automatic obstacle-avoiding subtask etc., the quantity of unit subtask can be set according to actual conditions.
After system starts, it can determine whether to need to open operation control subtask, judge whether to need to open battery management
Subtask, judge whether to need to open speech recognition subtask, judge whether to need to open auto-steering subtask and/or judgement
Whether need to open automatic obstacle-avoiding subtask etc., other unit subtasks can also be added when needed.
Above-mentioned scheduling unit 33 can be that above-mentioned unit subtask is distributed different task priorities by event importance,
And circulated by the way of Time Slice Circular Scheduling, the run time of reasonable distribution unit subtask, meets real-time
It is required that.Data interaction is carried out between said units subtask by way of mutex amount and/or message queue.The timeslice
It may include to preset mode and/or User Defined mode.
The entire car controller 30 of the intelligent automobile of the present embodiment, from the bottom of system, is using real time operating system
A set of 30 system of entire car controller of Foundation, establishes each task and possesses similar and different priority of task in systems
Level, identical task priority can carry out timeslice wheel scheduling, each task can independent commissioning test, believed by mutual exclusion between task
Number amount carries out tasks synchronization, passes through message queue and carries out message transmission etc..Above-mentioned entire car controller 30 is by adding real-time operation
System, can improve the stability of application of the controller on vehicle, while integrate various function into entire car controller 30,
Hardware cost and interior space have not only been saved, has decreased the failures such as inter-module communication, lifting system security.
With reference to Fig. 8, in an alternative embodiment of the invention, above-mentioned entire car controller 30 may also include：Speech control unit 34,
For in intelligent vehicle running, receiving phonetic control command, travel speed and/or direction are controlled.
In the present embodiment, above-mentioned speech control unit 34 can by phonetic control command control intelligent automobile rotating speed and/
Or turn to, realize the control to travel speed and/or direction.Entire car controller 30 can after phonetic control command is received, into
The delay of row setting time（Such as 0.5S or so, it can substantially be set between 0.1S-1S, depending on actual conditions）；
It can judge whether to perform the phonetic control command, reach executable bar to being detected when travel conditions during delay
It can perform the phonetic control command during part.
Such as：Above-mentioned speech control unit 34 is received a phonetic control command and " is turned right with speed of 30KM/ when small
It is curved ", it be able to need to judge whether to perform by entire car controller 30 in the 0.1-1S for receiving this phonetic control command.It can
It is first determined whether reaching the necessary condition of right-hand bend, i.e., whether right turn lamp starts；In addition, it need to judge whether to can reach 30KM/
Hour speed, you can judge battery whether can support vehicle reach 30KM/ it is small when, or set maximum turning speed whether
When small more than or equal to 30KM/；It is that security judges, that is, judges whether barrier again.Only opened in right turn lamp, electricity
Pond can support vehicle reach 30KM/ it is small when speed, maximum turning speed be more than or equal to 30KM/ it is small when, and there is no turning
During barrier, entire car controller 30 performs above-mentioned phonetic control command " turning right with speed of 30KM/ when small ", makes wagon control
It is more convenient and intelligent, and the voice control of vehicle is had more security.
With reference to Fig. 9, in another embodiment of the invention, above-mentioned operation control subelement 322 may include：Operation initialization
Module 3221, operation power on detection module 3222, operation task suspension module 3223, operation troubles detection module 3224, operation
Fault processing module 3225, mode detection module 3226, locking module 3227 and safety and drive control module 3228；The fortune
Row initialization module 3221, for initialization survey, calculating and logic control timer；The operation powers on detection module 3222,
For judging whether to power on；The operation task suspension module 3223, for when in non-power-up state, reseting register, pass
Close timer and hang up current task；The operation troubles detection module 3224, for when in power-up state, carrying out safe inspection
Survey, judge whether level fault；The operation troubles processing module 3225, for when there are during level fault, carrying out failure
Processing, is handled by operation task suspension module 3223；The mode detection module 3226, level fault is not present for working as
When, whether detection vehicle is in charge mode；The locking module 3227, for when in charge mode, by vehicle locking；Should
Safety and drive control module 3228, for when being not in charge mode, carrying out security control and drive control respectively, enter
Delay loop.
After above-mentioned entire car controller 30 judges that vehicle operation control task has been started up, above-mentioned operation initialization module 3221
Initialize the logic control timer of simultaneously unlocking vehicle measurement, calculating and logic control output.Then, above-mentioned operation powers on
Detection module 3222 determines whether to power on（I.e. key starts）；As do not powered on, you can straight by operation task suspension module 3223
Connect reseting register, Off Timer and hang up current task；Such as power on, you can by operation troubles detection module 3224 to electricity
Cell system and electric system carry out safety detection.In the detection, if there is level fault, then operation troubles processing module is passed through
After 3225 enter troubleshooting, using 3223 reseting register of operation task suspension module, Off Timer and hang up as predecessor
Business；If there is no level fault, then judge whether to be in charge mode by mode detection module 3226.Such as in charging mould
Formula, you can by locking module 3227 by vehicle locking, prevent error starting and enter delay loop, i.e., in the delay adjustments time
（Such as 0.1-1S）Turn again to afterwards in the detection circulation for judging whether to power on；Charge mode is such as not in, then using safety
And drive control module 3228 carries out security control and drive control respectively, and enter above-mentioned delay loop.
With reference to Figure 10, above-mentioned safety and drive control module 3228 may include：Security control submodule 32281, drive mould
Formula module 32282, bus driver submodule 32283, analog-driven submodule 32284 and delay loop submodule 32285；
The security control submodule 32281, for carrying out security control；The driving model submodule 32282, for judging whether to enter
Automatic driving mode；The bus driver submodule 32283, in automatic driving mode, passing through CAN bus drive control；
The analog-driven submodule 32284, in manual drive, with analog quantity drive control；The delay loop submodule
32285, after the 0.1-1S that is delayed, detection module 3222 is powered on by operation and judges whether to power on, is started the cycle over.
When vehicle is not in charge mode, next it may will start vehicle and travel, then need to pass through security control
Submodule 32281 starts to vehicle driving security control, controls the vehicle condition in driving conditions, judges whether vehicle may meet
Emergency into traveling, for example start traveling obstacle prompting etc..Driving model submodule 32282 is recycled to judge that vehicle is worked as
Preceding control mode is to control or automatically control manually, if selection enters automatic driving mode；When into automatic driving mode,
Pass through CAN bus drive control vehicle using bus driver submodule 32283；When entrance manual drive pattern, you can profit
With analog-driven submodule 32284 with analog quantity drive control vehicle.Above-mentioned delay loop submodule 32285 can drive starting
Afterwards, 0.1S is delayed between 1S（Such as 0.5S etc.）Allow system having time to handle other tasks, return to electro-detection in above-mentioned operation
Module 3222 carries out powering on judgement, trigger circulation.It can be in vehicle travel process, such as that above-mentioned traveling obstacle, which is reminded,
Urgent or special status is met, entire car controller is reminded whether executable to unit subtask in real time, i.e., so-called
Travel obstruction warning function.
The present embodiment is that the operation that vehicle is run in entire car controller 30 controls subtask, after vehicle launch, starts to hold
This task of row, initializes and opens survey calculation and logic control timer.Respectively from entire car controller 30 in the timer
AD mouthfuls are read every temperature value and speed and motor speed etc. are obtained from electric machine controller, and measured value then is converted to journey
Unified metric in sequence, can carry out output control according to following logic：
As 40 ° of motor temperature ＞, then connect control water pump relay and continue to 35 ° of motor temperature ＜ to disconnect；Alternatively, work as
45 ° of cooling-water temperature sensor ＞, then low speed fan, which is connected, continues to 35 ° of cooling-water temperature sensor ＜ to disconnect；Alternatively, work as 75 ° of water temperature ＞, then
High speed fan, which is connected, to be continued to 65 ° of water temperature ＜ to disconnect；Alternatively, as speed ＞ 80KM/H, low speed fan and high speed winds are disconnected
Fan；Alternatively, as A/C signals ＞ 10V, wind turbine signal ＞ 10V and 7 ° of evaporation tank temperature sensor ＞, compressor relay connects
It is logical；Alternatively, disconnect compressor relay when 3 ° of evaporation tank temperature sensor ＜ or in-car air outlet temperature sensor ＜ setting values
Device；Alternatively, as wind turbine signal ＞ 10V and warm wind signal ＞ 10V, control PTC is connected, and when in-car air outlet temperature sensor
Disconnected during ＞ setting values；Alternatively, as A/C signal ＞ 10V, then high speed fan is controlled to connect, if A/C signal-off at this time,
Disconnected after high speed fan delay 15S.
After above-mentioned logic control timer unlatching is dynamic in the present embodiment, into loop control.First, detect vehicle whether according to
Right to continue in power-up state, the reseting register if power-off, Off Timer simultaneously hangs up task, until next time activates this
Business.Continue detecting system failure during in power-up state, corresponding troubleshooting is then carried out if there is level fault and is entered
The processing mode of power-off；If be not level fault or not in the event of failure detection be in charge mode or drive mode, charge
Pattern then by vehicle locking, prevents vehicle error starting；Drive mode then carries out security control and drive control respectively, subsequently into
Delay loop.In this way, the intelligentized control method of vehicle and the stabilization 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 may include：Battery daily record mould
Block 3231, battery detecting module 3232, battery failures processing module 3233, battery initialization module 3234 and sleep detection mould
Block 3235；The battery journal module 3231, for opening log task；The battery detecting module 3232, is for detecting battery
It is no available；The battery failures processing module 3233, for when battery is unavailable, carrying out troubleshooting, and hang up current task；
The battery initialization module 3234, for when battery can use, carrying out initialization timer, survey calculation task, parametic fault
Rating calculation task and troubleshooting task；The sleep detection module 3235, for judging whether system sleeps；Sleeping
When, hang up current task；When not sleeping, continue to judge.
After battery management subtask starts in the present embodiment, battery management is opened by above-mentioned battery journal module 3231 first
System log task.Then, determine whether that there are level fault, i.e. battery whether to can use by battery detecting module 3232；Such as
It is unavailable, troubleshooting is carried out by battery failures processing module 3233, and hang up current task；As can use, then pass through battery
Initialization module 3234 is initialized and starts cell timers, opened survey calculation task, opens parametic fault grade meter
Calculation task and unlatching troubleshooting task.Then, whether powered off using 3235 cycle criterion system of sleep detection module；Not
Enter cycle detection during power-off, hang up current task when power is off.
The present embodiment is that the task control to vehicle by taking battery management subtask as an example illustrates.Electricity in the present embodiment
Pond can be power battery.The battery management subtask is when vehicle starts after the power is turned on, be first turned on/recover log managing task,
This available machine time, start voltage and start SOC value are recorded in task（State Of Charge, residual capacity）, calculate
Go out battery and shelve the performance datas such as time, be the offer supports such as later stage battery maintenance.In System self-test, there are level fault（Battery
It is unavailable）When, directly hang up log managing task.Otherwise, into battery normal handling procedures, cell timers is opened and are carried out often
0.1S is monitored the slave module of power battery, such as by battery pack monitor reading monomer battery voltage value, module
Temperature value, and read current value in Hall current sensor by AD mouthfuls.Survey calculation task, parametic fault rating calculation task
The initial data obtained respectively to measurement is handled, and obtains the voltage, monomer ceiling voltage, the minimum electricity of monomer of single battery
Pressure, battery ceiling voltage and numbering, battery total voltage, battery minimum voltage and numbering, battery case temperature group, maximum temperature and volume
Number, minimum temperature and numbering, immediate current size, average current size etc..Then the integration of △ t is carried out to average current value,
Obtain current integration SOCi values, and be empirically weighted to sum and obtain battery with average total voltage gained SOCV values of tabling look-up
Measured value SOCt-1, is then extended Kalman filtering algorithm using this value as measured value.After parameters value is calculated,
By faulty processing task to be alarmed the numerical value that gets of calculating, the grade such as failure set, such as：Battery cell voltage is high
When 3.9V, you can carry out the level-one alarm of battery cell overtension；When battery cell voltage is less than 2.5V, battery list is carried out
Too low level-one alarm of bulk voltage etc..And when having alarm or failure, into troubleshooting function, disconnect related relay or hair
Relevant information is sent to electric machine controller and entire car controller 30（CAN interrupts communication mode）.Finally, 0.5S can be entered（Substantially may be used
It is set between 0.1S-1S）Each battery sleep detection circulation, while each task and timer are according to priority, time
The modes such as piece rotation carry out real time execution.Off Timer after system cut-off, and each task is hung up in case powering on next time
Fast quick-recovery afterwards.
The entire car controller 30 of above-mentioned intelligent automobile, using unit subtask independent, wherein measurement part, calculating
Part and output control part are circulated with timer, and unit subtask is excellent by the different task of event importance distribution
First level, and circulated by the way of Time Slice Circular Scheduling, the run time of each task of reasonable distribution, meet wanting for real-time
Ask, and the data sharing between task is synchronous come control task by mutex amount etc.；On the other hand, its multitask is utilized
The intelligentized unit module in part can be integrated into entire car controller 30, reduce unit module cost, saved in-car empty
Between, reduce the communication failure of intermodule.
The foregoing is merely the preferred embodiment of the present invention, is not intended to limit the scope of the invention, every utilization
The equivalent structure or equivalent flow shift that description of the invention and accompanying drawing content are made, it is related to be directly or indirectly used in other
Technical field, be included within the scope of the present invention.
Claims (6)
1. a kind of control method of finished of intelligent automobile, it is characterised in that including step：
After the initialization of BSP board suppot packages and system initialization, system manager's business is created；
After systematic parameter initialization, the creating unit subtask in system manager is engaged in；
Time Slice Circular Scheduling is carried out according to the priority of unit subtask；The timeslice include preset mode and/or
User Defined mode；
In intelligent vehicle running, phonetic control command is received, controls travel speed and/or direction, wherein：Entire car controller can
After phonetic control command is received, the delay of setting time is carried out；To being detected when travel conditions during delay, sentence
It is disconnected whether to perform the phonetic control command, the phonetic control command is performed when reaching execution condition；
The unit subtask includes：
Hardware circuit subtask, operation control subtask, battery management subtask, speech recognition subtask, auto-steering are appointed
Business and/or automatic obstacle-avoiding subtask；
The startup of the operation control subtask includes：
Initialization survey, calculating and logic control timer；
Judge whether to power on；If so, carry out next step；Otherwise, reseting register, Off Timer and current task is hung up；
Safety detection is carried out, judges whether level fault；If so, carry out troubleshooting, reseting register, Off Timer
And hang up current task；Otherwise, next step is carried out；
Whether detection vehicle is in charge mode；If so, by vehicle locking；Otherwise, security control and drive control are carried out respectively,
Into delay loop；The operation control subtask that vehicle is run in entire car controller, after vehicle launch, starts to perform the fortune
Row control subtask, initializes and opens survey calculation and logic control timer, respectively from entire car controller in the timer
AD mouths read every temperature value and speed and motor speed obtained from electric machine controller, measured value is then converted into journey
Unified metric in sequence, output control is carried out according to following logic：
As 40 ° of motor temperature ＞, then connect control water pump relay and continue to 35 ° of motor temperature ＜ to disconnect；Alternatively, work as water temperature
45 ° of sensor ＞, then low speed fan, which is connected, continues to 35 ° of cooling-water temperature sensor ＜ to disconnect；Alternatively, work as 75 ° of water temperature ＞, then at a high speed
Fan, which is connected, to be continued to 65 ° of water temperature ＜ to disconnect；Alternatively, as speed ＞ 80KM/H, low speed fan and high speed fan are disconnected；Or
Person, as A/C signals ＞ 10V, wind turbine signal ＞ 10V and 7 ° of evaporation tank temperature sensor ＞, compressor relay is connected；Or
Person, compressor relay is disconnected when 3 ° of evaporation tank temperature sensor ＜ or in-car air outlet temperature sensor ＜ setting values；Or
Person, as wind turbine signal ＞ 10V and warm wind signal ＞ 10V, control PTC is connected, and when in-car air outlet temperature sensor ＞ is set
Disconnected during definite value；Alternatively, as A/C signal ＞ 10V, then high speed fan is controlled to connect, if A/C signal-off at this time, at a high speed
Disconnected after fan delay 15S；
It is described to carry out security control and drive control respectively, include into the step of delay loop：
Carry out security control；
Judge whether to enter automatic driving mode；If so, pass through CAN bus drive control；Otherwise, with analog quantity drive control；
It is delayed after 0.1-1S, return judges whether to power on step, starts the cycle over.
2. the control method of finished of intelligent automobile according to claim 1, it is characterised in that between the unit subtask
Data interaction is carried out by way of mutex amount and/or message queue.
3. the control method of finished of intelligent automobile according to claim 1, it is characterised in that the battery management subtask
Startup include：
Open log task；
Whether detection battery can use；If so, carry out next step；Otherwise, troubleshooting is carried out, and hangs up current task；
Carry out initialization timer, survey calculation task, parametic fault rating calculation task and troubleshooting task；
Judge whether system sleeps；If so, hang up current task；Otherwise, continue to judge.
A kind of 4. entire car controller of intelligent automobile, it is characterised in that including：
Main task unit, for after the initialization of BSP board suppot packages and system initialization, creating system manager's business；
Subtask unit, for after systematic parameter initializes, the creating unit subtask in system manager is engaged in；
Scheduling unit, for carrying out Time Slice Circular Scheduling according to the priority of unit subtask；The timeslice includes advance
Setting means and/or User Defined mode；
Speech control unit, in intelligent vehicle running, receiving phonetic control command, controls travel speed and/or direction；
Wherein, entire car controller can carry out the delay of setting time after phonetic control command is received；To when row during delay
The situation of sailing is detected, and judges whether to perform the phonetic control command, the phonetic control command is performed when reaching execution condition；
The subtask unit includes：
Hardware circuit subelement, operation control subelement, battery management subelement, speech recognition subelement, auto-steering are single
Member and/or automatic obstacle-avoiding subelement；
The operation control subelement includes：
Initialization module is run, for initialization survey, calculating and logic control timer；
Operation powers on detection module, for judging whether to power on；
Operation task suspension module, for when in non-power-up state, reseting register, Off Timer simultaneously to be hung up as predecessor
Business；
Operation troubles detection module, for when in power-up state, carrying out safety detection, judging whether level fault；
Operation troubles processing module, for when there are during level fault, carrying out troubleshooting, by operation task suspension module into
Row processing；
Mode detection module, for when there is no during level fault, whether detection vehicle is in charge mode；
Locking module, for when in charge mode, by vehicle locking；
Safety and drive control module, for when being not in charge mode, carrying out security control and drive control respectively, enter
Delay loop；
The safety and drive control module include：
Security control submodule, for carrying out security control；
Driving model submodule, for judging whether to enter automatic driving mode；
Bus driver submodule, in automatic driving mode, passing through CAN bus drive control；
Analog-driven submodule, in manual drive, with analog quantity drive control；
Delay loop submodule, after the 0.1-1S that is delayed, powers on detection module by operation and judges whether to power on, start to follow
Ring；
The operation control subtask that vehicle is run in entire car controller is realized by the subtask unit, after vehicle launch, is opened
Begin to perform the operation control subtask, initialize and open survey calculation and logic control timer, in the timer respectively
Every temperature value and speed are read from the AD mouths of entire car controller and motor speed is obtained from electric machine controller, then will be surveyed
Value is converted to unified metric in program, and output control is carried out according to following logic：
As 40 ° of motor temperature ＞, then connect control water pump relay and continue to 35 ° of motor temperature ＜ to disconnect；Alternatively, work as water temperature
45 ° of sensor ＞, then low speed fan, which is connected, continues to 35 ° of cooling-water temperature sensor ＜ to disconnect；Alternatively, work as 75 ° of water temperature ＞, then at a high speed
Fan, which is connected, to be continued to 65 ° of water temperature ＜ to disconnect；Alternatively, as speed ＞ 80KM/H, low speed fan and high speed fan are disconnected；Or
Person, as A/C signals ＞ 10V, wind turbine signal ＞ 10V and 7 ° of evaporation tank temperature sensor ＞, compressor relay is connected；Or
Person, compressor relay is disconnected when 3 ° of evaporation tank temperature sensor ＜ or in-car air outlet temperature sensor ＜ setting values；Or
Person, as wind turbine signal ＞ 10V and warm wind signal ＞ 10V, control PTC is connected, and when in-car air outlet temperature sensor ＞ is set
Disconnected during definite value；Alternatively, as A/C signal ＞ 10V, then high speed fan is controlled to connect, if A/C signal-off at this time, at a high speed
Disconnected after fan delay 15S.
5. the entire car controller of intelligent automobile according to claim 4, it is characterised in that lead between the unit subtask
The mode for crossing mutex amount and/or message queue carries out data interaction.
6. the entire car controller of intelligent automobile according to claim 4, it is characterised in that the battery management subelement bag
Include：
Battery journal module, for opening log task；
Battery detecting module, for detecting whether battery can use；
Battery failures processing module, for when battery is unavailable, carrying out troubleshooting, and hang up current task；
Battery initialization module, for when battery can use, carrying out initialization timer, survey calculation task, parametic fault etc.
Level calculating task and troubleshooting task；
Sleep detection module, for judging whether system sleeps；In sleep, current task is hung up；When not sleeping, continue to sentence
It is disconnected.
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| CN103995742B (en) * | 2014-05-20 | 2017-02-22 | 万向钱潮股份有限公司 | Embedded type real-time scheduling control device and method based on MCU |
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| CN203611892U (en) * | 2013-11-11 | 2014-05-28 | 北汽福田汽车股份有限公司 | Outage delay control system of vehicle control unit |
| CN104149788A (en) * | 2014-07-25 | 2014-11-19 | 湖南大学 | Method for preventing faulty operation of driver of electric automobile |
Non-Patent Citations (1)
| Title |
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| 多功能语音控制小车的设计与实现;冯平等;《数字通信》;20090325;第36卷(第1期);87-89 * |
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