CN105857102B - The electric intelligent automotive electrical system of centralized architecture controller and redundancy of powering - Google Patents
The electric intelligent automotive electrical system of centralized architecture controller and redundancy of powering Download PDFInfo
- Publication number
- CN105857102B CN105857102B CN201610216526.2A CN201610216526A CN105857102B CN 105857102 B CN105857102 B CN 105857102B CN 201610216526 A CN201610216526 A CN 201610216526A CN 105857102 B CN105857102 B CN 105857102B
- Authority
- CN
- China
- Prior art keywords
- acc
- relay
- main
- redundancy
- battery
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L1/00—Supplying electric power to auxiliary equipment of vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0046—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electric energy storage systems, e.g. batteries or capacitors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0084—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to control modules
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
-
- 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The present invention relates to a kind of centralized architecture controller and the electric intelligent automotive electrical system for redundancy of powering,Including the high-tension battery and battery management system (1) connected each other by electric wiring,Key switch (16),Power supply unit,Intelligent decision and control unit,Sensor unit and actuator unit,Key switch (16) sets OFF to keep off,ACC is kept off,ON is kept off and START gears,Power supply unit includes main storage battery (12) and booster battery (11),Electric wiring includes main ACC circuits,Aid in ACC circuits,ON circuits,START circuits and the normal electric line being connected with main storage battery (12) cathode output end,Compared with prior art,The present invention solves the requirement of electric intelligent automobile control unit and line control system for redundancy,Steering in being travelled for vehicle,Braking,The critical components such as central control unit devise the redundancy of hardware and power supply,Improve the security of autonomous driving vehicle.
Description
Technical field
It is superfluous more particularly, to a kind of centralized architecture controller and power supply the present invention relates to a kind of intelligent automobile electrical system
Remaining electric intelligent automotive electrical system.
Background technology
Existing electric intelligent automobile research and development are generally based on pure electric automobile progress, and corresponding electrical system is also base
Developed in electrical system for pure electric vehicle.But because following development trend of electric intelligent automobile is steering-by-wire, line traffic control
Braking and ethernet communication, rather than mechanical steering universal at present, hydraulic braking and CAN communication, it is therefore desirable to ensure
Redundancy in hardware, power supply and communication.
A kind of electrical system for pure electric vehicle is described Chinese patent CN102501770A, and the electrical system is to pure
The description of electric automobile electrical system working method is more detailed, but does not do for electric intelligent vehicle control system and line control system superfluous
The design of remaining property.If it is still based on original electrical system for pure electric vehicle to be developed, in controller key, critical component or confession
When electricity goes wrong, it will bring potential safety hazard for vehicle and passenger.
The content of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of centralized architecture control
The electric intelligent automotive electrical system of device processed and redundancy of powering.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of electric intelligent automotive electrical system of centralized architecture controller and redundancy of powering, including each other by electric
The high-tension battery of connection and battery management system, key switch, power supply unit, intelligent decision and control unit, sensor
Unit and actuator unit, described high-tension battery includes battery bag and battery management system with battery management system, described
Key switch sets OFF to keep off, ACC gears, ON gears and START are kept off,
Characterized in that, described power supply unit includes main storage battery and booster battery, described main storage battery and auxiliary
Battery terminal negative output end bonding is helped, described electric wiring includes high-tension line and low-voltage circuit, and low-voltage circuit includes main ACC
Circuit, auxiliary ACC circuits, ON circuits, START circuits and the normal electric line being connected with main storage battery cathode output end, it is described
Main ACC circuits and auxiliary ACC circuits connect intelligence sensor unit respectively, and connect actuator unit respectively；
Described intelligent decision includes respectively coming with the main ECU and redundancy ECU of relay, described master with control unit
ECU relay coil and main ACC connections, relay normally open contact is connected with main ACC circuits or normal electric line, described
The coil and normally opened contact of redundancy ECU relay are provided with letter respectively with aiding in ACC connections between main ECU and redundancy ECU
Number transmission channel, the comparison of signal when being worked for the two simultaneously；
When described key switch is in OFF gears, each circuit in electric wiring in addition to normal electric line is single with power supply
Member disconnects, and when key switch is in ACC gears, main ACC circuits connect with normal electric line, aiding in ACC circuits and booster battery just
The connection of pole output end, when key switch be in ON gears, main ACC circuits, ON circuits connect with normal electric line, aid in ACC circuits and
Booster battery cathode output end connects, when key switch be in START gears, main ACC circuits, ON circuits, START circuits with it is normal
Electric line connects, and auxiliary ACC circuits connect with booster battery cathode output end, during automobile normal running, main ECU and redundancy
ECU is worked simultaneously, and when main storage battery failure, main ECU is exited, redundancy ECU work.
Described steering wheel sensor is connected with steering wheel sensor single-pole double-throw relay, described electronic pedal sensing
Device is connected with electronic pedal sensor single-pole double-throw relay, and described steering wheel sensor single-pole double-throw relay and electronics are stepped on
Plate sensor single-pole double-throw relay is often connected to main ACC circuits and is controlled by main ACC circuits respectively, when main ACC line voltage distributions not
When normal, the power supply that auxiliary ACC circuits ensure steering wheel sensor and electronic pedal sensor is automatically switched to.
Described actuator unit is anti-including left rear wheel brake actuator, off hind wheel brake actuator, steering motor, parking
Steal ciphering unit, the near front wheel brake actuator, off-front wheel brake actuator and redundancy steering motor；
Wherein steering motor and redundancy steering motor pass through respective relay and main ACC circuits and auxiliary ACC lines respectively
Road connects one to one, and left rear wheel brake actuator and off hind wheel brake actuator pass through respective relay and main ACC respectively
Connection and the near front wheel brake actuator and off-front wheel brake actuator pass through respective relay with aiding in ACC circuits respectively
Connection, or left rear wheel brake actuator and off hind wheel brake actuator pass through respective relay and auxiliary ACC circuits respectively
Connection and the near front wheel brake actuator and off-front wheel brake actuator are respectively by respective relay and main ACC connections,
Each relay power supply break-make is controlled by intelligent decision and control unit respectively；The antitheft ciphering unit that stops passes through antitheft encryption of stopping
Unit normally closed relay is with often electrically connecting, on main ACC circuits after electricity, the normally-closed contact for the antitheft ciphering unit normally closed relay that stops
Disconnect.
Described system also includes automatic Pilot unit, and the automatic Pilot unit includes passing through automatic Pilot unit respectively
Camera, vehicle and the infrastructure-based communication of relay and main ACC connections, GPS and inertial navigation, short distance radar, it is long away from
Radar and ultrasonic sensor, described automatic Pilot unit relay power break-make by intelligent decision and control unit control.
Described automatic Pilot unit also includes the long-range prison by automatic Pilot unit relay with main ACC connections
Control device.
Described system also includes Vehicular charger, and described Vehicular charger is provided with charging pile interface, low-voltage output
With high-voltage output end, described low-voltage output provides electric energy for the battery management system of high-tension battery and battery management system,
Described high-voltage output end charges to the battery bag of high-tension battery and battery management system, and by DC-DC converter to auxiliary
Battery and main storage battery charging.
Described system also includes man-machine interaction electronic instrument, and described man-machine interaction electronic instrument passes through man-machine interaction electricity
Sub- instrument relay is connected to normal electric line, coil and the main ACC connections of described man-machine interaction electronic instrument relay.
Described electric wiring also includes high voltage dc bus, and described high-tension battery leads to battery management system output end
Cross high voltage dc bus and high voltage safety switch, pre-charge-relay, pre-charge resistance, anode bus D.C. contactor, air-conditioning
Compressor, DC-DC converter connect with drive motor controller.
Described high-tension battery is connected with battery management system output head anode with high voltage safety switch input anode, high
Piezoelectric battery passes through negative terminal bus D.C. contactor and high voltage safety switch input cathode with battery management system negative pole of output end
Connection.
The positive pole output of described high voltage safety switch divides two-way, is connected to pre-charge-relay and pre-charge resistance all the way,
Another way is connected to the input of compressor of air conditioner, the input positive terminal of DC-DC converter and anode bus D.C. contactor, just
The High voltage output of end bus D.C. contactor is connected to the electrode input end of drive motor controller；The negative pole of high voltage safety switch
Output termination compressor of air conditioner, DC-DC, the negative input of drive motor controller；DC-DC converter is provided with two groups of outputs
End, the input of main storage battery and booster battery is connected on respectively.
Electrical system working method of the present invention is as follows：
[1] the stopping for charging course of work
For external charging staking to Vehicular charger, the low-voltage supply line of Vehicular charger is high-tension battery and battery management
The battery management system of system provides electric energy, and high-tension battery is with after the completion of battery management system self-test, controlling negative terminal bus direct current
Contactor connects, while sends the enabled message of charging and begin through high pressure to Vehicular charger, the High voltage output of Vehicular charger
Dc bus charges to the battery bag of high-tension battery and battery management system, and by DC-DC converter to booster battery, master
Battery charges.DC-DC converter automatically cuts off the company with two batteries after booster battery and main storage battery charging complete
Connect, after battery bag charging complete, high-tension battery sends charging complete message with battery management system to Vehicular charger, breaks simultaneously
Negative terminal bus D.C. contactor is driven, Vehicular charger stops High voltage output.
The antitheft ciphering unit that stops is powered in docking process by the normal electric line powered by main storage battery, support vehicles
Safety.
[2] key starts the course of work
Key switch from OFF gears beat to ACC keep off when, electricity is stopped under the antitheft ciphering unit that stops, and main ECU, drives automatically
Sail whole modules in unit, steering wheel sensor, man-machine interaction electronic instrument, electronic pedal sensor and pass through main ACC circuits
Power supply is started working；Redundancy ECU is by aiding in ACC line powerings to start working.
Key switch from ACC keep off to ON keep off when, high-tension battery and battery management system relay, compressor of air conditioner relay
Device, drive motor controller relay are connected, high-tension battery and battery management system, compressor of air conditioner, drive motor controller
Start working, if main ECU and redundancy ECU do not receive high-tension battery and battery management system, the failure of drive motor controller
Signal, then send commands to high-tension battery and close negative terminal bus D.C. contactor with battery management system, simultaneously close off precharge
Relay, current limliting is carried out by pre-charge resistance, enter line precharge for drive motor controller, drive motor controller sends pre-
Charge after successfully message, main ECU and redundancy ECU control anode bus D.C. contactor closure after being compared, and control is pre-
Charge relay disconnects, and completes high-pressure section power up.
Key switch switches to START gears from ON gears, after main ECU detects drive motor controller fault-free, control braking
Actuator relay, steering motor relay, redundancy steering motor relay adhesive, it is left rear wheel brake actuator, off hind wheel
Brake actuator, the near front wheel brake actuator, off-front wheel brake actuator, steering motor, electricity in redundancy steering motor, braking,
Driving, turn to all startups, the driving instruction that executable main ECU and redundancy ECU is sent.If unmanned pattern, main ECU controls are certainly
It is dynamic to drive electricity on unit.
[3] the emergency course of work occurs
Main storage battery work is abnormal：Then redundancy ECU takes over whole wagon control, and redundancy ECU is to drive motor controller
Send instruction and gradually reduce output torque, while steering wheel sensor and electronic pedal sensor automatically switch to auxiliary ACC lines
Road powers, and is turned to using redundancy steering motor, brake actuator only retains two front wheel brakes.If manned mode,
Redundancy ECU prompts driver's current vehicle condition by man-machine interaction electronic instrument, prompts driver to reduce speed and stops nearby；
If unmanned pattern, then redundancy ECU control vehicles are in roadside stop.
Main ECU detects that the message of catastrophe failure, or vehicle collide：Then main ECU sends rapidly reduction output torque
Order to drive motor controller, while rapid cut-out negative terminal bus D.C. contactor and anode bus D.C. contactor, pass through
Man-machine interaction electronic instrument alerts driver's current vehicle condition, and driver can pull the high-voltage safety in driving cabin to open if necessary
Close, ensure electric and personal safety.
ECU breaks down：During normally travel, main ECU and redundancy ECU carry out identical work, constantly that the two is right
The control command of vehicle output is compared, identical then to send to control network.As a certain ECU failures of discovery, redundancy ECU
Take over immediately, ensure the security of vehicle traveling.
Compared with prior art, the present invention has advantages below：
(1) solves the requirement of electric intelligent automobile ECU and line control system for redundancy, for the confession in vehicle traveling
Electric unit, intelligent decision and control unit devise redundancy, are powered when main storage battery failure by booster battery, as main ECU
During failure, by redundancy ECU adapter systems, the security of autonomous driving vehicle is improved.
(2) key switch is improved, remains the convenience of original key switch control, and can independent control two-way
The break-make of storage battery power supply.
(3) for vehicle traveling in steering, braking, etc. critical component devise hardware redundancy, for be not easy to carry out firmly
The critical component of part redundancy such as steering wheel, electronic pedal, are controlled using single-pole double-throw relay, when main ACC line powerings power down,
Automatically switch to auxiliary ACC circuits and ensure power supply, so as to be further ensured that driving safety.
(4) vehicle part is divided into intelligent decision and control unit, intelligence sensor and intelligent actuator by centralized architecture
Three parts, all controllers are concentrated in central intelligent decision and control unit.Centralized architecture can substantially reduce overall wire sheaves
Complexity, increase functional expansionary.
(5) system also includes automatic Pilot unit, and automatic Pilot unit relay powers break-make by intelligent decision and control
Unit is controlled, and if unmanned pattern, electricity on main ECU controls automatic Pilot unit, remote monitor can be remotely monitored.
(6) system also includes passing through normally closed relay and the antitheft ciphering unit of the parking often electrically connected, normally closed relay
Acceptor ACC circuits of powering control, can be automatically antitheft to vehicle progress in parking, and key switch solves automatically after switching to ACC gears
Remove, security during so as to improve parking of automobile.
(7) system also includes the man-machine interaction electronic instrument that system also includes passing through relay with often electrically connecting, and prompting is driven
The person's of sailing current vehicle condition.
Brief description of the drawings
Fig. 1 is electrical system architecture schematic diagram of the present invention；
Fig. 2 is electrical system key switch principle schematic of the present invention；
Reference：
1-high-tension battery and battery management system；2-negative terminal bus D.C. contactor；3-high voltage safety switch；4-pre-
Charge relay；5-pre-charge resistance；6-anode bus D.C. contactor；7-high-tension battery and battery management system relay
Device；8-Vehicular charger；9-compressor of air conditioner；10-DC-DC converters；11-booster battery；12-main storage battery；
13-drive motor controller；14-compressor of air conditioner relay；15-drive motor controller relay；16-key is opened
Close；17-main ECU；18-redundancy ECU；19-steering wheel sensor single-pole double-throw relay；20-steering wheel sensor；21—
Man-machine interaction electronic instrument relay；22-man-machine interaction electronic instrument；23-left rear wheel brake actuator relay；24-left
Rear service brake actuator；25-off hind wheel brake actuator relay；26-off hind wheel brake actuator；27-steering motor after
Electrical equipment；28-steering motor；29-electronic pedal sensor single-pole double-throw relay；30-electronic pedal sensor；31-stop
The antitheft ciphering unit relay of car；The antitheft ciphering unit of 32-parking；33-the near front wheel brake actuator relay；34-left front
Take turns brake actuator；35-off-front wheel brake actuator relay；36-off-front wheel brake actuator；37-redundancy steering motor
Relay；38-redundancy steering motor；39-automatic Pilot unit relay；40-camera；41-vehicle and infrastructure
Communication；42-GPS and inertial navigation；43-short distance radar；44-long away from radar；45-ultrasonic sensor；46-remotely supervise
Control device；U1-intelligent decision and control unit；U2-sensor unit；U3-actuator unit；G1-OFF is kept off；G2—ACC
Gear；G3-ON is kept off；G4-START is kept off；L1-normal electric line；The main ACC1 circuits of L21-12V；L22-12V aids in ACC2 circuits
L22；L3-ON circuits；L4-START circuits；No. 1 end of A- two-way A-batteries positive pole；No. 2 ends of B- two-way A-batteries positive pole.
Embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to
Following embodiments.
Embodiment
As shown in figure 1, the invention discloses a kind of centralized architecture controller and the electric intelligent automobile electricity for redundancy of powering
Gas system, including high-tension battery and battery management system 1, negative terminal bus D.C. contactor 2, high voltage safety switch 3, precharge after
Electrical equipment 4, pre-charge resistance 5, anode bus D.C. contactor 6, high-tension battery and battery management system relay 7, vehicle-mounted charge
Machine 8, compressor of air conditioner 9, DC-DC converter 10, booster battery 11, main storage battery 12, drive motor controller 13, air-conditioning pressure
Contracting machine relay 14, drive motor controller relay 15, key switch 16, main ECU17, redundancy ECU18, steering wheel sensor
Single-pole double-throw relay 19, steering wheel sensor 20, man-machine interaction electronic instrument relay 21, man-machine interaction electronic instrument 22,
Left rear wheel brake actuator relay 23, left rear wheel brake actuator 24, off hind wheel brake actuator relay 25, off hind wheel system
Dynamic actuator 26, steering motor relay 27, steering motor 28, electronic pedal sensor single-pole double-throw relay 29, electronics are stepped on
Plate sensor 30, the antitheft ciphering unit relay 31 of parking, the antitheft ciphering unit 32 of parking, the near front wheel brake actuator relay
33rd, the near front wheel brake actuator 34, off-front wheel brake actuator relay 35, off-front wheel brake actuator 36, redundancy turn to electricity
Machine relay 37, redundancy steering motor 38, automatic Pilot unit relay 39, camera 40, vehicle and infrastructure-based communication 41,
GPS is with inertial navigation 42, short distance radar 43, length away from radar 44, ultrasonic sensor 45 and remote monitor 46；
The high voltage dc bus positive pole of high-tension battery and battery management system 1 is accessing to the input of high voltage safety switch 3 just
End, high voltage dc bus negative pole access to the input negative terminal of high voltage safety switch 3 by negative terminal bus D.C. contactor 2；It is vehicle-mounted
Charger 8 is exported with two-way, and low pressure output all the way is powered for the battery management system of high-tension battery and battery management system 1,
Another way High voltage output is that the battery bag of high-tension battery and battery management system 1 charges；The positive pole output point of high voltage safety switch 3
Two-way, be connected to pre-charge-relay 4 and pre-charge resistance 5 all the way, and another way is connected to compressor of air conditioner 9, DC-DC converter 10
The input of input positive terminal and anode bus D.C. contactor 6, the High voltage output of anode bus D.C. contactor 6 are connected to
The electrode input end of drive motor controller 13；The cathode output end of high voltage safety switch 3 connects compressor of air conditioner 9, DC-DC conversion
The negative input of device 10, drive motor controller 13；The two-way output altogether of DC-DC converter 10, is connected on main storage battery 12 respectively
With the positive-negative input end of booster battery 11；
Heavy line is high voltage cable in figure, and fine line is type low-voltage cable, and dotted line is controlling cable.
As shown in Fig. 2 the key switch 16 can control the main ACC1 circuits L21 of the main i.e. 12V of ACC1 circuits and auxiliary simultaneously
ACC circuits are the break-make of 12V auxiliary ACC2 circuits two low-voltage circuits of L22；
The output plus terminal of main storage battery 12 is connected to the normal electric line L1 of low-pressure section, and booster battery 11 just terminates at key
No. 2 end B of two-way A-battery positive pole of spoon switch 16, No. 1 end A of two-way A-battery positive pole are connected with normal electric line L1；Main storage
The minus earth of battery 12 and booster battery 11；Totally four gears, wherein ACC gears G2 are controlling booster battery 11 just to key switch 16
Pole and 12V auxiliary ACC2 circuits L22 connection, the connection of the positive pole of main storage battery 12 and the main ACC1 circuits L21 of 12V；ON gear G3 controls
The connection of the positive pole of main storage battery 12 processed and ON circuits L3；The company of the START gear G4 control positive poles of main storage battery 12 and START circuits L4
It is logical；When key switch 16 is in OFF gear G1, main ACC1 circuits L21,12V auxiliary ACC2 circuit L22, ON circuits L3 of the 12V,
START circuits L4 disconnects with the positive pole of main storage battery 12；
Main ECU17 is provided with two, carries out different work respectively, each corresponding redundancy ECU18 of main ECU17, each master
ECU17 and redundancy ECU18 passes through respective relay (including coil and normally opened contact) and normal electric line L1 and auxiliary ACC circuits
It is connected, the connection of main ECU17 power supplies is controlled by the main ACC1 circuits L21 of 12V, and the connection of redundancy ECU18 power supplies is aided in ACC2 by 12V
Circuit L22 is controlled, and relay is to be gone to control a kind of automatic switch of high current running with low current, plays automatic tune in circuit
Section, safeguard protection, change-over circuit etc. act on.
Signal transmission passage is provided between main ECU and respective redundancy ECU, to compare the correctness of decision signal.
Automatic Pilot unit includes camera 40, vehicle and infrastructure-based communication 41, GPS and inertial navigation 42, short distance thunder
Pass through automatic Pilot unit relay 39 and the main ACC1 lines of 12V away from radar 44, ultrasonic sensor 45, low-voltage power supply up to 43, length
Road L21 is connected, and automatic Pilot unit relay 39 is controlled by intelligent decision and control unit U1, can pass through intelligent decision and control
The break-make of unit U1 control automatic Pilot unit power supplies；
Actuator unit U3 includes left rear wheel brake actuator 24, off hind wheel brake actuator 26, steering motor 28, parking
Antitheft ciphering unit 32, the near front wheel brake actuator 34, off-front wheel brake actuator 36 and redundancy steering motor 38, the near front wheel system
Dynamic actuator 34 is connected to 12V by the near front wheel brake actuator relay 33 and aids in ACC2 circuit L22, and off-front wheel braking performs
Device 36 is connected to 12V by off-front wheel brake actuator relay 35 and aids in ACC2 circuits L22；Left rear wheel brake actuator 24 is logical
Cross left rear wheel brake actuator relay 23 and be connected to the main ACC1 circuits L21 of 12V, off hind wheel brake actuator 26 passes through off hind wheel
Brake actuator relay 25 is connected to the main ACC1 circuits L21 of 12V；The near front wheel brake actuator relay 33, off-front wheel braking
The power supply break-make point of actuator relay 35, left rear wheel brake actuator relay 23 and off hind wheel brake actuator relay 25
Do not controlled by intelligent decision and control unit U1；
Steering motor 28 passes through redundancy steering motor relay by being connected to the main ACC1 circuits L21 of 12V, redundancy steering motor 38
Device 37 is connected to 12V auxiliary ACC2 circuit L22, steering motor relay 27 and the power supply break-make difference of redundancy steering motor relay 37
Controlled by intelligent decision and control unit U1；
Steering wheel sensor 20, man-machine interaction electronic instrument 22 and electronic pedal sensor 30 belong to sensor unit U2,
Steering wheel sensor 20 is aided in by steering wheel sensor single-pole double-throw relay 19 and the main ACC1 circuits L21 and 12V of 12V
ACC2 circuits L22 is connected；Electronic pedal sensor 30 passes through electronic pedal sensor single-pole double-throw relay 29 and the main ACC1 of 12V
Circuit L21 and 12V auxiliary ACC2 circuits L22 are connected；Single-pole double-throw relay 19,29 is often connected to the main ACC1 circuits L21 of 12V simultaneously
It is controlled by the main ACC1 circuits L21 of 12V, when the main ACC1 circuits L21 voltages of 12V are abnormal, automatically by single-pole double-throw relay
Switch to the power supply that 12V auxiliary ACC2 circuits L22 ensures steering wheel sensor 20 and electronic pedal sensor 30；
Man-machine interaction electronic instrument 22 is connected to normal electric line L1 by relay, and relay is by the main ACC1 circuits L21 of 12V
Control break-make；
Stop antitheft ciphering unit 32 by the antitheft ciphering unit normally closed relay 31 that stops with often electrically connecting.12V master
When ACC1 circuits L21 is not upper electric, i.e., vehicle is in dead ship condition, and the antitheft ciphering unit normally closed relay 31 that stops is in closed form
State, electricity on the antitheft ciphering unit 32 that stops.After key switch switches to ACC gears G2, stop antitheft ciphering unit normally closed relay
31 disconnect, and stop antitheft 32 times electricity of ciphering unit.
Electrical system working method of the present invention is as follows：
(1) the stopping for charging course of work
For external charging staking to Vehicular charger 8, the low-voltage supply line of Vehicular charger 8 is high-tension battery and cell tube
The battery management system of reason system 1 provides electric energy, and high-tension battery is with after the completion of the self-test of battery management system 1, controlling negative terminal bus
D.C. contactor 2 connects, while sends the enabled message of charging and start to lead to Vehicular charger 8, the High voltage output of Vehicular charger 8
High voltage dc bus is crossed to charge to the battery bag of high-tension battery and battery management system 1, and by DC-DC converter 10 to auxiliary
Battery 11, main storage battery 12 charge.DC-DC converter 10 is automatic after booster battery 11 and the charging complete of main storage battery 12
Cut-out and the connection of two batteries, after battery bag charging complete, high-tension battery is sent out with battery management system 1 to Vehicular charger 8
Charging complete message is sent, simultaneously switches off negative terminal bus D.C. contactor 2, Vehicular charger 8 stops High voltage output.
The antitheft ciphering unit 32 that stops is powered in docking process by the normal electric line L1 to be powered by main storage battery 12, is protected
Hinder vehicle safety.
(2) key starts the course of work
Key switch 16 from OFF gear G1 beat to ACC keep off G2 when, the antitheft 32 times electricity of ciphering unit that stop are stopped, lead
Whole modules, steering wheel sensor 20, man-machine interaction electronic instrument 22, electronic pedal sensing in ECU17, automatic Pilot unit
Device 30 is started working by main ACC line powerings；Redundancy ECU18 is by aiding in ACC line powerings to start working.
It is high-tension battery and battery management system relay 7, air conditioner compressed when key switch 16 is from ACC gear G2 to ON gear G3
Machine relay 14, drive motor controller relay 15 are connected, high-tension battery and battery management system 1, compressor of air conditioner 9, drive
Dynamic electric machine controller 13 is started working, if main ECU17 and redundancy ECU18 do not receive high-tension battery and battery management system 1, drive
The fault-signal of dynamic electric machine controller 13, then send commands to high-tension battery and close negative terminal bus direct current with battery management system 1
Contactor 2, pre-charge-relay 4 is simultaneously closed off, current limliting is carried out by pre-charge resistance 5, carried out for drive motor controller 13
Precharge, drive motor controller 13 is sent be pre-charged successfully message after, main ECU17 and redundancy ECU18 are controlled after being compared
Anode bus D.C. contactor 6 closes, and control pre-charge-relay 4 disconnects, and completes high-pressure section power up.
Key switch 16 switches to START gears G4, main ECU17 from ON gears G3 and detects the fault-free of drive motor controller 13
Afterwards, the near front wheel brake actuator relay 33, off-front wheel brake actuator relay 35, left rear wheel brake actuator relay are controlled
Device 23 and off hind wheel brake actuator relay 25, steering motor relay 27, the adhesive of redundancy steering motor relay 37, for a left side
Rear service brake actuator 24, off hind wheel brake actuator 26, the near front wheel brake actuator 34, off-front wheel brake actuator 36, turn
Electric on to motor 28, redundancy steering motor 38, braking, driving, steering all start, and can perform main ECU17 and redundancy ECU18 hairs
The driving instruction gone out.If unmanned pattern, electricity on main ECU17 controls automatic Pilot unit.
(3) the emergency course of work occurs
Main storage battery 12 works abnormal：Then redundancy ECU18 takes over whole wagon control, and redundancy ECU18 is to motor
Controller 13 sends instruction and gradually reduces output torque, while steering wheel sensor 20 and electronic pedal sensor 30 automatically switch
To auxiliary ACC line powerings, turned to using redundancy steering motor 38, brake actuator only retains the near front wheel brake actuator
34 and off-front wheel brake actuator 36.If manned mode, redundancy ECU18 is driven by the prompting of man-machine interaction electronic instrument 22
The person's of sailing current vehicle condition, prompt driver to reduce speed and stop nearby；If unmanned pattern, then redundancy ECU18 controls
Vehicle is stopped in roadside.
Main ECU17 detects that the message of catastrophe failure, or vehicle collide：Then main ECU17 sends rapidly reduction output
Torque command is to drive motor controller 13, while rapid cut-out negative terminal bus D.C. contactor 2 and the contact of anode bus direct current
Device 6, driver's current vehicle condition is alerted by man-machine interaction electronic instrument 22, driver can be pulled in driving cabin if necessary
High voltage safety switch 3, ensure electric and personal safety.
ECU breaks down：During normally travel, main ECU17 and redundancy ECU18 carry out identical work, constantly by two
The control command that person exports to vehicle is compared, identical then to send to control network.It is superfluous when a certain ECU failures of discovery
Remaining ECU takes over immediately, ensures the security of vehicle traveling.
Superior effect of the present invention is：Solve electric intelligent automobile ECU and line control system to want for redundancy
Ask, the redundancy of hardware and power supply is devised for critical components such as the steering in vehicle traveling, braking, central control units, is improved
The security of autonomous driving vehicle；Critical component such as steering wheel, electronic pedal for being not easy to carry out hardware redundancy, are used
Single-pole double-throw relay controls, and when main 12V power supply power down, automatically switches to auxiliary 12V and ensures power supply；Key switch is changed
Enter, remain the convenience of original key switch control, and can independent control two-way 12V power supplies break-make.
Claims (9)
1. the electric intelligent automotive electrical system of a kind of centralized architecture controller and redundancy of powering, including each other by electric wire
The high-tension battery of road connection and battery management system (1), key switch (16), power supply unit, intelligent decision and control unit, biography
Sensor cell and actuator unit, described high-tension battery include battery bag and battery management system with battery management system (1),
Described key switch (16) sets OFF to keep off, ACC gears, ON gears and START are kept off,
Characterized in that, described power supply unit includes main storage battery (12) and booster battery (11), described main storage battery
(12) and booster battery (11) cathode output end bonding, described electric wiring include main ACC circuits, auxiliary ACC circuits, ON
Circuit, START circuits and the normal electric line being connected with main storage battery (12) cathode output end, described main ACC circuits and auxiliary
Help ACC circuits to connect intelligence sensor unit respectively, and connect actuator unit respectively；
Described intelligent decision includes respectively coming with the main ECU (17) and redundancy ECU (18) of relay with control unit, described
The relay coil of main ECU (17) and main ACC connections, relay normally open contact are connected with main ACC circuits or normal electric line,
The coil and normally opened contact of described redundancy ECU (18) relay are respectively with aiding in ACC connections, main ECU (17) and superfluous
Signal transmission passage is provided between remaining ECU (18), the comparison of signal when being worked for the two simultaneously；
Described system also includes man-machine interaction electronic instrument (22), and described man-machine interaction electronic instrument (22) passes through man-machine friendship
Mutual electronic instrument relay (21) is connected to normal electric line, the coil of described man-machine interaction electronic instrument relay (21) and master
ACC connections；
When described key switch (16) is in OFF gears, each circuit in electric wiring in addition to normal electric line is single with power supply
Member disconnects, and when key switch (16) is in ACC gears, main ACC circuits connect with normal electric line, aid in ACC circuits and auxiliary electric power storage
Pond (11) cathode output end connects, and when key switch (16) is in ON gears, main ACC circuits, ON circuits connect with normal electric line, auxiliary
ACC circuits are helped to be connected with booster battery (11) cathode output end, when key switch (16) is in START gears, main ACC circuits,
ON circuits, START circuits connect with normal electric line, and auxiliary ACC circuits connect with booster battery (11) cathode output end, automobile
During normally travel, main ECU (17) is worked simultaneously with redundancy ECU (18), and when main storage battery (12) failure, main ECU (17) is exited,
Redundancy ECU (18) works.
2. the electric intelligent auto electric system of a kind of centralized architecture controller according to claim 1 and redundancy of powering
System, it is characterised in that described sensor unit includes steering wheel sensor (20) and electronic pedal sensor (30), described
Steering wheel sensor (20) and electronic pedal sensor (30) respectively by respective single-pole double-throw relay and main ACC circuits and
ACC connections are aided in, described single-pole double-throw relay is often connected to main ACC circuits and is controlled by main ACC circuits, as main ACC
When line voltage distribution is abnormal, automatically switches to auxiliary ACC circuits and ensure steering wheel sensor (20) and electronic pedal sensor
(30) power supply.
3. the electric intelligent auto electric system of a kind of centralized architecture controller according to claim 1 and redundancy of powering
System, it is characterised in that described actuator unit include left rear wheel brake actuator (24), off hind wheel brake actuator (26),
Steering motor (28), the antitheft ciphering unit (32) of parking, the near front wheel brake actuator (34), off-front wheel brake actuator (36) and
Redundancy steering motor (38)；
Wherein steering motor (28) and redundancy steering motor (38) passes through respective relay and main ACC circuits and auxiliary respectively
ACC circuits connect one to one, and left rear wheel brake actuator (24) and off hind wheel brake actuator (26) are respectively by respective
Relay is with main ACC connections and the near front wheel brake actuator (34) and off-front wheel brake actuator (36) are respectively by respective
Relay distinguish with auxiliary ACC connections, or left rear wheel brake actuator (24) and off hind wheel brake actuator (26)
Pass through respective relay and auxiliary ACC connections and the near front wheel brake actuator (34) and off-front wheel brake actuator (36)
Respectively by respective relay and main ACC connections, each relay powers break-make respectively by intelligent decision and control unit
Control；Stop antitheft ciphering unit (32) by antitheft ciphering unit normally closed relay (31) of stopping with often electrically connecting, main ACC lines
After Lu Shang electricity, the normally-closed contact for antitheft ciphering unit normally closed relay (31) of stopping disconnects.
4. the electric intelligent auto electric system of a kind of centralized architecture controller according to claim 1 and redundancy of powering
System, it is characterised in that described system also includes automatic Pilot unit, and the automatic Pilot unit is included respectively by driving automatically
Sail the camera (40), vehicle and infrastructure-based communication (41), GPS and inertia of unit relay (39) and main ACC connections
Navigation (42), short distance radar (43), length are away from radar (44) and ultrasonic sensor (45), described automatic Pilot unit relay
(39) break-make of powering is controlled by intelligent decision and control unit.
5. the electric intelligent auto electric system of a kind of centralized architecture controller according to claim 4 and redundancy of powering
System, it is characterised in that described automatic Pilot unit also includes connecting by automatic Pilot unit relay (39) and main ACC circuits
The remote monitor (46) connect.
6. the electric intelligent auto electric system of a kind of centralized architecture controller according to claim 1 and redundancy of powering
System, it is characterised in that described system also includes Vehicular charger (8), and described Vehicular charger (8) is provided with charging staking
Mouth, low-voltage output and high-voltage output end, described low-voltage output are the cell tube of high-tension battery and battery management system (1)
Reason system provides electric energy, and described high-voltage output end charges to the battery bag of high-tension battery and battery management system (1), and passes through
DC-DC converter (10) charges to booster battery (11) and main storage battery (12).
7. the electric intelligent auto electric system of a kind of centralized architecture controller according to claim 1 and redundancy of powering
System, it is characterised in that described electric wiring also includes high voltage dc bus, described high-tension battery and battery management system
(1) output end passes through high voltage dc bus and high voltage safety switch (3), pre-charge-relay (4), pre-charge resistance (5), anode
Bus D.C. contactor (6), compressor of air conditioner (9), DC-DC converter (10) and drive motor controller (13) connection.
8. the electric intelligent auto electric system of a kind of centralized architecture controller according to claim 7 and redundancy of powering
System, it is characterised in that described high-tension battery inputs with battery management system (1) output head anode and high voltage safety switch (3)
Rectify pole connection, high-tension battery passes through negative terminal bus D.C. contactor (2) and high pressure with battery management system (1) negative pole of output end
Safety switch (3) input cathode connects.
9. the electric intelligent auto electric system of a kind of centralized architecture controller according to claim 7 and redundancy of powering
System, it is characterised in that described high voltage safety switch (3) positive pole output divides two-way, be connected to all the way pre-charge-relay (4) and
Pre-charge resistance (5), another way are connected to compressor of air conditioner (9), the input positive terminal of DC-DC converter (10) and anode bus
The input of D.C. contactor (6), the High voltage output of anode bus D.C. contactor (6) are connected to drive motor controller (13)
Electrode input end；The cathode output end of high voltage safety switch (3) connects compressor of air conditioner (9), DC-DC converter (10), driving
The negative input of electric machine controller (13)；DC-DC converter (10) is provided with two groups of output ends, is connected on main storage battery (12) respectively
With the input of booster battery (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610216526.2A CN105857102B (en) | 2016-04-08 | 2016-04-08 | The electric intelligent automotive electrical system of centralized architecture controller and redundancy of powering |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610216526.2A CN105857102B (en) | 2016-04-08 | 2016-04-08 | The electric intelligent automotive electrical system of centralized architecture controller and redundancy of powering |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105857102A CN105857102A (en) | 2016-08-17 |
| CN105857102B true CN105857102B (en) | 2017-12-15 |
Family
ID=56636282
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610216526.2A Active CN105857102B (en) | 2016-04-08 | 2016-04-08 | The electric intelligent automotive electrical system of centralized architecture controller and redundancy of powering |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105857102B (en) |
Families Citing this family (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106696864B (en) * | 2016-12-30 | 2023-06-16 | 厦门金龙旅行车有限公司 | Low-voltage distribution box of fuel cell electric vehicle and control method thereof |
| JPWO2018154862A1 (en) * | 2017-02-23 | 2019-12-12 | 本田技研工業株式会社 | Vehicle control system and control method |
| FR3063349B1 (en) * | 2017-02-28 | 2021-07-30 | Airbus Helicopters | REDUNDANT MONITORING SYSTEM OF THE STATE OF CONTROL SWITCHES OF AN AIRCRAFT CONTROL HANDLE |
| JP6776989B2 (en) * | 2017-04-12 | 2020-10-28 | 株式会社デンソー | Travel control device |
| CN109229102A (en) * | 2017-07-04 | 2019-01-18 | 百度在线网络技术（北京）有限公司 | Automatic driving vehicle control system, method and apparatus |
| US10525915B2 (en) | 2017-11-06 | 2020-01-07 | Ford Global Technologies, Llc | Redundant vehicle power supply control systems and methods |
| CN107908186B (en) * | 2017-11-07 | 2021-07-02 | 驭势科技（北京）有限公司 | Method and system for controlling operation of unmanned vehicle |
| WO2019116459A1 (en) * | 2017-12-13 | 2019-06-20 | 本田技研工業株式会社 | Vehicle, and control system and control method therefor |
| US10836259B2 (en) | 2018-07-11 | 2020-11-17 | Ford Global Technologies, Llc | Vehicle electrical system with isolation circuit |
| JP7070260B2 (en) * | 2018-09-10 | 2022-05-18 | 株式会社オートネットワーク技術研究所 | Wiring branch box |
| EP3626505A1 (en) | 2018-09-18 | 2020-03-25 | KNORR-BREMSE Systeme für Nutzfahrzeuge GmbH | A system and method for providing redundant electric power |
| CN112034810A (en) * | 2019-06-03 | 2020-12-04 | 上海丰志汽车科技有限公司 | Device and method for automatically identifying position of standard ECU (electronic control Unit) for mounting whole vehicle |
| CN112193183B (en) * | 2020-09-28 | 2022-04-01 | 长城汽车股份有限公司 | Isolation component, autonomous vehicle redundancy architecture and isolation component control method |
| EP4210192A4 (en) * | 2020-10-14 | 2024-03-20 | Huawei Tech Co Ltd | Low-voltage redundant power supply system |
| CN112498268B (en) * | 2020-10-16 | 2021-12-17 | 山东派蒙机电技术有限公司 | Method for reducing power consumption of intelligent networked vehicle controller |
| CN113022287B (en) * | 2021-03-01 | 2023-11-10 | 中京未来(北京)科技有限公司 | Continuous power conversion system with auxiliary driving mode and power conversion method |
| US11554731B2 (en) * | 2021-04-07 | 2023-01-17 | Ford Global Technologies, Llc | History-based and location-based control of vehicle key-off loads |
| WO2022226776A1 (en) * | 2021-04-27 | 2022-11-03 | 华为技术有限公司 | Intelligent driving control method and apparatus and intelligent driving control system |
| CN113386572A (en) * | 2021-06-30 | 2021-09-14 | 重庆长安汽车股份有限公司 | Master-slave redundancy high-voltage safety monitoring system and automobile |
| CN113844394B (en) * | 2021-10-31 | 2023-07-11 | 东风商用车有限公司 | Vehicle remote activation system and method |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3515619B2 (en) * | 1994-11-30 | 2004-04-05 | 株式会社日立製作所 | Electric vehicle driving device and driving control method |
| JP2007137299A (en) * | 2005-11-21 | 2007-06-07 | Toyota Motor Corp | Power supply control device |
| CN201329816Y (en) * | 2008-12-31 | 2009-10-21 | 众泰控股集团有限公司 | Entire automobile electric system for electric automobile |
| CN102501770B (en) * | 2011-11-03 | 2013-09-25 | 中国科学院电工研究所 | Electrical system for pure electric vehicle |
| CN103847531B (en) * | 2012-11-28 | 2016-06-08 | 北汽福田汽车股份有限公司 | A kind of electric automobile high-voltage electrical system and control method |
| CN204845806U (en) * | 2015-08-07 | 2015-12-09 | 安徽江淮汽车股份有限公司 | Vehicle control unit's power supply system |
| CN205706212U (en) * | 2016-04-08 | 2016-11-23 | 同济大学 | Centralized architecture controller and the electric intelligent automotive electrical system of power supply redundancy |
-
2016
- 2016-04-08 CN CN201610216526.2A patent/CN105857102B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105857102A (en) | 2016-08-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105857102B (en) | The electric intelligent automotive electrical system of centralized architecture controller and redundancy of powering | |
| CN105691209B (en) | The electric automobile electrical system of controller and redundancy of powering with distributed structure/architecture | |
| CN109318834B (en) | Power chassis domain control framework and automobile | |
| CN107482761B (en) | Power supply system | |
| CN205706212U (en) | Centralized architecture controller and the electric intelligent automotive electrical system of power supply redundancy | |
| CN102501770B (en) | Electrical system for pure electric vehicle | |
| US9051886B2 (en) | Hybrid vehicle | |
| CN106347169A (en) | Distributed four-wheel drive pure electric vehicle electrical system | |
| CN102164771A (en) | Electric vehicle and method for controlling charging of electric vehicle | |
| CN102161319A (en) | Control device for electric vehicle | |
| US10639998B2 (en) | Service disconnect notification strategy | |
| CN105917548A (en) | Hybrid vehicle with means for disconnection of a depleted auxiliary battery in order to allow for more rapid main battery charging | |
| CN104159800A (en) | Vehicle braking force control device | |
| CN205706189U (en) | The controller of distributed structure/architecture and power supply redundancy electronic intelligent automobile electrical system | |
| CN101890949A (en) | Vacuum booster security control system and control method of strong hybrid electric vehicle | |
| CN104080641A (en) | Vehicle velocity control device and vehicle equipped with same | |
| CN106166957A (en) | For activating Vehicular system and the method for hazard warning light during battery disconnected event | |
| CN110949377B (en) | Emergency stop judging method and system for low-speed unmanned vehicle | |
| CN102299533A (en) | Plug-in Hybrid Electric Vehicle (PHEV) battery management system and control identification method thereof | |
| CN103402811A (en) | Shift-lock apparatus for vehicle | |
| WO2021159972A1 (en) | A portable rescue power bank | |
| CN113103879A (en) | Method for operating an electrically driven or drivable motor vehicle | |
| CN111532137A (en) | High-voltage power-on and power-off control method for new energy automobile | |
| CN208021202U (en) | A kind of novel used in new energy vehicles low pressure assistant drive system | |
| CN110816286A (en) | Electric automobile whole-vehicle power utilization control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |