CN108829082A - Car body controller - Google Patents
Car body controller Download PDFInfo
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- CN108829082A CN108829082A CN201810564294.9A CN201810564294A CN108829082A CN 108829082 A CN108829082 A CN 108829082A CN 201810564294 A CN201810564294 A CN 201810564294A CN 108829082 A CN108829082 A CN 108829082A
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- car body
- body controller
- gpio
- driving signal
- driving chip
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
Abstract
The present invention provides a kind of car body controllers, including：Car body controller ontology generates one or more of the first driving signal, the second driving signal, third driving signal, fourth drive signal for handling the operational order after the operational order for receiving control unit for vehicle transmission；First GPIO driving chip controls the wheel speed meter starting or closes；2nd GPIO driving chip controls the starting or closing of the lighting system；3rd GPIO driving chip, controls the starting or closing of cleaning brush controller, air inducing machine controller, and the 5th GPIO driving chip controls the starting or closing of laser radar；Car body controller ontology is also used to, and determines First Speed information；CAN transceiver for the First Speed information to be sent to control unit for vehicle, and obtains the Fisrt fault information of vehicle from the control unit for vehicle.Hereby it is achieved that the high sensitivity of vehicle, high personified control.
Description
Technical field
The present invention relates to control technology field more particularly to a kind of car body controllers.
Background technique
With the rapid development of computer technology and artificial intelligence technology, intelligent robot technology has become both at home and abroad
The hot spot of numerous scholar's researchs.Wherein, service humanoid robot opens the frontier of robot application, services going out for humanoid robot
Now mainly there is following three aspects reason：In a first aspect, domestic labor cost has the tendency that rising；Second aspect, population are aged
Change and improving for the social welfare system provides extensive market application prospect for service humanoid robot；The third aspect, the mankind think
Get rid of duplicate labour.For example current road sweeper needs pilot steering, has a single function, it is not convenient enough, therefore hand sweeping is by intelligence
The unmanned automatic cleaning of energyization replaces irresistible.
In order to more easily distinguish and define automatic Pilot technology, the classification of automatic Pilot is just at a major issue.At present
Two generally acknowledged classifying systems of Global Auto industry are by United States highways safety management bureau (abbreviation NHTSA) and the world respectively
What robot engineering Shi Xuehui (abbreviation SAE) was proposed.Wherein, the automatic Pilot technology of L4 and L5 rank can be known as completely certainly
Dynamic driving technology, has arrived this rank, automobile can own under the case where intervening completely without driver
Driver behavior, in terms of attention can also be placed on others by driver, for example work or rest.But the difference of the two exists
In the automatic Pilot of L4 rank is suitable under the scene of part, typically refers in city or on highway.And L5 rank is then
It is required that autonomous driving vehicle can be accomplished to drive vehicle driving completely under any scene.
With the aging of China's population, the appearance of recruitment famine and the continuous improvement of recruitment cost, directly result in
The problem of difficult, personal management hardly possible that user advertises for workers, cost are constantly climbed to a higher point, is manually replaced by mechanical automation irresistible.
But in the prior art, when controlling vehicle, there is problems, for example, sensitivity is not high, intend
The defects of human nature is not high.
Summary of the invention
The purpose of the embodiment of the present invention is that a kind of car body controller is provided, when solving in the prior art to vehicle control,
The defects of sensitivity is not high, and personification is not high.
To solve the above problems, the present invention provides a kind of car body controller, the car body controller includes：Body Control
Device ontology, controller area network transceiver, the first universal input/output GPIO driving chip, the 2nd GPIO driving chip,
3rd GPIO driving chip, the 4th GPIO driving chip and the 5th GPIO driving chip；
The car body controller ontology, for receive control unit for vehicle transmission operational order after, to the operation
Instruction is handled, and the first driving signal, the second driving signal, third driving signal, one in fourth drive signal are generated
Or it is multiple；
The first GPIO driving chip, one end are connected with car body controller ontology, and the other end is connected with wheel speed meter,
For according to first driving signal, controlling the wheel speed meter starting, and in the wheel after receiving the first driving signal
After speed meter starting, the pulse signal that the wheel speed meter detects is sent to the car body controller ontology, alternatively, according to described
First driving signal controls the wheel speed meter and closes；
The 2nd GPIO driving chip, one end are connected with car body controller ontology, and the other end is connected with lighting system
It connects, for according to second driving signal, controlling the starting of the lighting system after receiving second driving signal
Or it closes；
The 3rd GPIO driving chip, one end are connected with car body controller ontology, the other end and cleaning brush controller
It is connected, for according to the third driving signal, controlling cleaning brush controller after receiving the third driving signal
Starting drops to the elevating control motor control cleaning brush to control the starting for cleaning brush motor and elevating control motor
It cleans position and passes through the revolving speed of cleaning brush motor control cleaning brush, cleaned；Alternatively, according to the third driving signal,
The closing of cleaning brush controller is controlled, brush motor and elevating control motor is cleaned to close, makes the elevating control motor control
Cleaning brush rises to non-cleaning position and is shut down by cleaning brush motor control cleaning brush；
The 4th GPIO driving chip, one end are connected with car body controller ontology, the other end and air inducing machine controller
It is connected, for according to the third driving signal, controlling air inducing machine controller after receiving the third driving signal
Starting, to control the starting of id-motor；Alternatively, the closing of air inducing machine controller is controlled according to the third driving signal,
To control the closing of id-motor；
The 5th GPIO driving chip, one end are connected with car body controller ontology, and the other end is connected with laser radar
It connects, for according to the fourth drive signal, controlling starting or the pass of laser radar after receiving the fourth drive signal
It closes；
The car body controller ontology is also used to, and obtains the frequency of the pulse signal, and according to the pulse signal
Frequency determines First Speed information；
The CAN transceiver, for the First Speed information to be sent to control unit for vehicle, and from the vehicle
Control unit obtains the Fisrt fault information of vehicle, and the Fisrt fault information is sent to the car body controller ontology.
Preferably, the CAN transceiver includes the first output end and second output terminal, first output end and second defeated
Outlet is integrated on the CAN port of the car body controller ontology.
Preferably, the CAN transceiver is also used to, and obtains second speed information from the control unit for vehicle, and by institute
It states second speed information and is sent to the car body controller ontology.
Preferably, the car body controller ontology is also used to,
Second speed information is obtained from the CAN transceiver；
Calculate the difference of the First Speed information and the second speed information；
When the difference is greater than preset difference threshold, wheel speed meter failure is determined, generate the second fault message；
According to second fault message, fault handling information is generated；
According to the fault handling information, the 5th driving signal is generated, and the 5th driving signal is sent to the 6th
GPIO driving chip.
Preferably, the 6th GPIO driving chip, one end are connected with car body controller ontology, the other end and loudspeaker phase
Connection, for driving loudspeaker to generate alarm signal according to the 5th driving signal.
Preferably, the 3rd GPIO driving chip and the first relay are connected, the 4th GPIO driving chip and
Second relay is connected.
Preferably, the lighting system includes light emitting diode.
Preferably, the car body controller further includes：7th GPIO driving chip；
The car body controller ontology is also used to, and after the operational order for receiving control unit for vehicle transmission, generates the
Six driving signals, and the 6th driving signal is sent to the 7th GPIO driving chip；
One end of the 7th GPIO driving chip is connected with car body controller ontology, the other end and cabinet lock controller phase
Connection, for after receiving the 6th driving signal, according to the 6th driving signal, control cabinet lock controller to be to open
Cabinet lock.
By applying car body controller provided by the invention, the high sensitivity of vehicle, high personified control are realized.
Detailed description of the invention
Fig. 1 is car body controller structural schematic diagram provided in an embodiment of the present invention；
Fig. 2 is the specific structural schematic diagram of car body controller provided in an embodiment of the present invention；
Fig. 3 is the another structural schematic diagram of car body controller provided in an embodiment of the present invention.
Specific embodiment
Below by drawings and examples, technical scheme of the present invention will be described in further detail.It is understood that
It is that specific embodiment described herein is used only for explaining related invention, rather than the restriction to the invention.It further needs exist for
It is bright, for ease of description, illustrating only part relevant to related invention in attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
The car body controller (Body Control Module, BCM) of the offer of the embodiment of the present invention, is automatic Pilot
BCM can be applied in automatic driving vehicle, especially can be applied to low speed automatic driving vehicle, such as sweeper.Below
It is illustrated by specific embodiment.
Fig. 1 is BCM structural schematic diagram provided in an embodiment of the present invention.As shown in Figure 1, the BCM includes：BCM ontology 110,
First universal input/output (General Purpose Input Output, GPIO) driving chip 120, the 2nd GPIO driving
Chip 130, the 3rd GPIO driving chip 140, the 4th GPIO driving chip 150, the 5th GPIO driving chip 160, control general ability
Domain net (Controller Area Network, CAN) transceiver 180.
Before BCM work, first powered on, when battery system detects that the start button of control panel is pressed,
Generate power on signal, battery system exports electric energy, and BCM carries out self-test, predominantly detect whether power supply normal and wheel speed meter whether just
Often, and by inspection result it is sent to control unit for vehicle, after control unit for vehicle receives inspection result, to vehicle control list
Member, the inspection result of BCM are summarized, and according to summarized results, judge whether to reach the successful condition of self-test, if reaching self-test
Successful condition then sends the successful notification signal of self-test to BCM by CAN transceiver 180, and it is successful that BCM receives self-test
After notification signal, into standby mode.At this point, BCM can carry out light prompt according to the successful notification signal of self-test, for example,
Lighting system is controlled with the preset frequency scintillation preset time, to remind self-test success.
Wherein, which can be as automatic driving vehicle control unit (Automated Vehicle
Control Unit, AVCU).
Then, after to self-test success, the course of work of BCM is described.
BCM ontology 110, for receiving control unit for vehicle (Automated Vehicle Control Unit, vehicle
Control unit) after the operational order that sends, which is handled, the first driving signal, the second driving letter are generated
Number, one or more of third driving signal, fourth drive signal.
Wherein, the operational order of control unit for vehicle can be obtained from human-computer interaction device or background server.
Human-computer interaction device can be vehicular applications program (Application, app), be also possible to remote controler, can be with
It is other devices that can carry out human-computer interaction, the application does not limit this.
Background server can be determined according to the application scenarios of vehicle, when the vehicle application scene is sweeper, be somebody's turn to do
Background server can be the server of sweeper, which can also be swept with separate operaton in a specific region by more
Ground machine common operational does not limit this in the different community domain of the same area, the application.
Operational order can be an independent operational order, be also possible to the sum of multiple continuous instructions.Show at one
Example in, when background server generate operational order when, the operational order can be several continual commands on background server it
With, such as by clicking the keys such as " starting ", " automatic cleaning ", and then selected to carry out automatic cleaning to certain region.Another
In a example, when human-computer interaction device generates operational order, which be can be to multiple in human-computer interaction device
Icon key carries out the sum of the instruction of selection.
The setting of current operation instruction is related with the state before vehicle, for example, passing through when vehicle is in standby mode
It selects " automatic driving mode ", enters automatic driving mode from standby mode to control vehicle.In the following, with vehicle from standby mould
It is illustrated for formula to the switching between automatic driving mode.
Specifically, BCM ontology 110 receives the behaviour when the operational order is to enter automatic path planning mode instruction
It instructs, can parse the operational order, and generate the first driving signal, third driving signal and fourth drive signal simultaneously,
And the first driving signal is sent to the first driving chip, third driving signal is sent to third driving chip and the 4th simultaneously
Fourth drive signal is sent to the 5th driving chip by driving chip.
In vehicle operation, BCM ontology 110 is according to the operational order of control unit for vehicle, for example, Vehicular turn refers to
It enables, generates the second driving signal, the second driving signal is sent to the second driving chip.
The first GPIO driving chip 120, one end are connected with BCM ontology 110, and the other end is connected with wheel speed meter,
For according to first driving signal, controlling the wheel speed meter starting, and in the wheel after receiving the first driving signal
After speed meter starting, the pulse signal that the wheel speed meter detects is sent to the BCM ontology 110, alternatively, according to described first
Driving signal controls the wheel speed meter and closes.
Wherein, the starting and close can be controlled by the low and high level of output, example and it is non-limiting, can will
Starting is set as high level, sets low level for closing.
The 2nd GPIO driving chip 130, one end are connected with BCM ontology 110, and the other end is connected with lighting system
It connects, for according to second driving signal, controlling the starting of the lighting system after receiving second driving signal
Or it closes.
Example and it is non-limiting, lighting system include driving lamp 2, front directional 2, rear directional 2, brake lamp 2,
Clearance lamps 2, back-up lamp 2.Above-mentioned 2, are respectively set on the left and right sides of vehicle.
When vehicle makes the such as result of decision such as " left-hand rotation ", " right-hand rotation ", BCM ontology 110 receives control unit for vehicle
Corresponding operating instruction, generates the second driving signal, the second driving signal is sent to the 2nd GPIO driving chip 120, with control
Corresponding lamp flashing in lighting system, for example, driving " left steering lamp " flashing drives " right turn when turning right when turning left
Lamp " flashing.
The 3rd GPIO driving chip 140, one end are connected with BCM ontology 110, the other end and cleaning brush controller,
Air inducing machine controller is connected, for after receiving the third driving signal, according to the third driving signal, control to be clear
The starting of brush controller makes the elevating control motor control to control the starting for cleaning brush motor and elevating control motor
Cleaning brush drops to the revolving speed for cleaning position and passing through cleaning brush motor control cleaning brush, is cleaned；Alternatively, according to described
Three driving signals control the closing of cleaning brush controller, clean brush motor and elevating control motor to close, control the lifting
Motor control cleaning brush processed rises to non-cleaning position and is shut down by cleaning brush motor control cleaning brush.
4th GPIO driving chip 150, one end are connected with BCM ontology 110, and the other end is connected with air inducing machine controller
It connects, for according to the third driving signal, controlling opening for air inducing machine controller after receiving the third driving signal
It is dynamic, to control the starting of id-motor；Alternatively, the closing of air inducing machine controller is controlled according to the third driving signal, with
Control the closing of id-motor.
Specifically, cleaning brush controller is according to corresponding when vehicle enters " automatic driving mode " from " standby " mode
Operational order, control elevating control motor decline, control clean brush motor operating, carry out cleaning works, air inducing machine controller control
Id-motor operating processed, the sundries of cleaning is recycled.Correspondingly, working as vehicle from " automatic driving mode " entrance " standby "
When mode, cleaning brush controller controls elevating control motor and rises, and control cleans brush motor and stops, thus stop cleaning works,
Air inducing machine controller control id-motor stops working.
The 5th GPIO driving chip 160, one end are connected with BCM ontology 110, and the other end is connected with laser radar
It connects, for according to the fourth drive signal, controlling starting or the pass of laser radar after receiving the fourth drive signal
It closes.
Wherein, the available environment sensing data of laser radar.Specifically, after laser radar turns around, to being collected into
All the points carry out unified unpacking, compensation deals, generate the multiple laser point cloud datas scanned comprising this circle, so
Obstacle information is extracted from laser point cloud data afterwards.Example and it is non-limiting, the quantity of laser radar can be one, can also
Be it is multiple, when the quantity of laser radar is multiple, can the environment sensing data to multiple laser radars carry out at fusion
Reason, to obtain laser point cloud data, extracts obstacle information from laser point cloud data.Detection obstacle is improved as a result,
The sensitivity of object.The laser point cloud data is subsequently generated course changing control information and torque control message to control unit for vehicle.
The BCM ontology 110 is also used to, and obtains the frequency of the pulse signal, and according to the frequency of the pulse signal,
Determine First Speed information.
BCM ontology 110 is also used to, and according to the frequency of pulse signal, determines First Speed information, and by First Speed information
Control unit for vehicle is sent to by CAN transceiver 180.
Specifically, sweeper includes front wheels and rear wheels by taking sweeper as an example, it is that Hall wheel speed sensor is in terms of wheel speed
Example is illustrated.
Hall wheel speed sensor is made of sensing head and gear ring.Sensing head is by permanent magnet, Hall element and electronic circuit
Deng composition.Working principle is that the magnetic line of force of permanent magnet leads to gear across Hall element, and gear is equivalent to a collection chinaware.Gear
When rotation, the density of line of magnetic force across Hall element changes, therefore causes the variation of Hall voltage, and Hall element will export
Impulse waveform (revolver speed meter A input and revolver speed meter B input in Fig. 2 collectively form the impulse waveform), impulse waveform warp
The pulse voltage of standard, i.e. pulse signal are converted by electronic circuit.The pulse that the frequency of pulse signal, i.e. each second generate
Number reflects the speed of wheel rotation, by the frequency of pulse signal it can be learnt that vehicle wheel rotational speed.It, can by the revolving speed of wheel
To determine First Speed information.
It is subsequent, by CAN transceiver 180, First Speed information is sent to control unit for vehicle, so that vehicle control list
Member is according to First Speed information and passes through Differential Global Positioning System (Differential Global Positioning
System, DGPS) obtain second speed information, formation speed fuse information, pass through speed fuse information, correct moment of torsion control
Information and revolving speed control information.
The CAN transceiver 180, obtains the Fisrt fault information of vehicle from the control unit for vehicle, and by described the
One fault message is sent to the BCM ontology 110.
Wherein, the first output end CANH and second output terminal CANL Yu CAN of CAN transceiver 180 are integrated in BCM ontology
On 110 CAN port.The state at the end CANH can only be high level or suspended state, and the end CANL can only be low level or suspension
State.By two output ends of CAN transceiver 180, the available related monitoring data to vehicle, such as Fisrt fault letter
Breath.
Further, CAN transceiver 180 is also used to, and obtains second speed information from control unit for vehicle, and by described the
Two velocity informations are sent to BCM ontology 110.
Specifically, BCM is in the process of running, the self-test of wheel speed meter can be carried out, the method for use is as follows：BCM ontology
110 obtain second speed information from control unit for vehicle；Calculate the difference of First Speed information and second speed information；Work as difference
When greater than preset difference threshold, wheel speed meter failure is determined, generate the second fault message, according to the second fault message, generate event
Barrier processing information generates the 5th driving signal according to the fault handling information, and the 5th driving signal is sent to the 6th
GPIO driving chip.
It can according to need setting difference threshold, for example, difference threshold can be set as 2m/s.First, second failure
Information is only to distinguish to the source of two kinds of fault messages, and fault handling information is the place done for the fault message
Reason, for example, emergency braking etc..
Further, BCM further includes the 6th GPIO driving chip 170；The 6th GPIO driving chip 170, one end and
BCM ontology 110 is connected, and the other end is connected with loudspeaker, for driving loudspeaker to generate warning according to the 5th driving signal
Signal.
At this point, alarm signal is issued, to remind vehicle that there are failures by loudspeaker.
It is understood that the prompting sound of the corresponding loudspeaker of different faults information can be corresponded, Ji Ketong
The prompt tone for crossing loudspeaker, judges fault type, improves the efficiency of consequent malfunction maintenance.
Further, BCM ontology 110 can detect lighting system, and when lighting system failure, vehicle still may be used
To work.
Fig. 2 is the specific structural schematic diagram of BCM provided in an embodiment of the present invention.Below with reference to Fig. 1 and Fig. 2, BCM is carried out
Specific description.In Fig. 2, each GPIO pin and the first GPIO driving chip to the 6th GPIO driving chip of BCM ontology
It corresponds, i.e., the first to the 6th GPIO driving chip is integrated in each GPIO pin on BCM ontology.
Further, lighting system can be light emitting diode composition, divide on air inducing machine controller and cleaning brush controller
Not Ju You relay, relay has relay coil, example and non-limiting, the 3rd GPIO driving chip 140 and the 4th GPIO
Driving chip 150 can be separately connected relay coil, be powered by the 3rd GPIO driving chip 140 to relay coil or disconnected
Electricity controls the power supply or power-off of air inducing machine controller, and then controls id-motor operating by air inducing machine controller or stop.
Correspondingly, by the 4th GPIO driving chip 150 to relay coil power or power off, control cleaning brush controller power supply or
Power-off controls the operating or stopping for cleaning brush motor group by cleaning brush controller in turn.
By applying BCM provided in an embodiment of the present invention, realize when controlling vehicle, high sensitivity, personification
The advantages such as property height.
Fig. 3 is the another structural schematic diagram of car body controller provided in an embodiment of the present invention.The car body controller can answer
On automatic driving vehicle, especially low speed automatic driving vehicle, such as logistic car.
As shown in figure 3, the car body controller can also include：7th GPIO driving chip 200.
The BCM ontology 110 is also used to, and after the operational order for receiving control unit for vehicle transmission, is generated the 6th and is driven
Dynamic signal, and the 6th driving signal is sent to the 7th GPIO driving chip 200.
One end of the 7th GPIO driving chip 200 is connected with BCM ontology 110, the other end and cabinet lock controller phase
Connection, for after receiving the 6th driving signal, according to the 6th driving signal, control cabinet lock controller to be to open
Cabinet lock.
Specifically, being provided with the first counter on vehicle (includes small counter in the first counter, each small counter can store
One express mail), when vehicle driving is to designated place, control unit for vehicle sends cabinet to BCM ontology 110 and locks open instructions, BCM
Ontology sends the 6th driving signal to cabinet lock controller, and according to the 6th driving signal, cabinet lock is beaten in the control of cabinet lock controller, from
It is dynamic to put into cargo in the second counter (for the counter of designated place setting).
When the car body controller is applied to logistic car, the 3rd GPIO driving chip and the can not be set in BCM
Four GPIO driving chips, at this point, the vehicle that is controlled of the car body controller it is simple be used as logistic car.
It optionally, can also include the 3rd GPIO driving chip and the 4th GPIO driving chip in BCM, at this point, the vehicle body
The vehicle that controller is controlled can have the function of logistic car and sweeper simultaneously.
Professional should further appreciate that, described in conjunction with the examples disclosed in the embodiments of the present disclosure
Unit and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, hard in order to clearly demonstrate
The interchangeability of part and software generally describes each exemplary composition and step according to function in the above description.
These functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.
Professional technician can use different methods to achieve the described function each specific application, but this realization
It should not be considered as beyond the scope of the present invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can be executed with hardware, processor
The combination of software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only memory
(ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field
In any other form of storage medium well known to interior.
Above specific embodiment has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
Illustrate, it should be understood that the above is only a specific embodiment of the invention, the protection model that is not intended to limit the present invention
It encloses, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (8)
1. a kind of car body controller, which is characterized in that the car body controller includes：Car body controller ontology, controller local
Net CAN transceiver, the first universal input/output GPIO driving chip, the 2nd GPIO driving chip, the 3rd GPIO driving chip,
4th GPIO driving chip and the 5th GPIO driving chip；
The car body controller ontology, for receive control unit for vehicle transmission operational order after, to the operational order
It is handled, generates the first driving signal, the second driving signal, third driving signal, one or more in fourth drive signal
It is a；
The first GPIO driving chip, one end are connected with car body controller ontology, and the other end is connected with wheel speed meter, is used for
After receiving the first driving signal, according to first driving signal, the wheel speed meter starting is controlled, and in the wheel speed meter
After starting, the pulse signal that the wheel speed meter detects is sent to the car body controller ontology, alternatively, according to described first
Driving signal controls the wheel speed meter and closes；
The 2nd GPIO driving chip, one end are connected with car body controller ontology, and the other end is connected with lighting system, use
In after receiving second driving signal, according to second driving signal, starting or the pass of the lighting system are controlled
It closes；
The 3rd GPIO driving chip, one end are connected with car body controller ontology, and the other end is connected with cleaning brush controller
It connects, for according to the third driving signal, controlling opening for cleaning brush controller after receiving the third driving signal
It is dynamic, to control the starting for cleaning brush motor and elevating control motor, drop to the elevating control motor control cleaning brush clearly
It sweeps position and passes through the revolving speed of cleaning brush motor control cleaning brush, cleaned；Alternatively, according to the third driving signal, control
The closing of cleaning brush controller processed cleans brush motor and elevating control motor to close, keeps the elevating control motor control clear
Brush rises to non-cleaning position and is shut down by cleaning brush motor control cleaning brush；
The 4th GPIO driving chip, one end are connected with car body controller ontology, and the other end is connected with air inducing machine controller
It connects, for according to the third driving signal, controlling opening for air inducing machine controller after receiving the third driving signal
It is dynamic, to control the starting of id-motor；Alternatively, the closing of air inducing machine controller is controlled according to the third driving signal, with
Control the closing of id-motor；
The 5th GPIO driving chip, one end are connected with car body controller ontology, and the other end is connected with laser radar, use
In after receiving the fourth drive signal, according to the fourth drive signal, the starting or closing of laser radar are controlled；
The car body controller ontology is also used to, and obtains the frequency of the pulse signal, and according to the frequency of the pulse signal,
Determine First Speed information；
The CAN transceiver, for the First Speed information to be sent to control unit for vehicle, and from the vehicle control
Unit obtains the Fisrt fault information of vehicle, and the Fisrt fault information is sent to the car body controller ontology.
2. car body controller according to claim 1, which is characterized in that the CAN transceiver include the first output end and
Second output terminal, first output end and second output terminal are integrated on the CAN port of the car body controller ontology.
3. car body controller according to claim 1, which is characterized in that the CAN transceiver is also used to, from the vehicle
Control unit obtains second speed information, and the second speed information is sent to the car body controller ontology.
4. car body controller according to claim 3, which is characterized in that the car body controller ontology is also used to,
Second speed information is obtained from the CAN transceiver；
Calculate the difference of the First Speed information and the second speed information；
When the difference is greater than preset difference threshold, wheel speed meter failure is determined, generate the second fault message；
According to second fault message, fault handling information is generated；
According to the fault handling information, the 5th driving signal is generated, and the 5th driving signal is sent to the 6th GPIO
Driving chip.
5. car body controller according to claim 4, which is characterized in that the 6th GPIO driving chip, one end and vehicle
Body controller ontology is connected, and the other end is connected with loudspeaker, for driving loudspeaker to generate police according to the 5th driving signal
Show signal.
6. car body controller according to claim 1, which is characterized in that the 3rd GPIO driving chip and the first relay
Device is connected, and the 4th GPIO driving chip and the second relay are connected.
7. car body controller according to claim 1, which is characterized in that the lighting system includes light emitting diode.
8. car body controller according to claim 1, which is characterized in that the car body controller further includes：7th GPIO
Driving chip；
The car body controller ontology is also used to, and after the operational order for receiving control unit for vehicle transmission, is generated the 6th and is driven
Dynamic signal, and the 6th driving signal is sent to the 7th GPIO driving chip；
One end of the 7th GPIO driving chip is connected with car body controller ontology, and the other end is connected with cabinet lock controller
It connects, for after receiving the 6th driving signal, according to the 6th driving signal, control cabinet lock controller to be to open cabinet
Lock.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810564294.9A CN108829082A (en) | 2018-06-04 | 2018-06-04 | Car body controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810564294.9A CN108829082A (en) | 2018-06-04 | 2018-06-04 | Car body controller |
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| CN108829082A true CN108829082A (en) | 2018-11-16 |
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|---|---|---|---|
| CN201810564294.9A Pending CN108829082A (en) | 2018-06-04 | 2018-06-04 | Car body controller |
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Application publication date: 20181116 |