CN108860123A - A kind of control system of electric vehicle, control method and electric vehicle - Google Patents
A kind of control system of electric vehicle, control method and electric vehicle Download PDFInfo
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- CN108860123A CN108860123A CN201710331164.6A CN201710331164A CN108860123A CN 108860123 A CN108860123 A CN 108860123A CN 201710331164 A CN201710331164 A CN 201710331164A CN 108860123 A CN108860123 A CN 108860123A
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 230000006835 compression Effects 0.000 claims description 46
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- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000004891 communication Methods 0.000 description 14
- 238000010586 diagram Methods 0.000 description 12
- 230000005611 electricity Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000011217 control strategy Methods 0.000 description 4
- 230000002159 abnormal effect Effects 0.000 description 3
- 239000004973 liquid crystal related substance Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000007257 malfunction Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
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- 239000002699 waste material Substances 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000004378 air conditioning Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
-
- 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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- 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
- Y02T10/64—Electric machine technologies in electromobility
-
- 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
- Y02T10/72—Electric energy management in electromobility
Abstract
The application provides the control system, control method and electric vehicle of a kind of electric vehicle, including：Main control module, power supply circuit, the brake monitor of control brake compressor work, the revolver drive control device of the left wheel motor work of control, the right wheel drive control device of the right wheel motor work of control；Main control module is separately connected with power supply circuit, each controller；The first backup circuit breaker is connected between the output end of target drives controller and the input terminal of brake compressor；The first main switch is connected between the output end of target drives controller and corresponding wheel motor；The output end of brake monitor and the first backup circuit breaker, are connected in parallel to the input terminal of brake compressor；When brake monitor failure, the first main switch is in an off state, the first backup circuit breaker is in closed state for main control module control, realizes that target drives controller works instead of brake monitor.It can effectively improve the safety and reliability of vehicle using the control system of electric vehicle provided by the present application.
Description
Technical field
This application involves electric vehicle field more particularly to a kind of control systems of electric vehicle, control method and electronic
Vehicle.
Background technique
For the Strategic Demand for adapting to national environmental protection, electric vehicle such as electric car is just welcoming fast-developing period.Electricity
Can the Control System Design of motor-car farthest ensure vehicle safety, be that emphasis considers when people choose electric vehicle
One factor.
In the related technology, each controller in control system physically works independently, the disadvantage is that：If wherein one
A controller such as brake monitor for influencing traffic safety breaks down, and great hidden danger will be brought to vehicle traffic safety, can
It can jeopardize vehicle and multiply the life of personnel, property safety.
Summary of the invention
In view of this, the application provides the control system, control method and electric vehicle of a kind of electric vehicle.Specifically,
The application is achieved by the following technical solution：A kind of control system of electric vehicle, including：Main control module, power supply circuit,
Control the brake monitor of brake compressor work, the revolver drive control device of the left wheel motor work of control, control right wheel side electricity
The right wheel drive control device of machine work；Main control module is separately connected with power supply circuit, each controller；
Wherein, the first backup circuit breaker is connected between the output end of target drives controller and the input terminal of brake compressor；
Target drives controller is revolver drive control device or right wheel drive control device；
The first main switch is connected between the output end of target drives controller and corresponding wheel motor；
The output end of brake monitor and the first backup circuit breaker, are connected in parallel to the input terminal of brake compressor；
When brake monitor failure, main control module controls the first main switch and is in an off state, at the first backup circuit breaker
In closed state, realize that target drives controller works instead of brake monitor.Technical solution provided by the embodiments of the present application can
To include following beneficial effect：
Using control system for electric vehicle provided by the present application, due to left and right wheel motor one drive control of each freedom
Device controls work, when driving, if brake monitor fails, can control one of drive control device and replaces braking
Controller work, it is ensured that brake monitor fails in emergency circumstances, and vehicle will not lose stopping power, it is ensured that traffic safety,
Effectively increase the safety and reliability of vehicle.
Detailed description of the invention
Fig. 1 is a kind of structural block diagram of the control system of electric vehicle shown in one exemplary embodiment of the application；
Fig. 2 is the structural block diagram of the control system of another electric vehicle shown in one exemplary embodiment of the application；
Fig. 3 is the structural block diagram of the control system of another electric vehicle shown in one exemplary embodiment of the application；
Fig. 4 is a kind of schematic diagram of power supply circuit shown in one exemplary embodiment of the application；
Fig. 5 is the structural block diagram of the control system of another electric vehicle shown in one exemplary embodiment of the application；
Fig. 6-1 is the structural block diagram of the control system of another electric vehicle shown in one exemplary embodiment of the application；
Fig. 6-2 is the structural representation of the control system of another electric vehicle shown in one exemplary embodiment of the application
Figure；
Fig. 7 is a kind of control method flow chart of electric vehicle shown in one exemplary embodiment of the application；
Fig. 8 is the control method flow chart of another electric vehicle shown in one exemplary embodiment of the application；
Fig. 9 is the control method flow chart of another electric vehicle shown in one exemplary embodiment of the application；
Figure 10 is the control method flow chart of another electric vehicle shown in one exemplary embodiment of the application；
Figure 11 is the control method flow chart of another electric vehicle shown in one exemplary embodiment of the application；
Figure 12 is the control method flow chart of another electric vehicle shown in one exemplary embodiment of the application.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the application.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the application.
It is only to be not intended to be limiting the application merely for for the purpose of describing particular embodiments in term used in this application.
It is also intended in the application and the "an" of singular used in the attached claims, " described " and "the" including majority
Form, unless the context clearly indicates other meaning.It is also understood that term "and/or" used herein refers to and wraps
It may be combined containing one or more associated any or all of project listed.Term " center ", "left", "right", "upper",
The orientation or positional relationship of the instructions such as "lower" be based on the orientation or positional relationship shown in the drawings, be only easy for description the application and
Simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation construction
And operation, therefore should not be understood as the limitation to the application.Term " connected ", " connection " shall be understood in a broad sense, for example, it may be
Electrical connection, is also possible to be mechanically connected；It can be and be directly connected to, can also be indirectly connected with by intermediary, can be two
Connection inside element.
It will be appreciated that though various information, but this may be described using term first, second, third, etc. in the application
A little information should not necessarily be limited by these terms.These terms are only used to for same type of information being distinguished from each other out, and cannot understand and refer to
Show or imply relative importance.For example, it is single that first unit can also be referred to as second in the case where not departing from the application range
Member, similarly, second unit can also be referred to as first unit.Depending on context, word as used in this " if " can
Be construed to " ... when " or " when ... when " or " in response to determination ".
The control system of electric vehicle provided by the embodiments of the present application is described below in conjunction with attached drawing.Electric vehicle in the application
It can be the vehicles such as electric car, electric bus of driving wheel there are two at least having.
Fig. 1 is a kind of the application structural block diagram of the control system of electric vehicle shown according to an exemplary embodiment,
The control system of the electric vehicle may include：The left side that main control module 101, power supply circuit 102, the left wheel motor M1 of control work
The right wheel drive control device 104 that wheel drive controller 103, the right wheel motor M2 of control work；Control the system of brake compressor work
Movement controller 105；Main control module 101 is connected with power supply circuit 102, distinguishes communication connection with each controller；
Wherein, in the present embodiment, first is connected between the output end of right wheel drive control device 104 and right wheel motor M2
Main switch 111；
The first backup circuit breaker 112 is connected between the output end and brake compressor of right wheel drive control device 104；
The output end of brake monitor 105 and the first backup circuit breaker 112, are connected in parallel to the input terminal of brake compressor.
In the embodiment of the present application, after the output end of brake monitor 105 is connect with the output end of the first backup circuit breaker 112,
It is connected to the input terminal of brake compressor.
When brake monitor 105 fails, main control module 101 controls the first main switch 111 and is in an off state, is first standby
It is in closed state with switch 112, so that right wheel drive control device 104 replaces brake monitor 105 to control brake compressor work.
Similarly, in another embodiment of the application, it also can use revolver drive control device 103 instead of brake monitor
105 work.Then the first main switch 111 is connected between the output end of revolver drive control device 103 and left wheel motor M1；First
Backup circuit breaker 112 is connected between the output end and brake compressor of revolver drive control device 103.It is similar with embodiment illustrated in fig. 1,
When brake monitor 105 fail when, main control module 101 control the first main switch 111 be in an off state, the first backup circuit breaker
112 are in closed state, so that revolver drive control device 103 replaces brake monitor 105 to control brake compressor work.
It is the structural block diagram of the control system of another electric vehicle shown according to an exemplary embodiment referring to Fig. 2,
On the basis of control system embodiment shown in Fig. 1, the control system of above-mentioned electric vehicle can also include：It controls air conditioner compressed
The compression controller 106 of machine M3 work, control turn to the steering controller 107 of pump motor M4 work.Compression controller 106 turns
Connect respectively with power supply circuit 102 to controller 107, respectively with 101 communication connection of main control module.
Wherein, the second main switch 121 is connected between the output end of compression controller 106 and compressor of air conditioner M3；
The second backup circuit breaker 122 is connected between the output end and steering pump motor M4 of compression controller 106；
The output end of steering controller 107 and the second backup circuit breaker 122 are connected in parallel to turn to the input of pump motor M4
End.
When steering controller 107 fails, main control module 101 can control the second main switch 121 be in an off state, the
Two backup circuit breakers 122 are in closed state, realize that compression controller 106 replaces steering controller 107, control turns to pump motor M4
Work.
In the embodiment depicted in figure 2, the output end of steering controller 107 is connect with the output end of the second backup circuit breaker 122
Afterwards, it is connected to the input terminal for turning to pump motor M4.
In another embodiment of the application, the output end of the output end of steering controller 107 and the second backup circuit breaker 122,
The input terminal for turning to pump motor M4 can also be connected to.Similarly, the output end of brake monitor 105 and the first backup circuit breaker
112 output end can also be connected to the input terminal of brake compressor, as shown in Figure 3.
Fig. 4 shows the structural schematic diagram of power supply circuit in Fig. 2, as shown in figure 4, power supply circuit 102 may include：First
Master switch K2, the second master switch K8, control switch K3~K7。
Wherein, the first master switch K2One end connect with busbar voltage cathode output end, the other end is connected in parallel each control
The control switch K of device processed3~K7。
Second master switch K8One end connect with busbar voltage cathode output end, the cathode of the other end and each controller is defeated
Enter end connection.
Control switch K3One end connect the first master switch K2, the electrode input end of the other end and revolver drive control device 103
Connection.In a preferred embodiment, control switch K3It can also be connect between the electrode input end of revolver drive control device 103
There is circuit protecting element F2, for example, fastp-acting fuse, drives revolver and carries out overcurrent protection.
Control switch K4One end connect the first master switch K2, the electrode input end of the other end and right wheel drive control device 104
Connection.In a preferred embodiment, control switch K4It can also be connect between the electrode input end of right wheel drive control device 104
There is circuit protecting element F3, for example, fastp-acting fuse, carries out overcurrent protection to right wheel drive control device 104.
Control switch K5One end connect the first master switch K2, the electrode input end company of the other end and brake monitor 105
It connects.In a preferred embodiment, control switch K5Circuit can also be connected between the electrode input end of brake monitor 105
Protection element F4, for carrying out overcurrent protection to brake monitor 105.
Control switch K6One end connect the first master switch K2, the electrode input end company of the other end and compression controller 106
It connects.In a preferred embodiment, control switch K6Circuit can also be connected between the electrode input end of compression controller 106
Protection element F5, for carrying out overcurrent protection to compression controller 106.
Control switch K7One end connect the first master switch K2, the electrode input end company of the other end and steering controller 107
It connects.In a preferred embodiment, control switch K7Circuit can also be connected between the electrode input end of steering controller 107
Protection element F6, for carrying out overcurrent protection to steering controller 107.
In the embodiment of the present application, main control module can pass through CAN (Controller Area Network, controller part
Net) modes such as bus, hardware level signal, LIN (Local Interconnect Network, local interconnect network) bus with
Each controller communication can also pass through PLC (Power line Communication, power carrier communication) mode and each control
Device is communicated.
Wherein, if main control module is communicated by CAN bus with each controller, following at least two mode can be used
Carry out communication connection：
First way connects communication connection by full-vehicle control intermodule
As in Figure 6-1, main control module is connected to full-vehicle control module by CAN bus, and each controller is total also by CAN
Line is connected to full-vehicle control module.
When being communicated, each controller can be led by CAN bus by respective state information report full-vehicle control module
Control module obtains the running state information of each controller or segment controller from full-vehicle control module, and in brake monitor
And/or steering controller shows fault cues information when breaking down.
The second way, main control module pass through CAN bus and each controller direct communication link
As in fig. 6-2, each controller is connect by CAN bus with main control module, forms interior Network Communication, main control module is also
Full-vehicle control module is connected to by CAN bus.
When being communicated, main control module obtains the running state information of each controller, and root using Intranet communication mode
The control to each controller is realized according to running state information.Main control module need to report the failure shape of controller to full-vehicle control module
State information, so that vehicle progress fault message is shown and alarm.
In the embodiment of the present application, main control module and each controller use Intranet to communicate to connect mode, smaller by external action,
In the case where vehicle communication failure, effective control of the main control module to each controller will not be influenced, can effectively be mentioned
The safety of high vehicle traveling.
In one alternate embodiment, main control module can be full-vehicle control module, i.e., by full-vehicle control module come real
The function of existing main control module.
Using control system provided by the above embodiment, each controller can be communicated with main control module, in vehicle driving mistake
Cheng Zhong when main control module detects that brake monitor breaks down, can control the first backup circuit breaker and be in closed state, the first master
Switch is in an off state, in the case where ensuring has a drive control device normal control to correspond to wheel motor work, control
Another drive control device works instead of brake monitor, has electric vehicle in emergency circumstances still what brake monitor failed
Standby braking function, it is ensured that vehicle traffic safety.
In addition, the control switch of compression controller can be controlled when main control module detects that steering controller breaks down
In closed state, and the second backup circuit breaker is in closed state, the second main switch is in an off state for control, control compression control
Device processed works instead of steering controller, and electric vehicle is made in emergency circumstances still to have turning function what steering controller failed,
Ensure vehicle traffic safety, service truck multiplies the safety of life and property of personnel, improves the safety and reliability of electric vehicle.
Further, in the case where brake monitor is working properly, if one of drive control device such as revolver drives
Movement controller, since there are also right wheel drive control devices to work normally, so not will lead to the forfeiture of vehicle power performance, effective guarantee
Vehicle traffic safety.In the case where drive control device failure, main control module can also control above-mentioned failure drive control
The control switch of device is in an off state, and failure drive control device is avoided to continue to expend electricity, meanwhile, in failure drive control device
In the case that failure cause is unknown, also it is possible to prevente effectively from failure drive control device electric leakage leads to secondary disaster, further
Improve the safety of electric vehicle.
Fig. 5 shows the structural block diagram of the control system of another electric vehicle, the basis of embodiment shown in Fig. 2
On, can also include：The display module 108 being connect with main control module 101.Display module 108 is for receiving the hair of main control module 101
The various fault messages and/or warning message that send simultaneously are shown, especially the brake monitor that sends of reception main control module 101
Fault message, warning message, and/or, fault message, the warning message of steering controller.
Above-mentioned display module can be the liquid crystal display device for being set to vehicle cab front end, be also possible to show each portion
The instrument board of part operation conditions, the application to this with no restriction.
Below with reference to Fig. 6-1 or 6-2 a kind of knot of the control system of electric vehicle shown according to an exemplary embodiment
The structure and its course of work of above-mentioned control system is described in detail in structure schematic diagram.
In the present embodiment, on the basis of embodiment shown in Fig. 2, control system can also include：DC-DC converter is whole
Vehicle low-voltage load provides low-voltage dc power supply.The input terminal of the DC-DC converter passes through control switch K1With circuit protecting element F1
It is connect with the output end of busbar voltage.That is, working as K1When closure, the high voltage direct current of bus output can be converted through DC-DC converter
For low-voltage DC, it is conveyed to each low-voltage load.Circuit protecting element F1For carrying out overcurrent protection to DC-DC converter.
In the first master switch K2, the second master switch K8And control switch be closed in the case where, controller can export U,
V, W three-phase alternating current, control three phase alternating current motor work.
As in Figure 6-1, relay K9~K11Constitute the first main switch, relay K12~K14Constitute the first backup circuit breaker.
If brake monitor function is normal, main control module controls relay K5After closure, brake monitor can control system
Pump of taking offence works normally, and realizes vehicle braking function.
When main control module detects that brake monitor breaks down, due in driving conditions, relay K4In closure
State, main control module control relay K12、K13、K14Closure, while controlling relay K5、K9、K10、K11It disconnects, to realize the right side
Wheel drive controller temporarily replaces brake monitor control brake compressor work, and above-mentioned movement executes duration and is no more than 100ms, has
Effect has ensured traffic safety.
In addition, can also show braking in instrument display panel when main control module detects that brake monitor breaks down
Fault message simultaneously exports warning message, to remind the timely pulling over observing of driver, is overhauled or is waited to brake control mechanism
Rescue, further service truck multiply the safety of personnel.
Above-mentioned control process reduces vehicle although sacrificing control of the right wheel drive control device to right wheel motor
Power is driven, but can effectively ensure vehicle driving safety, effectively increases the vehicle security and reliability of electric vehicle.
Relay K15~K17Constitute the second main switch, relay K18~K20Constitute the second backup circuit breaker.
Similarly, if steering controller function is normal, main control module controls relay K7After closure, steering controller can be just
Often control turns to pump motor M4 work, realizes the turning function of vehicle.
When main control module detects that steering controller breaks down, relay K is controlled6、K18、K19、K20Closure, simultaneously
Control relay K7、K15、K16、K17It disconnects, to realize that compression controller temporarily replaces steering controller control to turn to pump motor
M4 work, to ensure safety, above-mentioned movement executes duration and 100ms is not to be exceeded.
Although above-mentioned control process sacrifices control of the compression controller to compressor of air conditioner, compartment comfort level is caused to drop
It is low, but may insure that the steering pump motor of vehicle can control, the turning function that not will lead to vehicle is lost, and electricity is effectively increased
The safety and reliability of dynamic whole vehicle.
In the case where major accident occurs, if brake monitor and steering controller fail, in the control of main control module
It can be respectively that brake compressor and steering pump motor determine spare controller, it is ensured that vehicle does not lose braking and turns to function under system
Can, effectively ensure traffic safety.
In addition, can also show steering in instrument display panel when main control module detects that steering controller breaks down
Fault message simultaneously exports warning message, to remind the timely pulling over observing of driver, course changing control mechanism is overhauled or is waited
Rescue, service truck multiply the safety of personnel.
Correspondingly, the embodiment of the present application also provides a kind of electric vehicles, including：For the control system of above-mentioned electric vehicle
Control system shown in the power battery of offer electric energy and any of the above-described embodiment.Above-mentioned electric vehicle can be electric car,
Mobility scooter for old people, electric bus etc. at least have the vehicle there are two driving wheel.
Correspondingly, the control system of the electric vehicle provided based on any of the above-described embodiment, present invention also provides one kind
The control method of electric vehicle.Referring to a kind of Fig. 7 control method process of electric vehicle shown according to an exemplary embodiment
Figure, this method may include：
Step 11, main control module obtain the work state information of brake monitor；
When driving, main control module can obtain each controller by communication modes such as CAN bus, LIN buses
Work state information, for example, each controller is according to preset period of time active reporting work state information, alternatively, answering master control mould
The requirement of block reports work state information to main control module at any time.In another embodiment of the application, main control module can also lead to
It crosses and receives the hardware level signal acquisition work state information that each controller is sent, for example, when discovery brake monitor, turning to control
When the hardware level signal exception of device processed and/or drive control device, determine that controller breaks down.
Step 12 determines whether brake monitor fails according to the work state information of brake monitor；
Main control module can judge whether the function of controller is normal according to the work state information of each controller, especially
According to the work state information for the controller for influencing traffic safety, judging controller, whether function is normal.Above-mentioned influence driving peace
Full controller includes：Steering controller, brake monitor and drive control device.In the present embodiment, main control module is according to system
The work state information of movement controller determines whether brake monitor fails.
Referring to the control method flow chart of Fig. 8 another electric vehicle shown according to an exemplary embodiment, above-mentioned step
Rapid 12 may include：
Step 121, when work state information instruction brake monitor break down when, start recording failure duration；
By taking brake monitor as an example, wherein at following at least two, it can be determined that event occurs for brake monitor
Barrier：
The first situation, main control module receives the failure message of brake monitor transmission, alternatively, detecting control for brake
The abnormal level signal of device, when being somebody's turn to do, work state information can be failure message or abnormal level signal.
There is working condition when main control module monitors the work state information less than brake monitor in second situation
The case where information disappears, i.e. judgement brake monitor break down.
When main control module detects that brake monitor breaks down, for example, when receiving a failure message, alternatively,
When detecting abnormal level signal, start recording failure duration.
In the embodiment of the present application, failure duration can be recorded using following either type：
First way starts a timer, records the failure duration of brake monitor.
The second way, by calculating the failure message amount continuously received, the failure for calculating brake monitor continues
Duration.It, can be according to preset period of time such as 100ms to master when brake monitor breaks down under bus communication mode
Control module reporting fault message.Based on this, when main control module can continue according to the failure message amount calculating failure received
Long, for example, continuously receiving 5 failure messages, then failure duration is 500ms.
The scheme of above-described embodiment applies also for steering controller, revolver drive control in addition to being suitable for brake monitor
Device or right wheel drive control device.
It, can also be immediately when main control module detects that brake monitor breaks down in another embodiment of the application
Fault message is shown such as " control for brake breaks down ", so that driver understands vehicle condition in time.And determining control for brake
In preset duration after device failure, such as 100ms show, at least one mode such as voice prompting, alarm sound using information,
Prompting message is exported, such as auditory tone cues " catastrophe failure occurs in brake monitor, asks pulling over observing ", reminds user's vehicle to occur tight
Weight failure, takes corresponding safety measure.
It is only illustrated by taking the fault detection of brake monitor as an example, similarly, can be detected using aforesaid way above
The fault message of steering controller, revolver drive control device or right wheel drive control device.
In the embodiment of the present application, main control module can trigger fault message and/or prompting using following at least two mode
The output of information：
First way when main control module detects that controller breaks down, is sent to display module such as liquid crystal display
Malfunction coefficient or alarm command make liquid crystal display show fault message and/or prompting message.
The second way when main control module detects that controller breaks down, issues malfunction coefficient instruction to corresponding instrument,
Fault message and/or prompting message are exported by instrument.
Failure duration is compared by step 122 with preset time threshold；
In the embodiment of the present application, delay normal driving to avoid main control module from judging controller failure by accident, when master control mould
Block detects when controller breaks down not cut-in stand-by controller immediately, but judges whether above-mentioned failure duration surpasses
Preset time threshold, such as 500ms are crossed, if so, executing step 123；If it is not, it is short to indicate that above-mentioned preset time internal controller occurs
Restore normal after temporary failure again, the generation of above-mentioned of short duration failure will not jeopardize traffic safety, alternatively, main control module is in a short time
There is failure erroneous judgement, and determine that controller is resumed work automatically, it is not necessary to use other control strategies.
If step 123, failure duration are more than preset time threshold, determine that brake monitor fails.
In the embodiment of the present application, still by taking brake monitor as an example, if the failure duration of brake monitor is more than or equal to
Preset time threshold such as 500ms indicates that above-mentioned failure can jeopardize traffic safety, it is possible to determine that brake monitor failure, and then cut
Change other braking control strategies.
Step 13, when brake monitor failure when, control target drives controller replace brake monitor work, wherein
Target drives controller is revolver drive control device or right wheel drive control device.
Referring to the control method flow chart of Fig. 9 another electric vehicle shown according to an exemplary embodiment, step 13
May include：
Step 131, when brake monitor failure, the first backup circuit breaker of control is in closed state, at the first main switch
In off-state；
Such as the course of work of above-mentioned Fig. 6-1 illustrated embodiment, when main control module determines brake monitor failure, Ke Yixiang
First main switch, the first backup circuit breaker send control signal, control the K in the first backup circuit breaker12~K14In closed state,
Control K in the first main switch9~K11Be in an off state, realize right wheel drive control device connect with brake compressor.
Step 132, the control switch for controlling brake monitor are converted to off-state by closed state；
Brake monitor is replaced in right wheel drive control device, after connecting with brake compressor, for the control for brake for avoiding failure
Second accident or waste electric energy, which occur, for device electric leakage as a preferred embodiment can also further control brake monitor
Control switch K5It is in an off state, accident is avoided to occur and saves power battery electricity.
Step 133, triggering target drives controller control brake compressor work.
In the embodiment of the present application, main control module is after determining that right wheel drive control device is connect with brake compressor, main control module
Triggering command can be sent by wheel drive controller to the right, triggering right wheel drive control device enters preset control for brake Working mould
Formula.In another embodiment of the application, main control module can also refer to the control for brake generated according to default braking control strategy
Order is sent to right wheel drive control device, controls right wheel drive control device to brake compressor according to control for brake instruction.
It, can be simultaneously herein it should be noted that the execution of above-mentioned steps 131, step 132 acts point without sequencing
It carries out.Or step 131 is first carried out, then execute step 132；Or step 132 is first carried out, then execute step 131.
The control method flow chart of 0 another electric vehicle shown according to an exemplary embodiment referring to Fig.1, in Fig. 7
On the basis of illustrated embodiment, the above method can also include：
Step 14, the work state information for obtaining steering controller；
Similar with above-mentioned steps 11, in the present embodiment, main control module can also pass through the communications sides such as CAN bus, LIN bus
The work state information of formula acquisition steering controller.
Step 15 determines whether steering controller fails according to the work state information of steering controller；
Similarly, similar with above-mentioned steps 12, in the present embodiment, main control module can be according to the working condition of steering controller
Information determines whether steering controller fails.
Step 16, when steering controller failure when, control compression controller replace steering controller work.
Herein it should be noted that point of the execution of above-mentioned steps 14~16 and above-mentioned steps 11~13 without sequencing,
Main control module can be with parallel processing step 14~16 and step 11~13；Step 11~13 can also be first carried out, then execute step
Rapid 14~16；Alternatively, first carrying out step 14~16, rear to execute step 11~13, the application is with no restriction.
As Fig. 2,3,6-1,6-2 it is any shown in control system structural schematic diagram, when main control module determines course changing control
When device fails, control signal can be sent to the control switch of power supply circuit, the second main switch, the second backup circuit breaker.That is, control
The control switch of compression controller is in closed state, the second backup circuit breaker is in closed state, controls the control of steering controller
System switch and the second main switch are in an off state, and realize that compression controller works instead of steering controller, it is ensured that drove a vehicle
The turning function of vehicle is normal in journey.
The control method flow chart of 1 another electric vehicle shown according to an exemplary embodiment referring to Fig.1, in Figure 10
On the basis of illustrated embodiment, step 16 may include：
Step 161, when steering controller failure when, the control switch for controlling compression controller is in closed state, and controls
Make the second backup circuit breaker is in closed state, the second main switch is in an off state；
As in Figure 6-1, when steering controller fails, main control module needs to first determine whether that the control of compression controller is opened
Close K6Working condition.Correspondingly, different according to the working condition of compression controller control switch, step 161 may include with
Lower two kinds of embodiments：
The first embodiment controls at the second backup circuit breaker if the control switch of compression controller is in closed state
It is in an off state in closed state, the second main switch；
Specifically, because being in normally open before the second backup circuit breaker, when steering controller failure, closure second is spare
Switch.If being in closed state before the second main switch, the second main switch is disconnected；If be in an off state, keep
Off-state.
That is, compression controller is in work shape if main control module is when detecting steering controller failure
State, i.e. air-conditioning are in the open state, control the second main switch K15~K17It disconnects, the second backup circuit breaker K18~K20Closure, makes to compress
Controller works instead of steering controller.
Second of embodiment controls the control of compression controller if the control switch of compression controller is in an off state
System is switched in closed state, the second backup circuit breaker is in closed state, the second main switch is in an off state；
That is, compression controller is in off working state if main control module is when detecting steering controller failure, i.e., it is empty
Tune is in close state, at this point, firstly the need of the control switch K of control compression controller6In closed state, that is, closure K6；
And control the K in the second backup circuit breaker18~K20The K in closed state, the second main switch15~K17Be in an off state.
The control switch of steering controller is converted to off-state by closed state by step 162；
Steering controller is successfully replaced in compression controller, after being electrically connected with steering pump motor, to avoid turning for failure
Secondary failure is caused to occur or waste electric energy to controller electric leakage, it is preferable that can also be further by the control of steering controller
Switch such as the K in Fig. 6-17It disconnects.
Step 163, triggering compression controller control turn to pump motor work.
In the embodiment of the present application, main control module is after determining that compression controller is electrically connected with steering pump motor, main control module
Triggering command can be sent to compression controller, triggering compression controller enters preset course changing control operating mode.In this Shen
Please be in another embodiment, main control module can also instruct according to the course changing control of default course changing control strategy generating and be sent to compression
Controller controls compression controller to pump motor is turned to according to course changing control instruction.
Herein it should be noted that in the embodiment shown in fig. 11, the execution movement of step 163 and step 162 is without successively
Point of sequence, can carry out, or first carry out step 162, then execute step 163 simultaneously；Or step 163 is first carried out, then hold
Row step 162.
The control method flow chart of 2 another electric vehicles shown according to an exemplary embodiment referring to Fig.1, in Figure 10
On the basis of illustrated embodiment, the above method can also include：
Step 17, in the case where brake monitor is working properly, if the failure of drive control device, control failure driving
The control switch of controller is in an off state.
Wherein, above-mentioned failure drive control device is revolver drive control device or right wheel drive control device.
As shown in Fig. 6-1 or 6-2, in the embodiment of the present application, if brake monitor is working properly, there is a driving control
Failure, such as the failure of right wheel drive control device has occurred in device processed, and as a preferred embodiment, main control module can control the right side
The control switch K of wheel drive controller4It is in an off state, to save the energy consumption of electric vehicle and avoid secondary disaster,
Improve vehicle driving safety.Further, in the embodiment of the present application, due to using Two-wheeled mode, wherein a mesh
Mark drive control device not as brake monitor spare controller in the case where, can also even if the failure of drive control device
With support vehicles normally travel, effective guarantee vehicle traffic safety improves the safety and reliability of electric vehicle.
For the various method embodiments described above, for simple description, therefore, it is stated as a series of action combinations, but
Be those skilled in the art should understand that, the application is not limited by the described action sequence because according to the application, certain
A little steps can use other sequences or carry out simultaneously.
Secondly, those skilled in the art should also know that, embodiment described in this description belongs to alternative embodiment,
Necessary to related actions and modules not necessarily the application.
Those skilled in the art will readily occur to its of the application after considering specification and practicing disclosure disclosed herein
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the application, these modifications, purposes or
Person's adaptive change follows the general principle of the application and including the undocumented common knowledge in the art of the application
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the application are by following
Claim is pointed out.
The foregoing is merely the preferred embodiments of the application, not to limit the application, all essences in the application
Within mind and principle, any modification, equivalent substitution, improvement and etc. done be should be included within the scope of the application protection.
Claims (15)
1. a kind of control system of electric vehicle, which is characterized in that including：Main control module, power supply circuit, control brake compressor work
The brake monitor of work, the revolver drive control device of the left wheel motor work of control, the right wheel of the right wheel motor work of control are driven
Movement controller；The main control module is separately connected with the power supply circuit, each controller；
Wherein, the first backup circuit breaker is connected between the output end of target drives controller and the input terminal of the brake compressor；
The target drives controller is the revolver drive control device or the right wheel drive control device；
The first main switch is connected between the output end of the target drives controller and corresponding wheel motor；
The output end of the brake monitor and first backup circuit breaker, are connected in parallel to the input terminal of the brake compressor；
When brake monitor failure, the main control module control first main switch be in an off state, described the
One backup circuit breaker is in closed state, realizes that the target drives controller works instead of the brake monitor.
2. system according to claim 1, which is characterized in that further include：Control the compression control of compressor of air conditioner work
Device, control turn to pump motor work steering controller, the main control module also with the compression controller, the course changing control
Device is separately connected；Wherein,
The second backup circuit breaker is connected between the output end of the compression controller and the input terminal for turning to pump motor；
The second main switch is connected between the output end of the compression controller and the input terminal of the compressor of air conditioner；
The output end of the steering controller and second backup circuit breaker are connected in parallel to the input for turning to pump motor
End；
When steering controller failure, the main control module control second main switch be in an off state, described the
Two backup circuit breakers are in closed state, realize that the compression controller works instead of the steering controller.
3. system according to claim 1, which is characterized in that one end of first backup circuit breaker connects the target and drives
The output end of movement controller；The other end is connected to the input terminal of the brake compressor.
4. system according to claim 2, which is characterized in that one end of second backup circuit breaker connects the compression control
The output end of device processed；The other end is connected to the input terminal for turning to pump motor.
5. system according to claim 1 or 2, which is characterized in that the power supply circuit includes：
The first master switch being connect with busbar voltage cathode output end and what is connect with busbar voltage cathode output end second always open
It closes；
The other end parallel connection of first master switch has the control switch of each controller；Each control switch it is another
One end is connected with the electrode input end of corresponding controller；
The other end of second master switch is connect with the negative input of each controller.
6. system according to claim 5, which is characterized in that the power supply circuit further includes：
The circuit protecting element being connected between the electrode input end of each controller and corresponding control switch.
7. system according to claim 1 or 2, which is characterized in that further include：Display module, for receiving the master control
The various fault messages and/or warning message of module transmission are simultaneously shown.
8. a kind of electric vehicle, which is characterized in that including：Any vehicle control system of claim 1~7 and be described
The power battery of vehicle control system offer electric energy.
9. a kind of control method of electric vehicle, which is characterized in that the electric vehicle includes：Main control module, power supply circuit, control
The brake monitor of brake compressor work processed, the revolver drive control device of the left wheel motor work of control, the right wheel motor of control
The right wheel drive control device of work；The main control module is separately connected with the power supply circuit, each controller, the method packet
It includes：
The main control module obtains the work state information of brake monitor；
Determine whether the brake monitor fails according to the work state information of the brake monitor；
When brake monitor failure, control target drives controller works instead of the brake monitor, wherein described
Target drives controller is the revolver drive control device or the right wheel drive control device.
10. according to the method described in claim 9, it is characterized in that, the electric vehicle further includes：Control compressor of air conditioner work
The compression controller of work, control turn to the steering controller of pump motor work, the main control module also with the compression controller,
The steering controller is separately connected；
The method also includes：
Obtain the work state information of steering controller；
Determine whether the steering controller fails according to the work state information of the steering controller；When the course changing control
When device fails, controls the compression controller and work instead of the steering controller.
11. method according to claim 9 or 10, which is characterized in that described to be believed according to the working condition of brake monitor
Breath determines whether the brake monitor fails, including：
When work state information instruction brake monitor breaks down, start recording failure duration；
The failure duration is compared with preset time threshold；
If the failure duration is more than the preset time threshold, determine that brake monitor fails.
12. method according to claim 9 or 10, which is characterized in that the method also includes：
When work state information instruction brake monitor breaks down, fault message is shown, and determining control for brake
Prompting message is exported in preset duration after device failure.
13. according to the method described in claim 9, it is characterized in that, the power supply circuit includes：With the revolver drive control
The control switch that the control switch that device is connected is connected with the right wheel drive control device is connected with the brake monitor
The control switch connect and the first main switch, the first backup circuit breaker, wherein first main switch is connected to the target and drives
Between movement controller and corresponding wheel motor；First backup circuit breaker is connected to the target drives controller and the system
It takes offence between pump；
It is described that when brake monitor failure, control target drives controller works instead of the brake monitor, including：
When brake monitor failure, controls first backup circuit breaker and be in closed state, at first main switch
In off-state；
The control switch for controlling the brake monitor is converted to off-state by closed state；
It triggers the target drives controller and controls the brake compressor work.
14. according to the method described in claim 10, it is characterized in that, the power supply circuit further includes：With the compression control
Control switch that the control switch that device is connected is connected with the steering controller and the second main switch, second spare open
It closes, second main switch is connected between the compression controller and the compressor of air conditioner；Second backup circuit breaker connects
It is connected between the compression controller and the steering pump motor；
It is described to control the compression controller when steering controller failure and work instead of the steering controller, including：
When steering controller failure, the control switch for controlling the compression controller is in closed state, and controls institute
State that the second backup circuit breaker is in closed state, second main switch is in an off state；
The control switch of the steering controller is converted into off-state by closed state；
It triggers the compression controller and controls the steering pump motor work.
15. method according to claim 9 or 10, which is characterized in that the method also includes：
In the case where the brake monitor is working properly, if a drive control device failure, control failure drive control device
Control switch be in an off state, the failure drive control device be the revolver drive control device or the right wheel driving control
Device processed.
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| CN201710331164.6A CN108860123A (en) | 2017-05-11 | 2017-05-11 | A kind of control system of electric vehicle, control method and electric vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710331164.6A CN108860123A (en) | 2017-05-11 | 2017-05-11 | A kind of control system of electric vehicle, control method and electric vehicle |
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