CN109113010A - Intelligent chassis and upper dress control system for pure electric vehicle commercial vehicle - Google Patents
Intelligent chassis and upper dress control system for pure electric vehicle commercial vehicle Download PDFInfo
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- CN109113010A CN109113010A CN201811083611.1A CN201811083611A CN109113010A CN 109113010 A CN109113010 A CN 109113010A CN 201811083611 A CN201811083611 A CN 201811083611A CN 109113010 A CN109113010 A CN 109113010A
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/08—Pneumatically dislodging or taking-up undesirable matter or small objects; Drying by heat only or by streams of gas; Cleaning by projecting abrasive particles
- E01H1/0827—Dislodging by suction; Mechanical dislodging-cleaning apparatus with independent or dependent exhaust, e.g. dislodging-sweeping machines with independent suction nozzles ; Mechanical loosening devices working under vacuum
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/10—Hydraulically loosening or dislodging undesirable matter; Raking or scraping apparatus ; Removing liquids or semi-liquids e.g., absorbing water, sliding-off mud
- E01H1/101—Hydraulic loosening or dislodging, combined or not with mechanical loosening or dislodging, e.g. road washing machines with brushes or wipers
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Abstract
The invention discloses a kind of intelligent chassis for pure electric vehicle commercial vehicle and upper dress control system, for driving operation large labor intensity existing for transport class or class of jobs pure electric vehicle commercial vehicle, intelligence degree is low and the big problem of energy loss, it proposes to be based on having ACC, intelligently auxiliary drives dress system and matched controller system in the intelligence with adaptive power conservation controlling feature of functional intellectualization chassis platform to AEB etc., the intelligence chassis and upper dress control system breach transport class or class of jobs pure electric vehicle commercial vehicle complex application context environment sensing, information fusion and intelligent control technology, pass through dress system relevant control rule in design, obtain the intelligent chassis for transporting class or class of jobs pure electric vehicle commercial vehicle and upper dress control system, the present invention has the advantages that intelligence degree is high, vehicle can be realized simultaneously Net connectionization, provide foundation for the intelligent driving of vehicle, and be able to achieve the minimum consumption of energy.
Description
Technical field
The invention belongs to pure electric vehicle commercial vehicle intelligent control technology fields, and in particular to the intelligence for pure electric vehicle commercial vehicle
Chassis and upper dress control system can be changed
Background technique
With the development of new-energy automobile, electric car intelligence is new-energy automobile technology important development direction.Existing rank
Section pure electric vehicle commercial vehicle as composed by transport class and class of jobs is manipulated, driving operation when carrying out operation by driver
Large labor intensity, intelligence degree are low, and the loss of vehicle energy in carrying out operation process is larger, how to solve existing pure electricity
The above problem existing for dynamic commercial vehicle, with extremely urgent.
Summary of the invention
It is an object of the invention to for driving operation labor intensity existing for transport class or class of jobs pure electric vehicle commercial vehicle
Greatly, the problem that intelligence degree is low and energy loss is big, provide a kind of intelligent chassis for pure electric vehicle commercial vehicle with
Control system is filled, in conjunction with Figure of description, technical scheme is as follows:
Intelligent chassis and upper dress control system for pure electric vehicle commercial vehicle, are merged and environment by Multiple Source Sensor information
Sensory perceptual system, ADAS controller, intelligent network controller, upper cartridge controller and electric chassis system composition；
The Multiple Source Sensor information fusion and context aware systems are by information acquisition module, information Fusion Module and letter
Detection module composition is ceased, the ambient condition information that the information acquisition module will acquire, which is sent in information Fusion Module, is melted
After conjunction, cleaned before being respectively sent to the corresponding information of acquisition to detection of obstacles module, operating condition identification module and road surface
Spend detection module；
The forward direction detection of obstacles module by with the relative distance of barrier, relative velocity and lateral deviation information input
Realize that intelligence auxiliary drives into ADAS controller；
Traffic route intersection information is input in intelligent network controller by the operating condition identification module realizes vehicle
The Collaborative Control of traveling and vehicle operation, and realize the optimum control of vehicle energy consumption.
The road surface cleannes detection module by the supreme cartridge controller of road surface cleannes information input of acquisition, it is described on
It include the adaptive job controller of multimode in cartridge controller；
The ADAS controller and upper cartridge controller are also sent control signals in intelligent network controller respectively, by intelligence
Each control signal is transmitted to electric chassis system by energy net controller；
The electric chassis system by power drive system, line control brake system, automatically controlled steering system, upper dress execution system and
Electrokinetic cell system composition；
Driving control signal is input to power drive system respectively by the intelligent network controller, and brake control signal is defeated
Enter to line control brake system, steering controling signal is input to automatically controlled steering system, upper dress control signal is input to upper dress and is held
Power consumption management signal is input to electrokinetic cell system by row system, and the electrokinetic cell system is respectively to power drive system, line traffic control
Braking system, automatically controlled steering system and upper dress execution system input power consumption control signal, are disappeared with realizing to each control system energy
The optimum control of consumption.
Further, the pure electric vehicle commercial vehicle is class of jobs pure electric vehicle commercial vehicle, the adaptive Operation control of multimode
Device is the adaptive job controller of class of jobs multimode, and the upper dress execution system is class of jobs job execution system, the multi-source
Sensor data fusion and context aware systems detection intelligent operation class pure electric vehicle commercial vehicle and road environment；
It include class of jobs given threshold module, class of jobs control calculation in the adaptive job controller of class of jobs multimode
Method module and class of jobs job execution controller；It wherein, include setting rubbish covering in the class of jobs given threshold module
Rate control threshold, setting dust controlling threshold value, setting filtered water tank alarm water level and setting foul water tank alarm water level；The class of jobs
Control algolithm module includes cleaning Self-adaptive strength algorithm and control dirt Self-adaptive strength algorithm；The class of jobs job execution control
Device includes rotation speed of fan controller, sweeping rotational speed governor, western entrance positioner, high-pressure hydraulic pump controller and diaphragm pump
Controller；
The class of jobs job execution system includes that blower executes system, sweeping executes system, inhales collection execution system, high pressure
Rinse execution system, Low-pressure spray execution system, filtered water tank alarm execution system and foul water tank alarm execution system.
The intelligent operation class pure electric vehicle commercial vehicle and road environment include practical rubbish coverage rate, practical fugitive dust journey
Degree, blower actual speed, sweeping actual speed, suction inlet physical location, high-pressure hydraulic pump virtual condition, diaphragm pump virtual condition,
Filtered water tank actual water level and foul water tank actual water level.
After the adaptive job controller of class of jobs multimode receives practical rubbish coverage rate, the control of rubbish coverage rate is set
Threshold value processed and practical rubbish coverage rate, which are input to clean, carries out analytical calculation in Self-adaptive strength algoritic module, output control letter
Number respectively to rotation speed of fan controller, sweeping rotational speed governor, suction inlet positioner and high-pressure hydraulic pump controller；
The blower rotating speed of target signal and blower actual speed signal of the rotation speed of fan controller output are input to simultaneously
Blower executes system, and blower executes system output rotation speed of fan signal function in intelligent operation class pure electric vehicle commercial vehicle and road
In environment and feed back blower actual speed signal；
The sweeping rotating speed of target signal and sweeping actual speed signal of the sweeping rotational speed governor output are input to simultaneously
Sweeping executes system, and sweeping executes system output sweeping tach signal and acts on intelligent operation class pure electric vehicle commercial vehicle and road
In environment and feed back sweeping actual speed signal；
The suction inlet target position signal and suction inlet actual position signal of the suction inlet positioner output are input to simultaneously
Collection execution system is inhaled, collection execution system output suction inlet position signal is inhaled and acts on intelligent operation class pure electric vehicle commercial vehicle and road
In environment and feed back suction inlet actual position signal；
The high-pressure hydraulic pump target instruction target word signal and high-pressure hydraulic pump virtual condition signal of the high-pressure hydraulic pump controller output are same
When be input to high pressure washing execute system, high pressure washing execute system output hydraulic signal act on intelligent operation class pure electric vehicle
In commercial vehicle and road environment and feed back high-pressure hydraulic pump virtual condition signal；
After the adaptive job controller of class of jobs multimode receives practical fugitive dust degree, setting dust controlling threshold value with
Practical fugitive dust degree is input in control dirt Self-adaptive strength algoritic module and carries out analytical calculation, outputs control signals to diaphragm pump
Controller, the diaphragm pump target instruction target word of diaphragm pump controller output and diaphragm pump virtual condition signal are input to low simultaneously
Pressure spray execution system, Low-pressure spray execute system output water spray signal function in intelligent operation class pure electric vehicle commercial vehicle
With in road environment and feedback diaphragm water pump virtual condition signal；
The filtered water tank that filtered water tank alarm water level and road environment are set in the adaptive job controller of class of jobs multimode is practical
Water level is input in filtered water tank alarm execution system, and filtered water tank alarms execution system output clear water water-level alarm signal function in intelligence
It can change in class of jobs pure electric vehicle commercial vehicle and road environment and feed back filtered water tank actual water level；
Foul water tank alarm water level is set in the adaptive job controller of class of jobs multimode to be input to foul water tank actual water level
Foul water tank is alarmed in execution system, and foul water tank alarm execution system output wastewater level alarm signal acts on intelligent operation class
Pure electric vehicle commercial vehicle and road environment simultaneously present foul water tank actual water level.
Further the, the pure electric vehicle commercial vehicle is transport class pure electric vehicle commercial vehicle, the adaptive Operation control of multimode
Device is the transport adaptive job controller of class multimode, and the upper dress execution system is transport class job execution system, the multi-source
Sensor data fusion and the intelligent transport class pure electric vehicle commercial vehicle of context aware systems detection and road environment；
Include transport class given threshold module, transport class control algolithm in the adaptive job controller of the transport class multimode
Module and transport class job execution controller；Wherein, in the transport class given threshold module include setting sewage quantity threshold value,
Set the second dustbin weight threshold of quantity of refuse threshold value, the first dustbin weight threshold of setting and setting；The transport class control
Algoritic module includes pail speed adaptive algorithm and compression number adaptive algorithm；The transport class job execution controller packet
Include pail inclining controller and garbage-compressing controller；
The transport class job execution system includes that blowdown alarm execution system, dustbin are completely alarmed execution system, first
Pail executing agency and the second pail executing agency；
The intelligent transport class pure electric vehicle commercial vehicle and road environment include actual sewage amount, practical quantity of refuse, reality
Dustbin weight, the number of falling bucket, pail topple over actual speed and garbage-compressing actual weight；
The actual sewage amount and setting sewage quantity threshold value that the transport adaptive job controller of class multimode will receive are same
When be input to blowdown alarm execution system, blowdown execute system output wastewater level signal function intelligence transport class pure electric vehicle
In commercial vehicle and road environment and feed back actual sewage amount；
The practical quantity of refuse and setting quantity of refuse threshold value that the transport adaptive job controller of class multimode will receive are same
When be input to dustbin and completely alarm execution system, dustbin completely alarms execution system output dustbin reserves signal function in intelligence
Change in transport class pure electric vehicle commercial vehicle and road environment and feeds back practical quantity of refuse；
The adaptive job controller of the transport class multimode will set the first dustbin weight threshold and practical dustbin weight
It measures while being input to pail speed adaptive algoritic module, pail speed adaptive algoritic module outputs signal to pail and topples over control
In device processed, the pail of pail inclining controller output topples over target velocity and pail topples over actual speed signal and inputs first simultaneously
Pail executing agency, the first pail executing agency output pail speed signal act on intelligent transport class pure electric vehicle commercial vehicle with
In road environment and feeds back pail and topple over actual speed signal；
The second dustbin weight threshold will be set in the adaptive job controller of the transport class multimode and the number of falling bucket is same
When be input to compression number adaptive algorithm module, compression number adaptive algorithm module output signal is to garbage-compressing controller
In, the garbage-compressing target weight and garbage-compressing actual weight signal of garbage-compressing controller output input the second pail simultaneously
Executing agency, the second pail executing agency export garbage weight signal function in intelligence transport class pure electric vehicle commercial vehicle and road
In environment and feed back garbage-compressing actual weight signal.
Compared with prior art, the beneficial effects of the present invention are:
1, the intelligent chassis of the present invention for pure electric vehicle commercial vehicle and upper dress control system have intelligent journey
High advantage is spent, while can realize the net connectionization of vehicle, provides foundation for the intelligent driving of vehicle.
2, the upper dress in the intelligent chassis of the present invention for pure electric vehicle commercial vehicle and upper dress control system controls
Device can effectively realize the function of dress system, and combine vehicle correlation intelligent functions, compared to transport class or work at this stage
Industry class pure electric vehicle commercial vehicle can realize the minimum consumption of energy.
Detailed description of the invention
Fig. 1 is the overall structure on the intelligent chassis of the present invention for pure electric vehicle commercial vehicle and upper dress control system
Block diagram；
Fig. 2 is class of jobs in the intelligent chassis of the present invention for pure electric vehicle commercial vehicle and upper dress control system
The structural block diagram of the adaptive job controller of multimode and class of jobs job execution system；
Fig. 3 is to transport class in the intelligent chassis of the present invention for pure electric vehicle commercial vehicle and upper dress control system
The structural block diagram of the adaptive job controller of multimode and transport class job execution system.
Specific embodiment
For the technical solution that the present invention is further explained, in conjunction with Figure of description, a specific embodiment of the invention is as follows:
As shown in Figure 1, the invention discloses for pure electric vehicle commercial vehicle intelligent chassis and upper dress control system, it is described
Control system is made of five parts, is respectively as follows: the fusion of Multiple Source Sensor information and context aware systems, ADAS controller, intelligence
It can net controller, upper cartridge controller and electric chassis system.
The Multiple Source Sensor information fusion and context aware systems are by information acquisition module, information Fusion Module and letter
Detection module composition is ceased, in the information acquisition module, passes through a millimetre-wave radar, two monocular-cameras and one
Car networking module realizes the perception to ambient condition information, and the ambient condition information that will acquire is sent to information Fusion Module,
After ambient condition information is merged in information Fusion Module, will obtain before to obstacle information, operating condition information and
Road surface cleannes information is sent in information monitoring module, in the information detecting module by forward direction detection of obstacles module, fortune
Row industry and mining city module and road surface cleannes detection module composition, wherein forward direction detection of obstacles module to it is preceding to barrier into
Row detection, and obtain relative distance, relative velocity and the lateral deviation information with barrier；Operating condition recognizes module to operation
Operating condition is recognized, and obtains traffic route intersection information；Road surface cleannes detection module road pavement cleannes are detected, and
Obtain road surface cleannes information, the i.e. dirty amount information in road surface.
The forward direction detection of obstacles module believes relative distance, relative velocity and the lateral deviation with barrier of acquisition
Breath is input in ADAS controller；It include anti-collision warning (FCW) module, lane departure warning in the ADAS controller
(LDW) module, adaptive cruise (ACC) module, automatic emergency brake (AEB) module and lane keep (LKA) module, described
ADAS controller is used for anti-collision warning (FCW), lane departure warning (LDW), adaptive cruise (ACC), automatic emergency brake
(AEB) and lane keeps the related intelligent realization for assisting the functions such as driving or semi-automatic driving such as (LKA).
The traffic route intersection information of acquisition is input in intelligent network controller by the operating condition identification module；Institute
Stating in intelligent network controller includes to travel operation collaborative planning algoritic module and Multifunctional electric energy management optimization algorithm module,
Wherein, the operation collaborative planning algoritic module that travels is described more for realizing the Collaborative Control of vehicle driving and vehicle operation
The optimum control that electricity consumption energy management optimization algorithm module consumes for realizing vehicle energy.
The road surface cleannes detection module by the supreme cartridge controller of road surface cleannes information input of acquisition, it is described on
It include the adaptive job controller of multimode in cartridge controller.
As described above, Multiple Source Sensor information fusion and context aware systems will test signal be transferred to respectively it is corresponding
ADAS controller, after intelligent network controller and upper cartridge controller, ADAS controller and upper cartridge controller also respectively will controls
Signal processed is sent in intelligent network controller, and each control signal is transmitted to electric chassis system by intelligent network controller.
It include power drive system, line control brake system, automatically controlled steering system, upper dress execution system and dynamic in the electric chassis system
Power battery system.Driving control signal is input to power drive system by the intelligent network controller, and brake control signal is defeated
Enter to line control brake system, steering controling signal is input to automatically controlled steering system, upper dress control signal is input to upper dress and is held
Power consumption management signal is input to electrokinetic cell system by row system.In the electric chassis system, the electrokinetic cell system
Power consumption control signal is inputted to power drive system, line control brake system, automatically controlled steering system and upper dress execution system respectively, with reality
Now to the optimum control of each control system energy consumption.
Based on the above-mentioned intelligent chassis for pure electric vehicle commercial vehicle and upper dress control system, to more in upper cartridge controller
The implementation procedure that upper dress in the control rule and electric chassis system of the adaptive job controller of mould executes system is done further
Design, the present invention provides " intelligent chassis and upper dress control system for class of jobs pure electric vehicle commercial vehicle " and " for transporting
The intelligent chassis of defeated class pure electric vehicle commercial vehicle and upper dress control system ".
As shown in Fig. 2, intelligent chassis and upper dress control system for class of jobs pure electric vehicle commercial vehicle, wherein described
The adaptive job controller of multimode in upper cartridge controller is the adaptive job controller of class of jobs multimode, the electric chassis system
It is class of jobs job execution system that upper dress in system, which executes system, and the Multiple Source Sensor information fusion is examined with context aware systems
What is measured is intelligent operation class pure electric vehicle commercial vehicle and road environment.
It include class of jobs given threshold module, class of jobs control algolithm in the adaptive job controller of class of jobs multimode
Module and class of jobs job execution controller；It wherein, include setting rubbish coverage rate in the class of jobs given threshold module
Control threshold, setting dust controlling threshold value, setting filtered water tank alarm water level and setting foul water tank alarm water level；The class of jobs control
Algoritic module processed includes cleaning Self-adaptive strength algorithm and control dirt Self-adaptive strength algorithm；The class of jobs job execution controller
Including rotation speed of fan controller, sweeping rotational speed governor, western entrance positioner, high-pressure hydraulic pump controller and diaphragm pump control
Device processed.
The class of jobs job execution system includes that blower executes system, sweeping executes system, inhales collection execution system, high pressure
Rinse execution system, Low-pressure spray execution system, filtered water tank alarm execution system and foul water tank alarm execution system.
The intelligent operation class pure electric vehicle commercial vehicle and road environment include practical rubbish coverage rate, practical fugitive dust journey
Degree, blower actual speed, sweeping actual speed, suction inlet physical location, high-pressure hydraulic pump virtual condition, diaphragm pump virtual condition,
Filtered water tank actual water level and foul water tank actual water level.
First, rubbish coverage rate control threshold is set in the adaptive job controller of class of jobs multimode, when class of jobs is more
The road environment that the adaptive job controller of mould receives intelligent operation class pure electric vehicle commercial vehicle and road environment is fed back
Practical rubbish coverage rate after, setting rubbish coverage rate control threshold and practical two signal of rubbish coverage rate be input to cleaning intensity
In adaptive algorithm module, in cleaning Self-adaptive strength algoritic module, by setting rubbish coverage rate control threshold and reality
The analytical calculation of two signal of border rubbish coverage rate, then output controls the signal wind into class of jobs job execution controller respectively
Machine rotational speed governor, sweeping rotational speed governor, suction inlet positioner and high-pressure hydraulic pump controller；
The blower rotating speed of target signal and intelligent operation class pure electric vehicle commercial vehicle and road of rotation speed of fan controller output
The blower actual speed signal that environmental feedback is returned is input to blower simultaneously and executes system, and the blower executes system according to blower
Rotating speed of target signal and two input signal of blower actual speed signal export rotation speed of fan signal, and finally by rotation speed of fan signal
Output action is in intelligent operation class pure electric vehicle commercial vehicle and road environment, intelligent operation class pure electric vehicle commercial vehicle and road
Environmental feedback blower actual speed signal；
The sweeping rotating speed of target signal and intelligent operation class pure electric vehicle commercial vehicle and road of sweeping rotational speed governor output
The sweeping actual speed signal that environmental feedback is returned is input to sweeping simultaneously and executes system, and the sweeping executes system according to sweeping
Rotating speed of target signal and two input signal of sweeping actual speed signal export sweeping tach signal, and finally by sweeping tach signal
Output action is in intelligent operation class pure electric vehicle commercial vehicle and road environment, intelligent operation class pure electric vehicle commercial vehicle and road
Environmental feedback sweeping actual speed signal；
The suction inlet target position signal and intelligent operation class pure electric vehicle commercial vehicle and road of suction inlet positioner output
The suction inlet actual position signal that environmental feedback is returned is input to suction collection execution system simultaneously, inhales collection execution system according to suction inlet target
Position signal and two input signal of suction inlet actual position signal export suction inlet position signal, and finally export suction inlet position signal
It acts in intelligent operation class pure electric vehicle commercial vehicle and road environment, intelligent operation class pure electric vehicle commercial vehicle and road environment
Feed back suction inlet actual position signal；
High-pressure hydraulic pump controller output high-pressure hydraulic pump target instruction target word signal and intelligent operation class pure electric vehicle commercial vehicle with
It high-pressure hydraulic pump virtual condition signal that road environment is fed back while being input to high pressure washing and executes system, high pressure washing executes
System exports hydraulic signal according to high-pressure hydraulic pump target instruction target word signal and two input signal of high-pressure hydraulic pump virtual condition signal, and most
Hydraulic signal output action is in intelligent operation class pure electric vehicle commercial vehicle and road environment at last, intelligent operation class pure electric vehicle
Commercial vehicle and road environment feed back high-pressure hydraulic pump virtual condition signal.
Second, dust controlling threshold value is set in the adaptive job controller of class of jobs multimode, when class of jobs multimode is adaptive
It answers job controller to receive intelligent operation class pure electric vehicle commercial vehicle and feeds back actually raising for road environment with road environment
After dirt degree, setting dust controlling threshold value and practical fugitive dust degree are input in control dirt Self-adaptive strength algoritic module, in control dirt
In Self-adaptive strength algoritic module, by the analytical calculation to setting dust controlling threshold value and practical two signal of fugitive dust degree, so
Output control signals to the diaphragm pump controller in class of jobs job execution controller afterwards, the output of diaphragm pump controller every
The diaphragm pump virtual condition that film water pump target instruction target word and intelligent operation class pure electric vehicle commercial vehicle and road environment are fed back
Signal is input to simultaneously in Low-pressure spray execution system, and Low-pressure spray executes system according to diaphragm pump target instruction target word and diaphragm water
It pumps two input signal of virtual condition signal and exports water spray signal, and finally by water spray signal output action in intelligence
In class of jobs pure electric vehicle commercial vehicle and road environment, intelligent operation class pure electric vehicle commercial vehicle and road environment feedback diaphragm water pump
Virtual condition signal.
Third, setting filtered water tank alarm water level in the adaptive job controller of class of jobs multimode, filtered water tank report will be set
Alert water level and intelligent operation class pure electric vehicle commercial vehicle and the filtered water tank actual water level that road environment feeds back road environment are defeated
Enter into filtered water tank alarm execution system, filtered water tank alarms execution system according to setting filtered water tank alarm water level and filtered water tank reality
Two input signal of water level exports clear water water-level alarm signal, and is finally turned into clear water water-level alarm signal output action intelligently
In industry class pure electric vehicle commercial vehicle and road environment, intelligent operation class pure electric vehicle commercial vehicle and road environment feedback filtered water tank are practical
Water level.
Fourth, setting foul water tank alarm water level in the adaptive job controller of class of jobs multimode, foul water tank report will be set
Alert water level and intelligent operation class pure electric vehicle commercial vehicle and the foul water tank actual water level that road environment feeds back road environment are defeated
Enter into foul water tank alarm execution system, foul water tank alarms execution system according to setting foul water tank alarm water level and foul water tank reality
Two input signal of water level exports wastewater level alarm signal, and is finally turned into wastewater level alarm signal output action intelligently
In industry class pure electric vehicle commercial vehicle and road environment, intelligent operation class pure electric vehicle commercial vehicle and road environment feedback foul water tank are practical
Water level.
As shown in figure 3, intelligent chassis and upper dress control system for transporting class pure electric vehicle commercial vehicle, wherein described
The adaptive job controller of multimode in upper cartridge controller is the transport adaptive job controller of class multimode, the electric chassis system
It is transport class job execution system that upper dress in system, which executes system, and the Multiple Source Sensor information fusion is examined with context aware systems
What is measured is intelligent transport class pure electric vehicle commercial vehicle and road environment.
Include transport class given threshold module, transport class control algolithm in the adaptive job controller of the transport class multimode
Module and transport class job execution controller；Wherein, in the transport class given threshold module include setting sewage quantity threshold value,
Set the second dustbin weight threshold of quantity of refuse threshold value, the first dustbin weight threshold of setting and setting；The transport class control
Algoritic module includes pail speed adaptive algorithm and compression number adaptive algorithm；The transport class job execution controller packet
Include pail inclining controller and garbage-compressing controller.
The transport class job execution system includes that blowdown alarm execution system, dustbin are completely alarmed execution system, first
Pail executing agency and the second pail executing agency.
The intelligent transport class pure electric vehicle commercial vehicle and road environment include actual sewage amount, practical quantity of refuse, reality
Dustbin weight, the number of falling bucket, pail topple over actual speed and garbage-compressing actual weight.
First, sewage quantity threshold value is set in the transport adaptive job controller of class multimode, when transport class multimode is adaptive
Job controller receives the practical dirt for the road environment that intelligent transport class pure electric vehicle commercial vehicle is fed back with road environment
After water, setting sewage quantity threshold value and actual sewage amount be input to simultaneously blowdown alarm execution system, blowdown execute system according to
It sets sewage quantity threshold value and two input signal of actual sewage amount exports wastewater level signal, and finally export wastewater level signal
It acts in intelligent transport class pure electric vehicle commercial vehicle and road environment, intelligence transport class pure electric vehicle commercial vehicle and road environment
Feed back actual sewage amount；
Second, quantity of refuse threshold value is set in the transport adaptive job controller of class multimode, when transport class multimode is adaptive
Job controller receives intelligent transport class pure electric vehicle commercial vehicle and road environment feeds back the practical rubbish of road environment
After amount, setting quantity of refuse threshold value and practical quantity of refuse are input to dustbin simultaneously and completely alarm execution system, and dustbin is completely alarmed and held
Row system exports dustbin reserves signal according to setting quantity of refuse threshold value and practical two input signal of quantity of refuse, and finally by rubbish
Case reserves signal output action is in intelligence transport class pure electric vehicle commercial vehicle and road environment, intelligence transport class pure electric vehicle quotient
Practical quantity of refuse is fed back with vehicle and road environment.
Third, setting the first dustbin weight threshold in the transport adaptive job controller of class multimode, the first rubbish is set
Rubbish bucket weight threshold and intelligent transport class pure electric vehicle commercial vehicle and road environment feed back the practical dustbin of road environment
Weight is input to pail speed adaptive algoritic module simultaneously, and pail speed adaptive algoritic module, which outputs signal to pail, topples over
In controller, the pail of pail inclining controller output topples over target velocity and pail topples over actual speed signal and inputs the simultaneously
One pail executing agency, the first pail executing agency export pail speed signal, and finally by pail speed signal output action
In intelligence transport class pure electric vehicle commercial vehicle and road environment, intelligence transport class pure electric vehicle commercial vehicle and road environment are fed back
Pail topples over actual speed signal；
Fourth, setting the second dustbin weight threshold in the transport adaptive job controller of class multimode, the second rubbish is set
Rubbish bucket weight threshold and intelligent transport class pure electric vehicle commercial vehicle and the number of falling bucket that road environment feeds back road environment are same
When be input to compression number adaptive algorithm module, compression number adaptive algorithm module output signal is to garbage-compressing controller
In, the garbage-compressing target weight and garbage-compressing actual weight signal of garbage-compressing controller output input the second pail simultaneously
Executing agency, the second pail executing agency export garbage weight signal, and finally by garbage weight signal output action in intelligence
Change in transport class pure electric vehicle commercial vehicle and road environment, intelligence transport class pure electric vehicle commercial vehicle and road environment feed back rubbish pressure
Contracting actual weight signal.
Claims (3)
1. intelligent chassis and upper dress control system for pure electric vehicle commercial vehicle, it is characterised in that:
By Multiple Source Sensor information fusion with context aware systems, ADAS controller, intelligent network controller, upper cartridge controller with
And electric chassis system composition；
The Multiple Source Sensor information fusion and context aware systems are examined by information acquisition module, information Fusion Module and information
Module composition is surveyed, the ambient condition information that the information acquisition module will acquire is sent in information Fusion Module and is merged
Afterwards, to detection of obstacles module, operating condition identification module and road surface cleannes before the corresponding information of acquisition being sent to respectively
Detection module；
The forward direction detection of obstacles module by with the relative distance of barrier, relative velocity and lateral deviation information input extremely
Realize that intelligence auxiliary drives in ADAS controller；
Traffic route intersection information is input in intelligent network controller by the operating condition identification module realizes vehicle driving
With the Collaborative Control of vehicle operation, and the optimum control of realization vehicle energy consumption.
The road surface cleannes detection module by the supreme cartridge controller of road surface cleannes information input of acquisition, control by the upper dress
It include the adaptive job controller of multimode in device processed；
The ADAS controller and upper cartridge controller are also sent control signals in intelligent network controller respectively, by intelligent network
Each control signal is transmitted to electric chassis system by controller；
The electric chassis system is by power drive system, line control brake system, automatically controlled steering system, upper dress execution system and power
Battery system composition；
Driving control signal is input to power drive system respectively by the intelligent network controller, and brake control signal is input to
Steering controling signal is input to automatically controlled steering system by line control brake system, and upper dress control signal is input to upper dress and executes system
System, is input to electrokinetic cell system for power consumption management signal, the electrokinetic cell system is respectively to power drive system, brake-by-wire
System, automatically controlled steering system and upper dress execution system input power consumption control signal, to realize to each control system energy consumption
Optimum control.
2. as described in claim 1 for the intelligent chassis of pure electric vehicle commercial vehicle and upper dress control system, it is characterised in that:
The pure electric vehicle commercial vehicle is class of jobs pure electric vehicle commercial vehicle, and the adaptive job controller of multimode is class of jobs multimode
Adaptive job controller, the upper dress execution system are class of jobs job execution system, the Multiple Source Sensor information fusion
Intelligent operation class pure electric vehicle commercial vehicle and road environment are detected with context aware systems；
It include class of jobs given threshold module, class of jobs control algolithm mould in the adaptive job controller of class of jobs multimode
Block and class of jobs job execution controller；It wherein, include setting rubbish coverage rate control in the class of jobs given threshold module
Threshold value, setting dust controlling threshold value, setting filtered water tank alarm water level and setting foul water tank alarm water level processed；The class of jobs control
Algoritic module includes cleaning Self-adaptive strength algorithm and control dirt Self-adaptive strength algorithm；The class of jobs job execution controller packet
Include rotation speed of fan controller, sweeping rotational speed governor, western entrance positioner, high-pressure hydraulic pump controller and diaphragm pump control
Device；
The class of jobs job execution system includes that blower executes system, sweeping executes system, inhales collection execution system, high pressure washing
Execution system, Low-pressure spray execute system, filtered water tank alarm execution system and foul water tank alarm execution system.
The intelligent operation class pure electric vehicle commercial vehicle and road environment include practical rubbish coverage rate, practical fugitive dust degree, wind
Machine actual speed, sweeping actual speed, suction inlet physical location, high-pressure hydraulic pump virtual condition, diaphragm pump virtual condition, filtered water tank
Actual water level and foul water tank actual water level.
After the adaptive job controller of class of jobs multimode receives practical rubbish coverage rate, setting rubbish coverage rate controls threshold
Value and practical rubbish coverage rate, which are input to clean, carries out analytical calculation in Self-adaptive strength algoritic module, output control signal point
Not to rotation speed of fan controller, sweeping rotational speed governor, suction inlet positioner and high-pressure hydraulic pump controller；
The blower rotating speed of target signal and blower actual speed signal of the rotation speed of fan controller output are input to blower simultaneously
Execution system, blower execute system output rotation speed of fan signal function in intelligent operation class pure electric vehicle commercial vehicle and road environment
In and feed back blower actual speed signal；
The sweeping rotating speed of target signal and sweeping actual speed signal of the sweeping rotational speed governor output are input to sweeping simultaneously
Execution system, sweeping execute system output sweeping tach signal and act on intelligent operation class pure electric vehicle commercial vehicle and road environment
In and feed back sweeping actual speed signal；
The suction inlet target position signal and suction inlet actual position signal of the suction inlet positioner output are input to suction collection simultaneously
Execution system inhales collection execution system output suction inlet position signal and acts on intelligent operation class pure electric vehicle commercial vehicle and road environment
In and feed back suction inlet actual position signal；
The high-pressure hydraulic pump target instruction target word signal and high-pressure hydraulic pump virtual condition signal of the high-pressure hydraulic pump controller output are defeated simultaneously
Enter to high pressure washing and execute system, high pressure washing executes system output hydraulic signal and acts on the pure electric vehicle commercialization of intelligent operation class
In vehicle and road environment and feed back high-pressure hydraulic pump virtual condition signal；
After the adaptive job controller of class of jobs multimode receives practical fugitive dust degree, dust controlling threshold value and reality are set
Fugitive dust degree is input in control dirt Self-adaptive strength algoritic module and carries out analytical calculation, outputs control signals to diaphragm pump control
Device, the diaphragm pump target instruction target word of diaphragm pump controller output and diaphragm pump virtual condition signal are input to low pressure spray simultaneously
Execution system is drenched, Low-pressure spray executes system output water spray signal function in intelligent operation class pure electric vehicle commercial vehicle and road
In the environment of road and feedback diaphragm water pump virtual condition signal；
The filtered water tank actual water level of filtered water tank alarm water level and road environment is set in the adaptive job controller of class of jobs multimode
It is input in filtered water tank alarm execution system, filtered water tank alarms execution system output clear water water-level alarm signal function in intelligence
In class of jobs pure electric vehicle commercial vehicle and road environment and feed back filtered water tank actual water level；
Foul water tank alarm water level is set in the adaptive job controller of class of jobs multimode and foul water tank actual water level is input to sewage
Case is alarmed in execution system, and foul water tank alarm execution system output wastewater level alarm signal acts on the pure electricity of intelligent operation class
Dynamic commercial vehicle and road environment simultaneously present foul water tank actual water level.
3. as described in claim 1 for the intelligent chassis of pure electric vehicle commercial vehicle and upper dress control system, it is characterised in that:
The pure electric vehicle commercial vehicle is transport class pure electric vehicle commercial vehicle, and the adaptive job controller of multimode is transport class multimode
Adaptive job controller, the upper dress execution system are transport class job execution system, the Multiple Source Sensor information fusion
Intelligent transport class pure electric vehicle commercial vehicle and road environment are detected with context aware systems；
Include transport class given threshold module, transport class control algolithm module in the adaptive job controller of the transport class multimode
And transport class job execution controller；It wherein, include setting sewage quantity threshold value, setting in the transport class given threshold module
The second dustbin weight threshold of quantity of refuse threshold value, the first dustbin weight threshold of setting and setting；The transport class control algolithm
Module includes pail speed adaptive algorithm and compression number adaptive algorithm；The transport class job execution controller includes mentioning
Bucket inclining controller and garbage-compressing controller；
The transport class job execution system includes that blowdown alarm execution system, dustbin are completely alarmed execution system, the first pail
Executing agency and the second pail executing agency；
The intelligent transport class pure electric vehicle commercial vehicle and road environment include actual sewage amount, practical quantity of refuse, practical rubbish
Bucket weight, the number of falling bucket, pail topple over actual speed and garbage-compressing actual weight；
The actual sewage amount and setting sewage quantity threshold value that the transport adaptive job controller of class multimode will receive are defeated simultaneously
Enter to blowdown alarm execution system, blowdown executes system output wastewater level signal function in intelligence transport class pure electric vehicle commercialization
In vehicle and road environment and feed back actual sewage amount；
The practical quantity of refuse and setting quantity of refuse threshold value that the transport adaptive job controller of class multimode will receive are defeated simultaneously
Enter to dustbin and completely alarm execution system, dustbin execution system output dustbin reserves signal function of completely alarming is transported in intelligence
In defeated class pure electric vehicle commercial vehicle and road environment and feed back practical quantity of refuse；
The adaptive job controller of the transport class multimode will set the first dustbin weight threshold and practical dustbin weight is same
When be input to pail speed adaptive algoritic module, pail speed adaptive algoritic module outputs signal to pail inclining controller
In, the pail of pail inclining controller output topples over target velocity and pail topples over actual speed signal and inputs the first pail simultaneously
Executing agency, the first pail executing agency output pail speed signal act on intelligent transport class pure electric vehicle commercial vehicle and road
In environment and feeds back pail and topple over actual speed signal；
The second dustbin weight threshold will be set in the adaptive job controller of the transport class multimode and the number of falling bucket is defeated simultaneously
Enter to compression number adaptive algorithm module, compress number adaptive algorithm module output signal into garbage-compressing controller,
The garbage-compressing target weight of garbage-compressing controller output inputs the second pail with garbage-compressing actual weight signal simultaneously and holds
Row mechanism, the second pail executing agency export garbage weight signal function in intelligence transport class pure electric vehicle commercial vehicle and road ring
In border and feed back garbage-compressing actual weight signal.
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| CN110205965A (en) * | 2019-07-12 | 2019-09-06 | 张兴海 | Environmental sanitation cleaning equipment and its control method |
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