CN110962779A

CN110962779A - Power supply system of automobile and automobile

Info

Publication number: CN110962779A
Application number: CN201911148442.XA
Authority: CN
Inventors: 赵政鑫
Original assignee: Uisee Technologies Beijing Co Ltd
Current assignee: Uisee Technologies Beijing Co Ltd
Priority date: 2019-11-21
Filing date: 2019-11-21
Publication date: 2020-04-07

Abstract

The embodiment of the present disclosure relates to a power supply system of an automobile and the automobile, wherein the power supply system of the automobile comprises: the vehicle-mounted power supply equipment is used for supplying power to the whole vehicle controller in a normal working state and when preset conditions are met, and supplying power to the intelligent driving controller in the normal working state; the isolation circuit is used for cutting off a power supply line between the vehicle-mounted power supply equipment and the intelligent driving controller when a preset condition is reached; the energy storage device is used for supplying power to the intelligent driving controller after the power supply line is cut off. In the embodiment of the disclosure, the driving safety of the automobile is improved.

Description

Power supply system of automobile and automobile

Technical Field

The embodiment of the disclosure relates to the technical field of automobiles, in particular to a power supply system of an automobile and the automobile.

Background

The vehicle-mounted power supply equipment provides electric energy for the intelligent driving controller and the vehicle controller when the vehicle is in a normal driving state so as to ensure normal driving of the vehicle.

However, other electronic devices in the automobile are inevitably abnormal during operation, and the abnormality of the electronic devices may cause the abnormality of the power supply signal output by the vehicle-mounted power supply device to the vehicle controller and the power supply signal output by the intelligent driving controller, so that the intelligent driving controller cannot normally operate, the automobile cannot normally run, and the driving safety of the automobile is affected.

The above description of the discovery process of the problems is only for the purpose of assisting understanding of the technical solutions of the present invention, and does not represent an admission that the above is prior art.

Disclosure of Invention

In order to solve at least one problem in the prior art, at least one embodiment of the invention provides a power supply system of an automobile and the automobile, so that the driving safety of the automobile is improved.

In a first aspect, an embodiment of the present disclosure provides a power supply system for an automobile, including a vehicle-mounted power supply device, configured to supply power to a vehicle controller in a normal operating state and when a preset condition is reached, and supply power to an intelligent driving controller in the normal operating state; the isolation circuit is used for cutting off a power supply line between the vehicle-mounted power supply equipment and the intelligent driving controller when a preset condition is reached; and the energy storage device is used for supplying power to the intelligent driving controller after the power supply line is cut off.

In a second aspect, an embodiment of the present disclosure provides an automobile, which includes an intelligent driving controller, a vehicle controller, and the power supply system of the automobile according to the first aspect.

It can be seen that, in at least one embodiment of the present disclosure, in a normal operating state, the vehicle-mounted power supply device can provide electric energy to the intelligent driving controller and the vehicle control unit to ensure that the intelligent driving controller and the vehicle control unit operate normally, the isolation circuit can cut off a power supply line between the vehicle-mounted power supply device and the intelligent driving controller when a preset condition is met, for example, a power supply line between the vehicle-mounted power supply device and the intelligent driving controller is cut off when a power supply signal of the vehicle-mounted power supply device is abnormal, the vehicle-mounted power supply device does not supply power to the intelligent driving controller any more, thereby preventing the abnormal power supply signal output by the vehicle-mounted power supply device from affecting the operating state of the intelligent driving controller, causing abnormal driving and the problem that driving safety cannot be guaranteed, the energy storage device can supply power to the intelligent driving controller after the power supply line is cut off, and the vehicle-mounted power supply device cannot Under, the energy storage equipment can continue to stably supply power to the intelligent driving controller, normal operation of the intelligent driving controller is ensured, and power supply of the vehicle-mounted power supply equipment to the vehicle control unit is not influenced when the preset condition is reached, namely the intelligent driving controller and the vehicle control unit can still normally cooperate to operate when the preset condition is reached, driving safety of the vehicle is improved, power is supplied to the intelligent driving controller by the energy storage equipment when the preset condition is reached, power is supplied to the vehicle control unit by the vehicle-mounted power supply equipment, further, the load to be supplied with power of the vehicle-mounted power supply equipment is reduced, the power supply effect of the vehicle-mounted power supply equipment to the vehicle control unit is optimized, and driving safety of the vehicle is further improved.

Drawings

To more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.

Fig. 1 is an overall architecture diagram of an intelligent driving automobile provided in an embodiment of the present disclosure;

fig. 2 is a block diagram of a power supply system of an automobile according to an embodiment of the present disclosure;

fig. 3 is a block diagram of an isolation circuit provided by an embodiment of the present disclosure;

FIG. 4 is a block diagram of an intelligent driving controller provided by an embodiment of the present disclosure;

fig. 5 is a block diagram of a power supply module according to an embodiment of the present disclosure.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and examples. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. The specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention, are within the scope of the invention.

It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

Aiming at the problems that the abnormality of other electronic devices in the prior art can cause the abnormal power supply signal output by the vehicle-mounted power supply equipment to the intelligent driving controller, so that the intelligent driving controller cannot work normally, and further the vehicle cannot run normally, and the driving safety of the vehicle is influenced, the disclosed embodiment provides a scheme that the power supply circuit between the vehicle-mounted power supply equipment and the intelligent driving controller is cut off by using an isolation circuit when a preset condition is reached, and the power is supplied to the intelligent driving controller by using the energy storage equipment after the power supply circuit is cut off, so that the power supply circuit between the vehicle-mounted power supply equipment and the intelligent driving controller is cut off when the power supply signal output by the vehicle-mounted power supply equipment is abnormal, the problems that the working state of the intelligent driving controller is influenced by the abnormal power supply signal output by the vehicle-mounted power supply equipment, the driving is abnormal, and the, and under the condition that the vehicle-mounted power supply equipment can not supply power to the intelligent driving controller, the energy storage equipment can continue to stably supply power to the intelligent driving controller, and the vehicle-mounted power supply equipment is not influenced to supply power to the whole vehicle controller when the preset condition is reached, the intelligent driving controller and the whole vehicle controller can still normally cooperate to operate, the driving safety of the vehicle is improved, the energy storage equipment supplies power to the intelligent driving controller when the preset condition is reached, and the vehicle-mounted power supply equipment supplies power to the whole vehicle controller, so that the load to be supplied with power of the vehicle-mounted power supply equipment is reduced, the power supply effect of the vehicle-mounted power supply equipment to the whole vehicle controller is optimized, and the driving safety effect of the vehicle is further improved.

The scheme that the isolating circuit is used for cutting off the power supply circuit between the vehicle-mounted power supply equipment and the intelligent driving controller when the isolating circuit reaches the preset condition and the energy storage equipment supplies power to the intelligent driving controller after the power supply circuit is cut off can be applied to the intelligent driving automobile.

Fig. 1 is an overall architecture diagram of an intelligent driving automobile provided in an embodiment of the present disclosure. As shown in fig. 1, the smart driving car includes: sensor groups, smart steering controller 110, floor actuators 120, power supply system 130, vehicle control unit 140, and other components that may be used to propel a vehicle and control the operation of a vehicle.

And the sensor group is used for acquiring data of the external environment of the automobile and detecting position data of the automobile. The sensor group includes, for example, but not limited to, at least one of a camera, a laser radar, a millimeter wave radar, a GPS (Global Positioning System), and an IMU (Inertial Measurement Unit).

In some embodiments, the sensor group is further used for collecting dynamic data of the vehicle, and the sensor group further includes, for example and without limitation, at least one of a wheel speed sensor, a speed sensor, an acceleration sensor, a steering wheel angle sensor, and a front wheel angle sensor.

And the intelligent driving controller 110 is used for acquiring data of the sensor group, and all sensors in the sensor group transmit data at a high frequency in the driving process of the intelligent driving automobile.

The intelligent driving controller 110 is further configured to perform environment sensing and vehicle positioning based on the data of the sensor group, perform path planning and decision making based on the environment sensing information and the vehicle positioning information, and generate a vehicle control instruction based on the planned path, so as to control the vehicle to travel according to the planned path.

And the bottom layer actuator 120 is configured to receive an automobile control instruction sent by the intelligent driving controller 110, and generate a corresponding driving signal based on the control instruction, so as to control the driving of the automobile. The bottom layer actuator 120 may include, but is not limited to, at least one of an electronic power steering, an electronic parking brake, or an electronic driver, where the electronic power steering sends a corresponding steering driving signal to control a steering angle of a steering wheel when the vehicle receives a steering command from the intelligent driving controller, so as to achieve steering of the intelligent driving vehicle; when the automobile receives a braking instruction of a driver, namely a braking instruction, the electronic parking brake sends a corresponding braking driving signal to control the braking degree of a brake pedal, so that the intelligent driving of the automobile is realized; when the automobile receives an acceleration control instruction, the electronic driver sends a corresponding acceleration driving signal to control the corresponding acceleration degree of the accelerator pedal, so that the intelligent driving of the automobile is accelerated.

In some embodiments, the smart steering controller 110 and the underlying actuators 120 require a supply of electrical energy to maintain proper operation. The intelligent driving controller 110 is a core component of the whole intelligent driving automobile, and whether the intelligent driving controller 110 has enough electric energy to maintain normal operation directly affects the safe driving of the whole intelligent driving automobile.

Fig. 2 is a block diagram of a power supply system of an automobile according to an embodiment of the present disclosure. As shown in fig. 2, in some embodiments, the power supply system of the automobile includes an on-board power supply device 210, an isolation circuit 220 and an energy storage device 230, in a normal operating state, the vehicle-mounted power supply device 210 is configured to supply power to the intelligent driving controller 240, the bottom layer actuator 250, and the vehicle controller 260, and after the intelligent driving controller 240 is powered on, generating a corresponding instruction according to the requirement of the user on the driving parameters of the intelligent driving automobile, sending the instruction to the vehicle control unit 260, and after the vehicle control unit 260 is powered on, a corresponding driving signal is generated according to the received command, and is transmitted to the bottom layer actuator 250, to adjust the driving parameters of the intelligent driving automobile by controlling and driving specific devices in the bottom actuator 250, for example, the corresponding specific devices in the bottom actuator 250 are controlled and driven to realize electronic auxiliary functions such as steering, braking, driving acceleration and the like, so that the intelligent degree of intelligently driving the automobile is improved.

In some embodiments, vehicle control unit 260 may be integrated with bottom-level actuator 250, or vehicle control unit 260 may be separate from bottom-level actuator 250.

As shown in fig. 2, in some embodiments, the vehicle-mounted power supply device 210 has a first voltage output terminal a1 and a second voltage output terminal a2, in a normal operating state, the vehicle-mounted power supply device 210 supplies power to the smart driving controller 240 through the first voltage output terminal a1 and the second voltage output terminal a2 to ensure the normal operation of the smart driving controller 240, the power supply line of the vehicle-mounted power supply device 210 to the smart driving controller 240 is electrically connected to the first voltage input terminal B1 of the smart driving controller 240 through the first voltage output terminal a1 of the vehicle-mounted power supply device 210, and the second voltage output terminal a2 of the vehicle-mounted power supply device 210 is electrically connected to the second voltage input terminal B2 of the smart driving controller 240. Meanwhile, in a normal working state, the vehicle-mounted power supply device 210 supplies power to the vehicle controller 260 through the first voltage output end a1 and the second voltage output end a2 to ensure the normal operation of the vehicle controller 260, a power supply line of the vehicle-mounted power supply device 210 to the vehicle controller 260 is electrically connected with the first voltage input end B11 of the vehicle controller 260 through the arrangement of the first voltage output end a1 of the vehicle-mounted power supply device 210, and the second voltage output end a2 of the vehicle-mounted power supply device 210 is electrically connected with the second voltage input end B21 of the vehicle controller 260.

The intelligent driving controller 240 of the automobile further comprises a bottom layer actuator 250, the vehicle-mounted power supply device 210 also supplies power to the bottom layer actuator 250, the bottom layer actuator 250 may have a change of an electrical parameter thereof due to an influence of a driving state of the automobile, which causes a change of the electrical parameter of the power supply signal output by the first voltage output end a1 and the second voltage output end a2 of the vehicle-mounted power supply device 210, if the electrical parameter of the power supply signal output by the first voltage output end a1 and the second voltage output end a2 of the vehicle-mounted power supply device 210 is abnormal, the vehicle-mounted power supply device 210 supplies power to the intelligent driving controller 240, the intelligent driving controller 240 cannot ensure normal operation, and the driving safety of the automobile cannot be ensured exactly.

As shown in fig. 2, in some embodiments, an isolation circuit 220 is provided in the power supply system, and the isolation circuit 220 cuts off the power supply line between the vehicle-mounted power supply device 210 and the smart driving controller 240 when a preset condition is reached, for example, an electrical parameter abnormality of the power supply signals of the first voltage output terminal a1 and the second voltage output terminal a2 of the vehicle-mounted power supply device 210, that is, the isolation circuit 220 may cut off a power supply line between the vehicle-mounted power supply device 210 and the intelligent driving controller 240 when the electrical parameters of the power supply signals of the first voltage output end a1 and the second voltage output end a2 of the vehicle-mounted power supply device 210 are abnormal, and the vehicle-mounted power supply device 210 cannot supply power to the intelligent driving controller 240, so that the influence of the abnormal power supply signal output by the vehicle-mounted power supply device 210 on the normal operation of the intelligent driving controller 240 is avoided, and the isolation between the vehicle-mounted power supply device 210 and the intelligent driving controller 240 under the abnormal condition is realized.

In addition, after the control line from the vehicle-mounted power supply device 210 to the intelligent driving controller 240 is cut off by the isolation circuit 220 when the preset condition is reached, the vehicle-mounted power supply device 210 does not supply power to the intelligent driving controller 240 any more, and the intelligent driving controller 240 cannot work without an electric energy supply source. As shown in fig. 2, in some embodiments, the power supply system of the automobile further includes an energy storage device 230, the energy storage device 230 supplies power to the intelligent driving controller 240 after the power supply line is cut off, and when the power supply line from the vehicle-mounted power supply device 210 to the intelligent driving controller 240 is cut off by the isolation circuit 220, the energy storage device 230 automatically provides a stable power signal to the intelligent driving controller 240 to ensure that the intelligent driving controller 240 operates stably.

In addition, when the intelligent driving automobile reaches the preset condition to realize the normal driving function, the intelligent driving controller 240 and the vehicle controller 260 are required to be in the power-on state, the intelligent driving controller 240 can be powered from the energy storage device 230 after reaching the preset condition, and in order to ensure that the vehicle controller 260 can be powered at the moment, whether the preset condition is reached or not is set so as not to influence the vehicle-mounted power supply device 210 to supply power to the vehicle controller 260, that is, the vehicle-mounted power supply device 210 is set to still supply power to the vehicle controller 260 when reaching the preset condition.

Specifically, the connection line between the vehicle controller 260 and the intelligent driving controller 240 can be isolated by setting the isolation circuit 220 when the preset condition is met, that is, the vehicle controller 260 is arranged on one side of the isolation circuit 220, the intelligent driving controller 240 is arranged on the other side of the isolation circuit 220, when the isolation circuit 220 cuts off the power supply line from the vehicle-mounted power supply device 210 to the intelligent driving controller 240, the power supply line from the vehicle-mounted power supply device 210 to the vehicle controller 260 is not affected, so that the problem that the power supply signal of the vehicle-mounted power supply device is abnormal due to the fact that the intelligent driving function of the intelligent driving vehicle is realized, the power supply line where the vehicle controller 260 is originally arranged is unbalanced due to the addition of the intelligent driving part including the intelligent driving controller 240, and then the intelligent driving controller 240 is abnormal due to the power supply signal of the vehicle-mounted power supply device is solved, and thus, the corresponding instruction is generated according to the After the vehicle controller 260 is powered on, the vehicle controller 260 generates a corresponding driving signal according to the received instruction and sends the driving signal to the bottom actuator 250 so as to adjust the driving parameters of the intelligent driving vehicle by controlling and driving specific devices in the bottom actuator 250, thereby ensuring that the intelligent driving vehicle can still realize normal driving functions when reaching preset conditions, and the energy storage device 230 supplies power to the intelligent driving controller 240 when reaching the preset conditions, and the vehicle-mounted power supply device 210 supplies power to the vehicle controller 260, further reducing the load to be supplied with power of the vehicle-mounted power supply device 210, optimizing the power supply effect of the vehicle-mounted power supply device 210 to the vehicle controller 260, and further improving the driving safety of the vehicle.

In some embodiments, the intelligent driving controller may include a hardware system, and may include a software system carried by the hardware system, and an operating system may be further disposed on the intelligent driving controller. For example, a software system runs on an operating system, while a hardware system is a hardware system that supports the running of an operating system.

In some embodiments, the smart driving controller is further configured to wirelessly communicate with the cloud server to interact with various information. In some embodiments, the smart driving controller and the cloud server are in wireless communication via a wireless communication network (e.g., a wireless communication network including, but not limited to, a GPRS network, a Zigbee network, a Wifi network, a 3G network, a 4G network, a 5G network, etc.).

In some embodiments, the cloud server is used for overall coordination and management of intelligent driving of the automobile. In some embodiments, the cloud server may be configured to interact with one or more intelligent driving vehicles, orchestrate and coordinate the scheduling of multiple intelligent driving vehicles, and the like.

In some embodiments, the cloud server is a cloud server established by an automobile service provider, and provides cloud storage and cloud computing functions. In some embodiments, the cloud server establishes the vehicle-side file. In some embodiments, the automobile end file stores various information uploaded by the intelligent driving controller. In some embodiments, the cloud server may synchronize the driving data generated at the vehicle end in real time.

In some embodiments, the cloud server may include a data warehouse and a data processing platform, wherein the data warehouse stores the automobile-side files created by the cloud server. In some embodiments, the data warehouse can collect data from various source business systems into the data warehouse and process the data in the data processing platform for the use of the automobile end.

In some embodiments, the data warehouse and the data processing platform may be established based on a data warehouse cloud service, such as a data warehouse cloud service and a MaxCompute cloud service provided by the arrega. The MaxCommute service can provide a perfect data import scheme and various distributed computing models for users, and solves the problem of mass data computing.

In some embodiments, the cloud server is an information service background built by applying a cloud technology based on a vehicle-mounted T-BOX terminal.

In some embodiments, the cloud server may be a server or a server group. The server group may be centralized or distributed. The distributed servers are beneficial to the distribution and optimization of tasks in a plurality of distributed servers, and the defects of resource shortage and response bottleneck of the traditional centralized server are overcome. In some embodiments, the cloud server may be local or remote.

In some embodiments, the cloud server may be used to perform parking charges, road tolls, etc. for the automobile. In some embodiments, the cloud server is further configured to analyze the driving behavior of the driver and perform a safety level assessment on the driving behavior of the driver.

In some embodiments, the cloud server may be configured to obtain information about Road monitoring units (RSUs) and smart-driving vehicles, and may send the information to the smart-driving vehicles. In some embodiments, the cloud server may send detection information corresponding to the smart driving car in the road monitoring unit to the smart driving car according to the information of the smart driving car.

In some embodiments, a road monitoring unit may be used to collect road monitoring information. In some embodiments, the road monitoring unit may be an environmental perception sensor, such as a camera, a lidar, etc., and may also be a road device, such as a V2X device, a roadside traffic light device, etc. In some embodiments, the road monitoring units may monitor the road conditions that are affiliated with the respective road monitoring unit, e.g., by type of automobile, speed, priority level, etc. The road monitoring unit can send the road monitoring information to the cloud server after collecting the road monitoring information, also can send the intelligent driving car that passes through the road for.

In some embodiments, the smart-drive automobile may also include an automobile CAN bus, not shown in FIG. 1, that connects to the automobile floor actuators. And information interaction between the intelligent driving controller and the bottom actuator is transmitted through an automobile CAN bus.

In some embodiments, the intelligent driving of the vehicle may control the vehicle to travel by both the driver and the intelligent driving controller. In the manual driving mode, the driver drives the vehicle by operating devices for controlling the vehicle to run, such as, but not limited to, a brake pedal, a steering wheel, an accelerator pedal, and the like. The device for controlling the automobile to run can directly operate the bottom actuator to control the automobile to run.

In some embodiments, the intelligent driving automobile can also be an unmanned automobile, and the driving control of the automobile is executed by the intelligent driving controller.

As shown in fig. 2, in some embodiments, in order to achieve the effect of isolating the vehicle-mounted power supply device 210 from the smart driving controller 240 by the isolation circuit 220 when the power supply signal of the vehicle-mounted power supply device 210 is abnormal, a first end of the isolation circuit 220 is electrically connected to the first voltage output end a1, and a second end of the isolation circuit 220 is electrically connected to the first voltage input end B1 of the smart driving controller 240, when the power supply signal of the vehicle-mounted power supply device 210 is abnormal, a power supply line from the first voltage output end a1 of the vehicle-mounted power supply device 210 to the first voltage input end B1 of the smart driving controller 240 may be disconnected by using the isolation circuit 220, and the vehicle-mounted power supply device 210 does not provide power to the smart driving controller 240 any more, thereby effectively avoiding the influence of the vehicle-mounted power supply device 210 with the abnormal power supply signal on. Illustratively, the first voltage output terminal a1 of the vehicle-mounted power supply apparatus 210 may be, for example, a positive terminal of the vehicle-mounted power supply apparatus 210, and the second voltage output terminal a2 may be, for example, a negative terminal of the vehicle-mounted power supply apparatus 210.

In addition to the intelligent driving controller 240 and the bottom actuator 250, the vehicle needs to be provided with an intelligent driving controller to assist driving, the bottom actuator 250 also needs to be supplied with electric energy for operation, and the vehicle-mounted power supply device 210 can supply power to the bottom actuator 250 to ensure normal operation of the bottom actuator 250.

In some embodiments, the bottom actuator 250 may include, but is not limited to, at least one of an electronic power steering device that provides electronic power when the smart car is turning, and an electronic parking brake that is activated when the smart car is braking, so as to avoid abnormal situations such as rolling of the smart car.

In some embodiments, the vehicle power supply device 210 supplies power to the bottom actuator 250 through the first voltage output terminal a1 and the second voltage output terminal a2, and power supply lines of the vehicle power supply device 210 to the bottom actuator 250 are implemented by setting the first voltage output terminal a1 of the vehicle power supply device 210 to be electrically connected with the first voltage input terminal C1 of the bottom actuator 250, and setting the second voltage output terminal a2 of the vehicle power supply device 210 to be electrically connected with the second voltage input terminal C2 of the bottom actuator 250.

The general transient power of the electronic power steering gear and the electronic parking brake is relatively large, and when the intelligent driving automobile suddenly turns or suddenly brakes, the transient current of the electronic power steering gear or the electronic parking brake suddenly increases, as shown in fig. 2, the suddenly increased transient current of the electronic power steering gear or the electronic parking brake may cause the supply voltage of the supply signals of the first voltage output end a1 and the second voltage output end a2 of the vehicle-mounted power supply device 210 to be temporarily lowered, and the vehicle-mounted power supply device 210 supplies power to the intelligent driving controller 240, so that the intelligent driving controller 240 in the automobile is prone to faults such as halt or restart.

In some embodiments, the isolation circuit 220 is capable of cutting off a power supply line between the vehicle-mounted power supply device 210 and the smart driving controller 240 when a preset condition is reached, and the preset condition may include at least one of the following conditions:

the first case is that the voltage difference of the output signals of the first and second voltage output terminals a1 and a2 is less than a first voltage threshold;

the second case is that the voltage difference of the output signals of the first and second voltage output terminals a1 and a2 is greater than the second voltage threshold;

the third condition is that the current of the output signal of the first voltage output terminal a1 is greater than the first current threshold.

In some embodiments, as for the first case described above, the preset condition includes that the voltage difference between the output signals of the first voltage output terminal a1 and the second voltage output terminal a2 is smaller than the first voltage threshold, such as but not limited to a case where the supply voltage of the supply signal of the first voltage output terminal a1 and the second voltage output terminal a2 of the vehicle-mounted power supply device 210 is pulled down temporarily due to a transient current suddenly increased by the electronic power steering or the electronic parking brake when the intelligent driving vehicle suddenly turns or suddenly brakes, that is, the preset condition may include that the voltage difference between the output signals of the first voltage output terminal a1 and the second voltage output terminal a2 of the vehicle-mounted power supply device 210 is too small, that is, the vehicle-mounted power supply device 210 is under-voltage, which easily causes the intelligent driving controller 240 to crash or restart, and affects the driving safety of the vehicle.

In some embodiments, in order to make the voltage difference between the output signals of the first voltage output terminal a1 and the second voltage output terminal a2 of the vehicle-mounted power supply device 210 smaller than the first voltage threshold, the isolation circuit 220 may be used to cut off the power supply line from the first voltage output terminal a1 of the vehicle-mounted power supply device 210 to the first voltage input terminal B1 of the intelligent driving controller 240 when the vehicle-mounted power supply device 210 is under-voltage, so as to avoid the problem of a crash or restart of the intelligent driving controller 240 caused by the under-voltage of the vehicle-mounted power supply device 210.

Fig. 3 is a block diagram of an isolation circuit according to an embodiment of the disclosure. With reference to fig. 2 and fig. 3, in order to realize that the isolation circuit 220 is used to cut off the power supply line from the vehicle-mounted power supply device 210 to the smart driving controller 240 when the vehicle-mounted power supply device 210 is under-voltage, the isolation circuit 220 may include a unidirectional conducting module 260, and the unidirectional conducting module 260 includes, but is not limited to, a diode.

In some embodiments, the first voltage output terminal a1 of the vehicle power supply device 210 is electrically connected to the first voltage input terminal B1 of the smart driving controller 240 through the unidirectional conducting module 260, the first terminal of the unidirectional conducting module 260 is electrically connected to the first voltage output terminal a1, and the second terminal of the unidirectional conducting module 260 is electrically connected to the first voltage input terminal B1 of the smart driving controller 240. For example, the first end of the unidirectional conducting module 260 may be a positive end of the unidirectional conducting module 260, the second end of the unidirectional conducting module 260 may be a negative end of the unidirectional conducting module 260, taking the unidirectional conducting module 260 as a diode as an example, the first end of the unidirectional conducting module 260 may be an anode of the diode, and the second end of the unidirectional conducting module 260 may be a cathode of the diode.

The unidirectional conduction module 260 is configured to unidirectionally conduct a line from the first voltage output terminal a1 to the first voltage input terminal B1 of the intelligent driving controller 240, when a voltage of the first voltage output terminal a1 of the vehicle-mounted power supply device 210 is greater than a voltage of the first voltage input terminal B1 of the intelligent driving controller 240, the unidirectional conduction module 260 conducts the line from the first voltage output terminal a1 to the first voltage input terminal B1 of the intelligent driving controller 240, and when a voltage of the first voltage output terminal a1 of the vehicle-mounted power supply device 210 is less than a voltage of the first voltage input terminal B1 of the intelligent driving controller 240, the unidirectional conduction module 260 cuts off the line from the first voltage output terminal a1 to the first voltage input terminal B1 of the intelligent driving controller 240.

With reference to fig. 2 and fig. 3, when the preset condition includes that the voltage difference between the output signals of the first voltage output terminal a1 and the second voltage output terminal a2 is smaller than the first voltage threshold, that is, when the vehicle-mounted power supply device 210 is under-voltage, the one-way conduction module 260 in the isolation circuit 220 can cut off the line from the first voltage output terminal a1 to the first voltage input terminal B1 of the intelligent driving controller 240, the vehicle-mounted power supply device 210 does not supply power to the intelligent driving controller 240 any more, thereby avoiding the problem that the vehicle-mounted power supply device 210 is under-voltage and easily causes the intelligent driving controller 240 to crash or restart, and improving the driving safety of the intelligent driving vehicle.

In some embodiments, as for the first case, for example, when the intelligent driving automobile suddenly turns or suddenly brakes, the on-vehicle power supply device is under-voltage due to the transient current suddenly increased by the electronic power steering or the electronic parking brake, the one-way conduction module 260 in the isolation circuit can cut off the power supply line from the on-vehicle power supply device 210 to the intelligent driving controller 240. However, during the subsequent driving process of the smart car, the driving parameters of the smart car may change, for example, the smart car keeps driving stably for a period of time, that is, the driving direction and the driving speed do not change suddenly, the voltage of the power supply signal output by the vehicle-mounted power supply device 210 may recover to a normal value, at this time, the isolation circuit 220 may be set to recover to a normal operating state after reaching the preset condition, that is, when the power supply signal output by the vehicle-mounted power supply device 210 recovers to be normal, the power supply line between the vehicle-mounted power supply device 210 and the smart driving controller 240 is connected, and the vehicle-mounted power supply device 210 recovers to supply power to the smart driving controller 240. Referring to fig. 3, the situation that the power supply signal output by the vehicle-mounted power supply device 210 is recovered to be normal again, that is, the unidirectional conducting module 260 is conducted again when the voltage value corresponding to the power supply signal rises, so that the intelligent driving automobile can still automatically recover when the power supply signal of the vehicle-mounted power supply device 210 is recovered to be normal after the energy storage device 230 is switched to supply power to the intelligent driving controller 240 due to abnormal power supply, or the power supply line for connecting the vehicle-mounted power supply device 210 to the intelligent driving controller 240 is achieved. In addition, when the voltage value corresponding to the power supply signal rises, the isolation circuit 220 is turned on again, and the vehicle-mounted power supply device 210 may also supply power to the energy storage device 220 to prepare for energy storage in case of subsequent power supply abnormality.

The one-way conduction module 260 in the isolation circuit 220 can be used for disconnecting the power supply line between the vehicle-mounted power supply equipment 210 and the intelligent driving controller 240 when the vehicle-mounted power supply equipment 210 is undervoltage so as to realize undervoltage protection of the intelligent driving controller 240, but when the one-way conduction module 260 in the isolation circuit 220 fails due to long-time use or other reasons, the isolation circuit 220 no longer has the function of cutting off the power supply line between the vehicle-mounted power supply equipment 210 and the intelligent driving controller 240 when the vehicle-mounted power supply equipment 210 is undervoltage, and the driving safety can not be guaranteed.

In some embodiments, as for the first case described above, that is, the preset condition includes that the voltage difference between the output signals of the first voltage output terminal a1 and the second voltage output terminal a2 is smaller than the first voltage threshold, the isolation circuit 220 may also use switch control to cut off the power supply line between the vehicle-mounted power supply device 210 and the intelligent driving controller 240 when the vehicle-mounted power supply device 210 is undervoltage, in combination with fig. 2 and fig. 3, the isolation circuit 220 may include a switch control module 270 and a switch module 280, and the switch control module 270 may be configured to detect the voltage difference between the output signals of the first voltage output terminal a1 and the second voltage output terminal a2 of the vehicle-mounted power supply device 210 to control the switch module 280 to turn on and off, so as to control the line between the vehicle-mounted power supply device 210 and the intelligent driving controller 240 to be.

The switch control module 270 adjusts the output switch control signal based on a setting parameter of the output signals of the first voltage output terminal a1 and the second voltage output terminal a2, the setting parameter may be voltage, for example, the switch control module 270 is configured to adjust the output switch control signal based on a voltage difference between the output signals of the first voltage output terminal a1 and the second voltage output terminal a2, and the switch module 280 connects or disconnects a line from the first voltage output terminal a1 to the first voltage input terminal B1 of the smart driving controller 240 based on the received switch control signal.

The switch module 280 may include, but is not limited to, an MOS transistor, a control end of the MOS transistor may be controlled by the switch control module 270, a first end of the MOS transistor is electrically connected to the first voltage output end a1 of the vehicle-mounted power supply device 210, a second end of the MOS transistor is electrically connected to the first voltage input end B1 of the smart driving controller 240, or a second end of the MOS transistor is electrically connected to the first end of the unidirectional conducting module 260, so as to implement dual protection for the smart driving controller 240 by using a switching mechanism formed by the switch control module 270 and the switch module 280 and the unidirectional conducting module 260.

The switch module 280 may include, but is not limited to, an MOS transistor, the switch module 280 may control its own on or off according to the level of an electrical signal of its own control terminal, that is, control the on or off of a power supply line between the vehicle-mounted power supply device 210 and the smart driving controller 240, the switch module 280 is controlled by the switch control module 270, a switch control signal output by the switch control module 270 is transmitted to the control terminal of the switch module 280, the switch control module 270 may detect whether the vehicle-mounted power supply device 210 is under-voltage and then adjust the level of the switch control signal output to the control terminal of the switch module 280, and thus, the under-voltage protection of the smart driving controller 240 may be implemented.

In some embodiments, the switch control module 270 may include a voltage dividing device R, a first comparing device U1 and a logic processing device L1, where the voltage dividing device R is configured to divide the output signals of the first voltage output terminal a1 and the second voltage output terminal a2 and output the divided signals through the voltage dividing output terminals, the voltage dividing device R may include, but is not limited to, two voltage dividing resistors R1 and R2 shown in fig. 3, the output voltage of the first voltage output terminal a1 of the vehicle power supply device 210 may be set to V0, the output voltage of the second voltage output terminal a2 is zero, that is, the second voltage output terminal a2 is set to be grounded, the voltage dividing output terminal of the voltage dividing device R may be an R1 and an R2 series node N1 of the two voltage dividing resistors, and a level value V1 of the voltage dividing signal output by the voltage dividing output terminal of the voltage dividing device R satisfies the following calculation formula:

the first comparing device U1 may include, but is not limited to, a voltage comparator, the first comparing input terminal of the first comparing device U1 may be a positive input terminal of the voltage comparator, the second comparing input terminal of the first comparing device U1 is a negative input terminal of the voltage comparator, the first comparing input terminal of the first comparing device U1 is electrically connected to the voltage dividing output terminal, the second comparing input terminal of the first comparing device U1 is connected to a first voltage source V1 'having a voltage proportional to a first voltage threshold, the first voltage source V1' may be, for example, a constant voltage source, the voltage of the constant voltage source is V2, V2 may be set as a critical comparison value corresponding to whether the vehicle-mounted power supply device 210 can operate normally under the condition of under-voltage, and V2 corresponds to the following relation:

when V2 satisfies the above relation, V2 is greater than V1, which indicates that the vehicle-mounted power supply apparatus 210 is under-voltage, that is, the voltage difference between the output signals of the first voltage output terminal a1 and the second voltage output terminal a2 of the vehicle-mounted power supply apparatus 210 is smaller than the first voltage threshold, and the first comparison device U1 outputs a low-level signal.

The first logic input end D1 of the logic processing device L1 is electrically connected to the output end of the first comparison device U1, the logic processing device L1 is configured to output a switch control signal after performing logic processing on an input signal of the first logic input end D1, the logic processing device L1 may include, but is not limited to, an and gate, when the first logic input end D1 of the logic device receives a low level signal output by the first comparison device U1, the logic processing device L may output a low level switch control signal to the switch module 280, that is, to a control end of a MOS transistor, the switch module 280 may include, for example, an NMOS transistor, and at this time, the switch module 280 is turned off, that is, a power supply line between the first voltage output end a1 of the vehicle-mounted power supply device 210 and the first voltage input end B1 of the smart driving controller 240 is disconnected, so that the influence of the smart driving controller 240 caused by undervoltage of the vehicle-mounted power supply device 210 is, and the one-way conduction module 260 arranged in the isolation circuit 220 can be combined to realize the double undervoltage protection of the intelligent driving controller 240.

In some embodiments, the switch module 280 may also be configured to include a PMOS, and correspondingly, the logic processing device L1 may also be configured to be a nand gate, so that the principle of the under-voltage protection for the intelligent driving controller 240 is similar, and is not described herein again.

In some embodiments, as for the first case described above, i.e., the case where the vehicle power supply device is under-voltage, the switch control module 270 and the switch module 280 in the isolation circuit can cut off the power supply line of the vehicle power supply device 210 to the smart driving controller 240. Similarly, in the subsequent driving process of the intelligent driving vehicle, the driving parameters of the intelligent driving vehicle may change, for example, when the intelligent driving vehicle keeps driving stably for a period of time, the voltage of the power supply signal output by the vehicle-mounted power supply device 210 may recover to a normal value again, and when the voltage value corresponding to the power supply signal rises, the switch control module 270 may control the switch module 280 to be turned on, so that the vehicle-mounted power supply device recovers to supply power to the intelligent driving controller. Specifically, referring to fig. 3, when the voltage value corresponding to the power supply signal rises, the output levels of the first comparing device U1 and the logic processing device L1 are switched high and low, the switch module 280 is turned on, and the vehicle-mounted power supply device 210 is reconnected to the power supply line of the intelligent driving controller 240, so that the intelligent driving vehicle can still automatically recover when the power supply signal of the vehicle-mounted power supply device 210 returns to normal after the intelligent driving controller 240 is switched to supply power to the energy storage device 230 due to abnormal power supply, or the power supply line from the vehicle-mounted power supply device 210 to the intelligent driving controller 240 is connected. In addition, when the voltage value corresponding to the power supply signal rises, the isolation circuit 220 is turned on again, and the vehicle-mounted power supply device 210 may also supply power to the energy storage device 220 to prepare for energy storage in case of subsequent power supply abnormality.

In some embodiments, as shown in fig. 2, the bottom layer actuator 250 may include, for example, but not limited to, at least one of an electronic power steering and an electronic parking brake, which are generally inductive elements, when the power in the electronic power steering and the electronic parking brake is suddenly released, the levels of the power signals at the first voltage output terminal a1 and the second voltage output terminal a2 of the vehicle power supply device 210 may be momentarily increased, and the excessively high power voltage may cause the smart driving controller 240 to burn or cause the smart driving controller 240 to enter an overvoltage protection state to stop working, which may seriously affect the driving safety of the smart driving vehicle.

In some embodiments, the isolation circuit 220 is configured to cut off the power supply line between the vehicle-mounted power supply device 210 and the intelligent driving controller 240 when a preset condition is reached, as for the second case, where the preset condition includes that the voltage difference between the output signals of the first voltage output terminal a1 and the second voltage output terminal a2 is greater than the second voltage threshold, such as but not limited to a case where, when the power in the electronic power steering and the electronic parking brake is suddenly released, an excessively high power supply voltage may cause the intelligent driving controller 240 to burn or cause the intelligent driving controller 240 to enter an overvoltage protection state to stop operating, that is, the preset condition may include that the voltage difference between the output signals of the first voltage output terminal a1 and the second voltage output terminal a2 of the vehicle-mounted power supply device 210 is excessively high, that the vehicle-mounted power supply device 210 is over-voltage, the intelligent driving controller 240 is easily burned or the intelligent driving controller 240 enters the overvoltage protection state to stop operating, the driving safety of the intelligent driving automobile is seriously influenced.

In some embodiments, in order to ensure that the voltage difference between the output signals of the first voltage output terminal a1 and the second voltage output terminal a2 of the vehicle-mounted power supply device 210 is greater than the second voltage threshold, the isolation circuit 220 may be used to cut off the power supply line from the first voltage output terminal a1 of the vehicle-mounted power supply device 210 to the first voltage input terminal B1 of the intelligent driving controller 240 when the vehicle-mounted power supply device 210 is in overvoltage, so as to avoid the problem that the intelligent driving controller 240 is damaged or enters an overvoltage protection state to stop working due to overvoltage of the vehicle-mounted power supply device 210.

In some embodiments, as shown in fig. 3, the isolation circuit 220 may utilize a switch to control to cut off a power supply line between the vehicle-mounted power supply device 210 and the smart driving controller 240 when the vehicle-mounted power supply device 210 is over-voltage, the switch control module 270 may include a voltage dividing device R, a second comparing device U2 and a logic processing device L1, the voltage dividing device R is configured to divide the output signals of the first voltage output terminal a1 and the second voltage output terminal a2 and output the divided signals through the voltage dividing output terminal, the voltage dividing device R may include, but is not limited to, two voltage dividing resistors R1 and R2 as shown in fig. 3, and the level value V1 of the divided voltage signal output by the voltage dividing output terminal of the voltage dividing device R also satisfies the foregoing calculation formula.

The second comparing device U2 may include, but is not limited to, a voltage comparator, the first comparing input terminal of the second comparing device U2 may be a positive input terminal of the voltage comparator, the second comparing input terminal of the second comparing device U2 is a negative input terminal of the voltage comparator, the first comparing input terminal of the second comparing device U2 is connected to a second voltage source V2' whose voltage is proportional to the second voltage threshold, the second comparing input terminal of the second comparing device U2 is electrically connected to the voltage dividing output terminal, the second voltage source may be, for example, a constant voltage source, the voltage of the constant voltage source is V3, the V3 may be set as a critical comparison value corresponding to whether the vehicle-mounted power supply device 210 can operate normally in the overvoltage condition, and V3 corresponds to the following relation:

when V3 satisfies the above relation, it indicates that the vehicle-mounted power supply device 210 is over-voltage, that is, the voltage difference between the output signals of the first voltage output terminal a1 and the second voltage output terminal a2 of the vehicle-mounted power supply device 210 is greater than the second voltage threshold, and the second comparing device U2 outputs a low-level signal.

The second logic input end D2 of the logic processing device L1 is electrically connected to the output end of the second comparing device U2, the logic processing device L1 is configured to perform a logic setting process on the input signal of the second logic input end D2 and output a switch control signal, the logic processing device L1 may include, but is not limited to, an and gate, when the second logic input end D2 of the logic device receives the low-level signal output by the second comparing device U2, the switch control signal of the low-level signal is output to the switch module 280, i.e., to the control terminal of the MOS transistor, the switch module 280 may comprise, for example, an NMOS transistor, when the switch module 280 is turned off, that is, the power supply line from the first voltage output terminal a1 of the vehicle-mounted power supply apparatus 210 to the first voltage input terminal B1 of the smart driving controller 240 is disconnected, further, the influence of overvoltage of the vehicle-mounted power supply device 210 on the intelligent driving controller 240 is avoided, and overvoltage protection on the intelligent driving controller 240 is realized.

In some embodiments, as for the second case described above, i.e., the case of the overvoltage of the vehicle power supply apparatus, the switch control module 270 and the switch module 280 in the isolation circuit can cut off the power supply line of the vehicle power supply apparatus 210 to the smart driving controller 240. Similarly, in the subsequent driving process of the intelligent driving vehicle, the driving parameters of the intelligent driving vehicle may change, for example, when the intelligent driving vehicle keeps driving stably for a period of time, the voltage of the power supply signal output by the vehicle-mounted power supply device 210 may be restored to a normal value, and when the voltage value corresponding to the power supply signal decreases, the switch control module 270 may control the switch module 280 to be turned on, so that the vehicle-mounted power supply device restores to supply power to the intelligent driving controller. Specifically, referring to fig. 3, when the voltage value corresponding to the power supply signal decreases, the output levels of the second comparing device U2 and the logic processing device L1 are switched high and low, the switch module 280 is turned on, and the vehicle-mounted power supply device 210 is reconnected to the power supply line of the intelligent driving controller 240, so that the intelligent driving vehicle can still automatically recover when the power supply signal of the vehicle-mounted power supply device 210 returns to normal after the intelligent driving controller 240 is switched to supply power to the energy storage device 230 due to abnormal power supply, or the power supply line from the vehicle-mounted power supply device 210 to the intelligent driving controller 240 is connected. In addition, when the voltage value corresponding to the power supply signal rises, the isolation circuit 220 is turned on again, and the vehicle-mounted power supply device 210 may also supply power to the energy storage device 220 to prepare for energy storage in case of subsequent power supply abnormality.

In some embodiments, the bottom layer actuator 250 may include, for example, but not limited to, at least one of an electronic power steering gear and an electronic parking brake, and when the power in the electronic power steering gear and the electronic parking brake is suddenly released, the current of the output signal of the first voltage output terminal a1 of the on-board power supply device 210 may be increased momentarily, and the excessive current may cause the intelligent driving controller 240 to burn out or cause the intelligent driving controller 240 to enter an overcurrent protection state to stop working, which may seriously affect the driving safety of the intelligent driving vehicle.

In some embodiments, the isolation circuit 220 is configured to cut off the power supply line between the vehicle-mounted power supply device 210 and the intelligent driving controller 240 when the preset condition is reached, as for the third case mentioned above, where the preset condition includes that the current of the output signal of the first voltage output terminal a1 is greater than the first current threshold, such as but not limited to a case where, when the power in the electronic power steering and the electronic parking brake is suddenly released, the excessive current may cause the intelligent driving controller 240 to burn out or cause the intelligent driving controller 240 to enter an overcurrent protection state to stop operating, that is, the preset condition may include that the current of the output signal of the first voltage output terminal a1 of the vehicle-mounted power supply device 210 is excessive, that is, the vehicle-mounted power supply device 210 is overcurrent, and easily causes the intelligent driving controller 240 to burn out or causes the intelligent driving controller 240 to enter an overcurrent protection state to stop operating, the driving safety of the intelligent driving automobile is seriously influenced.

In some embodiments, when the current of the output signal of the first voltage output terminal a1 of the vehicle-mounted power supply device 210 is greater than the first current threshold, the isolation circuit 220 may be used to cut off the power supply line from the first voltage output terminal a1 of the vehicle-mounted power supply device 210 to the first voltage input terminal B1 of the intelligent driving controller 240 when the vehicle-mounted power supply device 210 is in overvoltage, so as to avoid the problem that the intelligent driving controller 240 is damaged or enters an overcurrent protection state to stop working due to overcurrent of the vehicle-mounted power supply device 210.

In some embodiments, the isolation circuit 220 may utilize a switch control to realize a function of cutting off a power supply line between the vehicle power supply device 210 and the smart driving controller 240 when the vehicle power supply device 210 is in an overcurrent state, the switch control module 270 may include a current conversion device, a third comparison device U3 and a logic processing device L1, the current conversion device 62 is configured to convert a current signal output by the first voltage output terminal a1 into a voltage signal and output the voltage signal through a conversion output terminal, the current conversion device may include, but is not limited to, a resistor R3 shown in fig. 3, and a voltage V4 across the current conversion device and a current I1 output by the first voltage output terminal a1 of the vehicle power supply device 210 are calculated as follows:

V4＝I0·R3

the third comparing device U3 may be configured to include, but is not limited to, a voltage comparator, the first comparing input terminal of the third comparing device U3 may be a positive input terminal of the voltage comparator, the second comparing input terminal of the third comparing device U3 is a negative input terminal of the voltage comparator, the third comparing device U3 is configured to be a third voltage source V3 'whose voltage is proportional to the first current threshold value is connected to the first comparing input terminal of the third comparing device U3, the second comparing input terminal of the third comparing device U3 is electrically connected to the converting output terminal, the third voltage source V3' may be, for example, a constant voltage source, the voltage of the constant voltage source is V5, V5 may be configured to be a critical comparison value corresponding to whether the vehicle-mounted power supply device 210 can operate normally in response to an overcurrent condition, and V5 corresponds to the following relationship:

V5<I0·R3

when V5 satisfies the above relation, it indicates that the vehicle-mounted power supply device 210 is overcurrent, that is, the current of the output signal of the first voltage output terminal a1 of the vehicle-mounted power supply device 210 is greater than the first current threshold, and the third comparing device U3 outputs a low level signal.

The third logic input end D3 of the logic processing device L1 is electrically connected to the output end of the third comparing device U3, the logic processing device L1 is configured to perform logic setting processing on the input signal of the third logic input end D3 and then output a switch control signal, the logic processing device L1 may include, but is not limited to, an and gate, when the third logic input end D3 of the logic processing device L1 receives a low-level signal output by the third comparing device U3, the switch control signal of a low level is output to the switch module 280, i.e., to the control terminal of the MOS transistor, the switch module 280 may comprise, for example, an NMOS transistor, when the switch module 280 is turned off, that is, the power supply line from the first voltage output terminal a1 of the vehicle-mounted power supply apparatus 210 to the first voltage input terminal B1 of the smart driving controller 240 is disconnected, further, the influence of the overcurrent of the vehicle-mounted power supply equipment 210 on the intelligent driving controller 240 is avoided, and the overcurrent protection of the intelligent driving controller 240 is realized.

In some embodiments, as for the third case described above, i.e., the case where the vehicle-mounted power supply device is overcurrent, the switch control module 270 and the switch module 280 in the isolation circuit can cut off the power supply line of the vehicle-mounted power supply device 210 to the smart driving controller 240. Similarly, in the subsequent driving process of the intelligent driving vehicle, the driving parameters of the intelligent driving vehicle may change, for example, when the intelligent driving vehicle keeps driving stably for a period of time, the current of the power supply signal output by the vehicle-mounted power supply device 210 may be restored to a normal value again, and when the current corresponding to the power supply signal decreases, the switch control module 270 may control the switch module 280 to be turned on, so that the vehicle-mounted power supply device restores to supply power to the intelligent driving controller. Specifically, referring to fig. 3, when the current value corresponding to the power supply signal decreases, the output levels of the third comparing device U3 and the logic processing device L1 are switched high and low, the switch module 280 is turned on, and the vehicle-mounted power supply device 210 is reconnected to the power supply line of the intelligent driving controller 240, so that the intelligent driving vehicle can still automatically recover when the power supply signal of the vehicle-mounted power supply device 210 returns to normal after the vehicle-mounted power supply device 230 is switched to supply power to the intelligent driving controller 240 due to abnormal power supply, or the power supply line from the vehicle-mounted power supply device 210 to the intelligent driving controller 240 is connected. In addition, when the voltage value corresponding to the power supply signal rises, the isolation circuit 220 is turned on again, and the vehicle-mounted power supply device 210 may also supply power to the energy storage device 220 to prepare for energy storage in case of subsequent power supply abnormality.

After the control line from the vehicle-mounted power supply device 210 to the intelligent driving controller 240 is cut off by using the isolation circuit 220 when the preset condition is reached, the vehicle-mounted power supply device 210 does not supply power to the intelligent driving controller 240 any more, the intelligent driving controller 240 needs to supply electric energy when working, and otherwise the intelligent driving controller 240 cannot work.

In some embodiments, referring to fig. 2 and 3, the power supply system of the automobile further includes an energy storage device 230, the energy storage device 230 supplies power to the intelligent driving controller 240 after the power supply line is cut off, in order to realize that the energy storage device 230 can supply power to the intelligent driving controller 240 after the power supply line is cut off, a first end of the energy storage device 230 is electrically connected to a first voltage input end B1 of the intelligent driving controller 240, a second end of the energy storage device 230 is electrically connected to a first voltage input end B1 of the intelligent driving controller 240, that is, the first end of the energy storage device 230 is electrically connected to a first voltage output end a1 of the vehicle-mounted power supply device 210, a second end of the energy storage device 230 is electrically connected to a second voltage output end a2 of the vehicle-mounted power supply device 210, when the power supply line from the vehicle-mounted power supply device 210 to the intelligent driving controller 240 is cut off by the isolation circuit 220, the energy storage device, to ensure stable operation of the energy storage device 230.

In some embodiments, the energy storage device 230 includes, for example, but not limited to, at least one of a storage battery or a super capacitor, so as to provide a stable power signal to the energy storage device 230, and when the power signal of the vehicle-mounted power supply device 210 is normal, that is, the isolation circuit 220 connects the power supply line between the vehicle-mounted power supply device 210 and the smart driving controller 240, the vehicle-mounted power supply device 210 may charge the energy storage device 230, that is, charge the storage battery 8 or the super capacitor constituting the energy storage device 230, so as to provide a preparation for providing a stable power signal to the smart driving controller 240 by using the energy storage device 230 when it is necessary to cut off the power supply line between the vehicle-mounted power supply device 210 and the smart driving controller 240 due to a power supply.

Fig. 4 is a block diagram of an intelligent driving controller provided in an embodiment of the present disclosure. In some embodiments, the intelligent driving controller 300 may be implemented as the intelligent driving controller 100 in fig. 1 or a part of the intelligent driving controller 100 for controlling the driving of the automobile.

As shown in fig. 4, the smart driving controller 300 may be divided into a plurality of modules, for example, may include: the perception module 310, the planning module 320, the control module 330, and other modules that may be used for intelligent driving.

The sensing module 310 is used for sensing and positioning the environment.

In some embodiments, the sensing module 310 is used for acquired sensor data, V2X (Vehicle to X) data, high precision maps, and the like.

In some embodiments, the sensing module 310 is configured to sense and locate the environment based on at least one of acquired sensor data, V2X (Vehicle to X) data, high-precision maps, and the like.

In some embodiments, the sensing module 310 is configured to generate sensing and positioning information, so as to sense an obstacle, identify a travelable area of the camera image, position the car, and the like.

Environmental awareness (Environmental awareness) may be understood as a semantic categorization of data regarding the context's scene understanding capabilities, such as the location of obstacles, the detection of road signs/markings, the detection of pedestrians/cars, etc.

In some embodiments, the environmental sensing may be performed by fusing data of various sensors such as a camera, a laser radar, and a millimeter wave radar.

Localization (Localization) is part of the perception, and is the ability to determine the location of an intelligent driving vehicle relative to the environment.

The positioning can be as follows: GPS positioning, wherein the positioning accuracy of the GPS is in the order of tens of meters to centimeters, and the positioning accuracy is high; the positioning method combining the GPS and the Inertial Navigation System (Inertial Navigation System) can also be used for positioning. The positioning can also adopt SLAM (Simultaneous Localization And Mapping), the target of SLAM is to use the map for positioning while constructing the map, And SLAM determines the current position of the automobile And the current position of the observed feature by using the observed environmental features.

The V2X is a key technology of the intelligent transportation system, so that the vehicles, the vehicles and the base stations can communicate with each other, a series of traffic information such as real-time road conditions, road information and pedestrian information can be obtained, the intelligent driving safety is improved, the congestion is reduced, the traffic efficiency is improved, and vehicle-mounted entertainment information is provided.

The high accuracy map is the geographical map that uses in the intelligent driving field, compares with traditional map, and the difference lies in: 1) high-precision maps comprise a large amount of driving assistance information, for example by means of an accurate three-dimensional representation of the road network: including intersection places, landmark positions, and the like; 2) high-precision maps also include a large amount of semantic information, such as reporting the meaning of different colors on traffic lights, in turn, for example, indicating the speed limit of roads, and the location where left-turn lanes begin; 3) the high-precision map can reach centimeter-level precision, and the safe driving of the intelligent driving automobile is ensured.

The planning module 320 is configured to perform path planning and decision making based on the perceptual positioning information generated by the perceptual positioning module.

In some embodiments, planning module 320 is configured to perform path planning and decision-making based on the perceptual-positioning information generated by the perceptual-positioning module in combination with at least one of V2X data, high-precision maps, and the like.

In some embodiments, planning module 320 is used to plan a path, decide: the planning decision information is generated based on the behavior (e.g., including but not limited to following, passing, parking, detouring, etc.), vehicle heading, vehicle speed, desired acceleration of the vehicle, desired steering wheel angle, etc.

The control module 330 is configured to perform path tracking and trajectory tracking based on the planning decision information generated by the planning module.

In some embodiments, the control module 330 is configured to generate control commands for the bottom actuators and issue the control commands, so that the bottom actuators control the vehicle to travel according to a desired path, for example, by controlling a steering wheel, a brake, and a throttle to control the vehicle laterally and longitudinally.

In some embodiments, the control module 330 is further configured to calculate a front wheel steering angle based on a path tracking algorithm.

In some embodiments, the expected path curve in the path tracking process is independent of time parameters, and during tracking control, the intelligent driving automobile can be assumed to advance at a constant speed at the current speed, so that the driving path approaches to the expected path according to a certain cost rule; during track tracking, the expected path curve is related to both time and space, and the intelligent driving automobile is required to reach a certain preset reference path point within a specified time.

Path tracking differs from trajectory tracking in that it is not subject to time constraints and only requires the desired path to be tracked within a certain error range.

The intelligent driving degree of the intelligent driving automobile is high, and the intelligent driving automobile needs to be provided with a component for controlling various intelligent parameters for realizing an intelligent driving function. Fig. 5 is a block diagram of an automobile according to an embodiment of the present disclosure, in some embodiments, as shown in fig. 5, the automobile includes an intelligent driving controller 440 and a vehicle controller 480, the intelligent driving controller 440 and the vehicle controller 480 need to maintain normal operation and supply electric energy, after power is supplied to the intelligent driving controller 440, a corresponding instruction is generated according to a requirement of a user on driving parameters of the intelligent driving automobile and is sent to the vehicle controller 480, after power is supplied to the vehicle controller 480, a corresponding driving signal is generated according to the received instruction and is sent to the bottom layer actuator 250 to adjust the driving parameters of the intelligent driving automobile by controlling a specific device in the driving bottom layer actuator 450, for example, the corresponding specific devices in the bottom actuator 450 are controlled and driven to realize electronic auxiliary functions such as steering, braking, driving acceleration and the like, so that the intelligent degree of intelligently driving the automobile is improved.

In some embodiments, as shown in fig. 5, the vehicle further comprises a power supply system, which comprises an on-board power supply device 410, an isolation circuit 420, and an energy storage device 430. In some embodiments, the vehicle power supply apparatus 410 has a first voltage output terminal a1 and a second voltage output terminal a2, and in the normal operation state, the vehicle power supply apparatus 410 supplies power to the intelligent driving controller 440 through the first voltage output terminal a1 and the second voltage output terminal a2 to ensure the normal operation of the intelligent driving controller 440, and simultaneously supplies power to the vehicle controller 260 to ensure the normal operation of the vehicle controller 260.

In some embodiments, as shown in fig. 5, the automobile further includes a floor actuator 450 in addition to the smart driving controller 440, the vehicle-mounted power supply device 410 also supplies power to the floor actuator 450, the power supply line of the vehicle-mounted power supply device 410 to the floor actuator 450 is electrically connected to the first voltage output end a1 of the vehicle-mounted power supply device 410 through the first voltage input end C1 of the floor actuator 450, and the second voltage input end C2 of the floor actuator 450 is electrically connected to the second voltage output end a2 of the vehicle-mounted power supply device 410.

The bottom actuator 450 needs to maintain the supply of electric energy required by normal operation, the intelligent driving controller 440 generates a corresponding instruction according to the requirement of a user on the driving parameter of the intelligent driving automobile and sends the instruction to the vehicle control unit 480, the vehicle control unit 480 generates a corresponding driving signal according to the received instruction and sends the driving signal to the bottom actuator 450 so as to realize the adjustment of the driving parameter of the intelligent driving automobile by controlling and driving a specific device in the bottom actuator 450, so as to realize the control on the driving of the automobile, the bottom actuator 450 may include but is not limited to at least one of an electronic power steering, an electronic parking brake or an electronic driver, the electronic power steering sends a corresponding steering signal to control the steering angle of a steering wheel when the automobile receives the steering instruction of the driver, so as to realize the steering of the intelligent driving automobile, and the electronic parking brake receives the braking instruction of the driver, namely, the electronic driver sends a corresponding driving signal to control the acceleration degree corresponding to the accelerator pedal when the automobile receives the driving instruction of acceleration so as to realize the acceleration of the intelligent driving automobile.

The change of the electrical parameters of the bottom layer actuator 450 may exist under the influence of the driving state of the vehicle, which causes the change of the electrical parameters of the power supply signals output by the first voltage output end a1 and the second voltage output end a2 of the vehicle-mounted power supply device 410, if the electrical parameters of the power supply signals output by the first voltage output end a1 and the second voltage output end a2 of the vehicle-mounted power supply device 410 are abnormal, the vehicle-mounted power supply device 410 supplies power to the intelligent driving controller 440, the intelligent driving controller 440 cannot ensure normal operation, and the driving safety of the vehicle cannot be ensured exactly.

In some embodiments, as shown in fig. 5, an isolation circuit 420 is provided in the power supply system, and the isolation circuit 420 cuts off the power supply line between the vehicle-mounted power supply device 410 and the smart driving controller 440 when a preset condition is reached, for example, an electrical parameter abnormality of the power supply signals of the first voltage output terminal a1 and the second voltage output terminal a2 of the vehicle-mounted power supply device 410, that is, the isolation circuit 420 may cut off the power supply line between the vehicle-mounted power supply device 410 and the intelligent driving controller 440 when the electrical parameters of the power supply signals of the first voltage output terminal a1 and the second voltage output terminal a2 of the vehicle-mounted power supply device 410 are abnormal, and the vehicle-mounted power supply device 410 cannot supply power to the intelligent driving controller 440, so that it is avoided that the abnormal power supply signal output by the vehicle-mounted power supply device 410 affects the normal operation of the intelligent driving controller 440, and isolation between the vehicle-mounted power supply device 410 and the intelligent driving controller 440 under an abnormal condition is achieved.

In addition, after the control line from the vehicle-mounted power supply device 410 to the intelligent driving controller 440 is cut off by the isolation circuit 420 when the preset condition is reached, the vehicle-mounted power supply device 410 does not supply power to the intelligent driving controller 440 any more, and the intelligent driving controller 440 cannot work without a power supply source. In some embodiments, the power supply system of the automobile further includes an energy storage device 430, the energy storage device 430 supplies power to the intelligent driving controller 440 after the power supply line is cut off, and when the power supply line from the vehicle-mounted power supply device 410 to the intelligent driving controller 440 is cut off by the isolation circuit 420, the energy storage device 430 automatically provides a stable power supply signal to the intelligent driving controller 440 to ensure that the intelligent driving controller 440 operates stably.

In some embodiments, as shown in fig. 5, a corresponding vehicle starting system 460 is required to be provided for vehicle starting, the vehicle starting system 460 receives a starting command for sending to control vehicle starting, the vehicle starting system 460 also needs to be supplied with electric energy for normal operation, the vehicle-mounted power supply device 410 can be arranged to also supply power to the vehicle starting system 460, the power supply circuit of the vehicle starting system 460 by the vehicle-mounted power supply device 410 is arranged such that the first voltage input end E1 of the vehicle starting system 460 is electrically connected with the first voltage output end a1 of the vehicle-mounted power supply device 410, and the second voltage input end E2 of the vehicle starting system 460 is electrically connected with the second voltage output end a2 of the vehicle-mounted power supply device 410.

When the intelligent driving automobile is started, the vehicle starting system 460 needs the vehicle power supply equipment 410 to supply power to start the automobile, but the vehicle power supply equipment 410 also needs to be started, when a user sends a starting instruction, the vehicle power supply equipment 410 is not started yet, the vehicle power supply equipment 410 cannot supply power to the vehicle starting system 460, and the vehicle starting system 460 cannot work, so that the automobile cannot be started.

In some embodiments, as shown in fig. 5, the automobile may further include a storage battery 470, the storage battery 470 may supply power to the vehicle starting system 460 when the vehicle-mounted power supply device 410 is not started, so as to ensure that the vehicle starting system 460 is still powered when the vehicle-mounted power supply device 410 is not started, and the vehicle can be started normally, in order to supply power to the vehicle starting system 460 by the storage battery 470, a first voltage output terminal F1 of the storage battery 460 may be electrically connected with a first voltage input terminal E1 of the vehicle starting system 460, and a second voltage output terminal F2 of the storage battery 470 may be electrically connected with a second voltage input terminal E2 of the vehicle starting system 460.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

Those skilled in the art will appreciate that although some embodiments described herein include some features included in other embodiments instead of others, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments.

Those skilled in the art will appreciate that the description of each embodiment has a respective emphasis, and reference may be made to the related description of other embodiments for those parts of an embodiment that are not described in detail. Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A power supply system for an automobile, comprising:

the vehicle-mounted power supply equipment is used for supplying power to the whole vehicle controller in a normal working state and when a preset condition is reached, and supplying power to the intelligent driving controller in the normal working state;

the isolation circuit is used for cutting off a power supply circuit between the vehicle-mounted power supply equipment and the intelligent driving controller when the preset condition is reached;

and the energy storage device is used for supplying power to the intelligent driving controller after the power supply line is cut off.

2. The power supply system according to claim 1, wherein the vehicle-mounted power supply apparatus is configured to supply power to an underlying actuator in a normal operating state.

3. The power supply system of claim 1, wherein the power supply terminal of the vehicle-mounted power supply device comprises a first voltage output terminal and a second voltage output terminal, the first terminal of the isolation circuit is electrically connected with the first voltage output terminal, the second terminal of the isolation circuit is electrically connected with the first voltage input terminal of the intelligent driving controller, the first terminal of the energy storage device is electrically connected with the first voltage input terminal of the intelligent driving controller, and the second terminal of the energy storage device is electrically connected with the first voltage input terminal of the intelligent driving controller.

4. The power supply system of claim 3, wherein the preset condition comprises at least one of a voltage difference of the output signals of the first and second voltage outputs being less than a first voltage threshold, a voltage difference of the output signals of the first and second voltage outputs being greater than a second voltage threshold, and a current of the output signal of the first voltage output being greater than a first current threshold.

5. The power supply system of claim 4, wherein the preset condition comprises a voltage difference of the output signals of the first and second voltage outputs being less than a first voltage threshold;

the isolation circuit comprises a one-way conduction module, a first voltage output end passes through the one-way conduction module and is electrically connected with a first voltage input end of the intelligent driving controller, a first end of the one-way conduction module is electrically connected with a first voltage output end, a second end of the one-way conduction module is electrically connected with a first voltage input end of the intelligent driving controller, and the one-way conduction module is used for one-way conduction of the first voltage output end to a circuit between the first voltage input ends of the intelligent driving controller.

6. The power supply system of claim 4, wherein the isolation circuit comprises:

the switch control module is used for adjusting the output switch control signal based on the set parameters of the output signals of the first voltage output end and the second voltage output end;

and the switch module is used for connecting or disconnecting a line from the first voltage output end to the first voltage input end of the intelligent driving controller based on the received switch control signal.

7. The power supply system of claim 6, wherein the preset condition comprises a voltage difference between the output signals of the first and second voltage outputs being less than a first voltage threshold, the switch control module being configured to adjust the output switch control signal based on the voltage difference between the output signals of the first and second voltage outputs;

the switch control module includes:

the voltage divider is used for dividing the output signals of the first voltage output end and the second voltage output end and outputting the divided signals through the voltage dividing output end;

a first comparison input end of the first comparison device is electrically connected with the voltage division output end, and a second comparison input end of the first comparison device is connected with a first voltage source with the voltage proportional to the first voltage threshold;

and a first logic input end of the logic processing device is electrically connected with an output end of the first comparison device, and the logic processing device is used for performing set logic processing on an input signal of the first logic input end and then outputting the switch control signal.

8. The power supply system of claim 6, wherein the preset condition comprises a voltage difference between the output signals of the first and second voltage outputs being greater than a second voltage threshold, the switch control module being configured to adjust the output switch control signal based on the voltage difference between the output signals of the first and second voltage outputs;

the switch control module includes:

a first comparison input end of the second comparison device is connected with a second voltage source with the voltage proportional to the second voltage threshold, and a second comparison input end of the second comparison device is electrically connected with the voltage division output end;

and a second logic input end of the logic processing device is electrically connected with the output end of the second comparison device, and the logic processing device is used for performing set logic processing on the input signal of the second logic input end and then outputting the switch control signal.

9. The power supply system of claim 6, wherein the preset condition comprises a current of the output signal of the first voltage output terminal being greater than a first current threshold, and the switch control module is configured to adjust the output switch control signal based on the current of the output signal of the first voltage output terminal;

the switch control module includes:

the current conversion device is used for converting the current signal output by the first voltage output end into a voltage signal and outputting the voltage signal through a conversion output end;

a first comparison input end of the third comparison device is connected with a third voltage source with voltage proportional to the first current threshold, and a second comparison input end of the third comparison device is electrically connected with the conversion output end;

and a third logic input end of the logic processing device is electrically connected with an output end of the third comparison device, and the logic processing device is used for performing set logic processing on an input signal of the third logic input end and then outputting the switch control signal.

10. The power supply system according to claim 1, wherein the isolation circuit is further configured to communicate a power supply line between the vehicle-mounted power supply device and the intelligent driving controller when the vehicle-mounted power supply device recovers from the preset condition to a normal operating state, and the vehicle-mounted power supply device recovers to supply power to the intelligent driving controller and charges the energy storage device.

11. The power supply system of claim 1, wherein the energy storage device comprises at least one of a battery or a super capacitor.

12. A vehicle comprising an intelligent driving controller, a vehicle control unit and a power supply system of the vehicle according to any one of claims 1-11.

13. The automobile of claim 12, further comprising:

a first voltage input end of the bottom layer actuator is electrically connected with a first voltage output end of the vehicle-mounted power supply equipment, and a second voltage input end of the bottom layer actuator is electrically connected with a second voltage output end of the vehicle-mounted power supply equipment;

the vehicle starting system is characterized in that a first voltage input end of the vehicle starting system is electrically connected with a first voltage output end of the vehicle-mounted power supply equipment, a second voltage input end of the vehicle starting system is electrically connected with a second voltage output end of the vehicle-mounted power supply equipment, and the vehicle starting system is used for starting the automobile.

14. The automobile of claim 13, further comprising:

the first voltage output end of the storage battery is electrically connected with the first voltage input end of the vehicle starting system, the second voltage output end of the storage battery is electrically connected with the second voltage input end of the vehicle starting system, and the storage battery is used for supplying power to the vehicle starting system when the vehicle-mounted power supply equipment is not started.

15. The automobile of claim 13, wherein the floor actuator comprises at least one of an electronic power steering and the electronic parking brake.