CN111605434B - Unmanned vehicle control method, control system and unmanned vehicle - Google Patents
Unmanned vehicle control method, control system and unmanned vehicle Download PDFInfo
- Publication number
- CN111605434B CN111605434B CN202010214593.7A CN202010214593A CN111605434B CN 111605434 B CN111605434 B CN 111605434B CN 202010214593 A CN202010214593 A CN 202010214593A CN 111605434 B CN111605434 B CN 111605434B
- Authority
- CN
- China
- Prior art keywords
- unmanned vehicle
- power
- voltage
- relay
- low
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention relates to the technical field of unmanned driving, automatic driving and unmanned vehicles, and provides an unmanned vehicle control method, a control system and an unmanned vehicle, wherein the unmanned vehicle control method comprises the following steps: when the unmanned vehicle needs to be powered on, if the unmanned vehicle receives a power-on request trigger signal, controlling the unmanned vehicle to automatically complete a power-on operation step; when the unmanned vehicle needs to be powered off, if the unmanned vehicle receives a power-off request trigger signal, controlling the unmanned vehicle to automatically complete a power-off operation step; the power-on operation step comprises: firstly, carrying out low-voltage electrification, and judging that high-voltage electrification is carried out after the low-voltage electrification is finished; the power-off operation step comprises: and (4) firstly carrying out high-voltage reduction, and judging that low-voltage reduction is carried out after the high-voltage reduction is finished. According to the invention, after the power-on and power-off request trigger signal is received, power-on and power-off are automatically completed, so that the operation steps of power-on or power-off of the unmanned vehicle are reduced, and the operation safety is improved; the requirement on the skill of an operator is low, and the comfort of the unmanned vehicle operation is improved.
Description
Technical Field
The invention relates to the technical field of unmanned driving, automatic driving and unmanned vehicles, in particular to an unmanned vehicle control method, a control system and an unmanned vehicle.
Background
With the progress of science and technology, vehicles increasingly enter the lives of people, wherein the electric unmanned vehicle technology is more and more emphasized and is more and more applied to service industries, such as logistics, catering and the like.
The power-on and power-off control of the unmanned vehicle is a research hotspot, and at present, most of unmanned vehicles adopt a handheld remote controller to power on and power off, and need to go through the following steps: firstly, a main switch of the unmanned vehicle is turned on, then an up-down electric switch is pressed, then a switch of a remote controller is turned on, and high-voltage electrification and automatic driving electrification are sequentially completed through buttons on the remote controller; on the other hand, the skill requirements of operators are high, and the operators need to be trained, so that the cost is high.
Disclosure of Invention
In order to solve the above technical problem, a first aspect of the present invention provides an unmanned vehicle control method, including:
when the unmanned vehicle needs to be powered on, if the unmanned vehicle receives a power-on request trigger signal, controlling the unmanned vehicle to automatically complete a power-on operation step;
when the unmanned vehicle needs to be powered off, if the unmanned vehicle receives a power-off request trigger signal, controlling the unmanned vehicle to automatically complete a power-off operation step;
the power-on operation step comprises the following steps: firstly, carrying out low-voltage electrification, and judging that high-voltage electrification is carried out after the low-voltage electrification is finished;
the power-off operation step comprises the following steps: firstly, high voltage reduction is carried out, and low voltage reduction is carried out after the high voltage reduction is finished.
According to the invention, when the unmanned vehicle receives the power-on request trigger signal or the power-off request trigger signal, the power-on or power-off operation is automatically completed, so that on one hand, the power-on or power-off operation steps of the unmanned vehicle are reduced, and the operation safety is improved; on the other hand, the requirement on the skill of an operator is low, and the comfort of the unmanned vehicle operation is improved.
Further, after the unmanned vehicle automatically completes the power-on operation step, if the unmanned vehicle receives the power-on request trigger signal again, the unmanned vehicle is controlled to perform the automatic driving power-on step.
According to the invention, after the unmanned vehicle finishes high-voltage power-on, if the unmanned vehicle receives the power-on request signal, the unmanned vehicle is controlled to automatically drive and power on, so that the unmanned vehicle is powered on from low voltage to high voltage and then from automatic driving, only two times of power-on request trigger signals are needed to be executed, power-on operation steps are reduced through automatic judgment, the operation is convenient, errors are not easy to occur, and the safety of unmanned vehicle operation is improved.
Further, the generation manner of the power-up request trigger signal or the power-down request trigger signal includes: a key trigger or a remote message signal trigger.
The invention adopts a key or a remote message signal as a trigger signal for power on and power off, so that the operation is simple and errors are not easy to occur.
Further, the step of performing low-voltage power-on specifically includes: and closing the self-locking relay and the IG relay.
Further, after the IG relay is successfully closed, the step of determining that the high voltage power supply specifically includes:
closing a relay inside the battery;
when the unmanned vehicle receives the information that the relay inside the battery is closed, the pre-charging relay is closed;
after the unmanned vehicle receives the information that the pre-charging relay is closed, further judging whether the voltage between the output end of the battery and the input end of the motor is smaller than a first preset voltage value, if so, closing the main positive relay, and disconnecting the pre-charging relay;
after the unmanned vehicle receives the information that the main positive relay is closed and the pre-charging relay is opened, whether the state of the motor received by the unmanned vehicle is a ready state or not is further judged, and if yes, the high-voltage electrification of the unmanned vehicle is completed.
Further, after the unmanned vehicle receives the information that the main positive relay is closed and the pre-charging relay is opened, the method further comprises the following steps: judging whether the voltage between the output end of the battery and the input end of the motor received by the unmanned vehicle is smaller than the first preset voltage value or not, if so, entering a high-voltage waiting finishing step by the unmanned vehicle;
and further judging whether the state of the motor received by the unmanned vehicle is a ready state, if so, completing the high-voltage electrification of the unmanned vehicle, otherwise, keeping the step of waiting for the high-voltage completion by the unmanned vehicle.
According to the invention, after the main positive relay is closed, whether the voltage between the output end of the battery and the input end of the motor meets a certain condition is judged, so that the accuracy and the effectiveness of the high-voltage electrifying judgment of the unmanned vehicle are ensured.
Further, the step of waiting for completion of high pressure when the unmanned vehicle enters further comprises: and further judging whether the unmanned vehicle receives a charging gun connection signal, if so, entering a charging step, otherwise, keeping the high-voltage waiting step by the unmanned vehicle.
According to the invention, after the main positive relay is closed, whether the charging gun has a connection signal or not is judged, so that the safety of the unmanned vehicle is ensured.
Further, the step of automatically driving and powering on the unmanned vehicle specifically comprises: closing the automatic driving relay; and after the unmanned vehicle receives the information that the automatic driving relay is closed, the automatic driving electrification of the unmanned vehicle is completed.
Further, after the automatic driving power-on of the unmanned vehicle is completed, if the unmanned vehicle receives the power-off request signal, the unmanned vehicle is controlled to automatically complete the power-off operation step.
According to the invention, the automatic driving and power-on of the unmanned vehicle are completed, and in the normal driving process, when the unmanned vehicle receives the power-off request trigger signal, the power-off operation is automatically completed, so that on one hand, the power-off operation steps of the unmanned vehicle are reduced, and the operation safety is improved; on the other hand, the requirement on the skill of an operator is low, and the comfort of the unmanned vehicle operation is improved.
Further, the power-off operation step specifically includes:
releasing the enabling instruction of the motor;
when the current received by the unmanned vehicle is smaller than a preset current value, sending a high-voltage power-off instruction;
controlling the main positive relay to be disconnected according to the high-voltage power-off instruction;
when the unmanned vehicle receives the information that the main positive relay is disconnected, a quick discharge instruction is sent to enable the motor to discharge quickly;
when the voltage between the output end of the battery and the input end of the motor received by the unmanned vehicle is larger than a second preset voltage value, the relay inside the battery is controlled to be switched off, and the high-voltage power-down is completed.
According to the invention, whether the high-voltage component stops working or not is judged by adopting the magnitude of current in the power-off operation, so that the function of protecting the high-voltage component is achieved; whether the motor finishes discharging or not is judged by adopting the voltage between the output end of the battery and the input end of the motor, and the safety is improved.
Further, after completing the high voltage step-down, performing the low voltage step-down; the low-voltage power-down device specifically comprises: and disconnecting the self-locking relay and the IG relay.
Further, after the automatic driving power-on of the unmanned vehicle is completed, if the unmanned vehicle receives fault information, whether the current vehicle speed of the unmanned vehicle is lower than a preset vehicle speed value is judged, and if the current vehicle speed of the unmanned vehicle is lower than the preset vehicle speed value, the unmanned vehicle is controlled to perform the high-voltage power-down.
According to the invention, when the unmanned vehicle receives the fault information, if the current speed of the unmanned vehicle is lower than the preset speed value, the unmanned vehicle is controlled to finish high-voltage power-down, so that the safety of the unmanned vehicle and people is ensured.
Further, the step after the voltage reduction under the high voltage is completed further comprises: and removing the fault of the unmanned vehicle, and controlling the unmanned vehicle to perform low-voltage reduction when the unmanned vehicle receives the power-down request trigger signal after the fault is removed.
According to the invention, after the fault is relieved, the low-voltage reduction of the unmanned vehicle is controlled, so that maintenance personnel can conveniently check fault information and fault reasons, and further the fault of the unmanned vehicle is solved, and the next normal work of the unmanned vehicle is ensured.
A second aspect of the present invention provides an unmanned vehicle including the above unmanned vehicle control method.
Drawings
Fig. 1 is a first schematic flow chart of an unmanned vehicle control method according to an embodiment of the present invention;
fig. 2 is a first schematic diagram of a power-on process in the unmanned vehicle control method according to the embodiment of the present invention;
fig. 3 is a schematic diagram of a power-on process in the unmanned vehicle control method according to the embodiment of the present invention;
fig. 4 is a schematic diagram of a power-on process in the unmanned vehicle control method according to the embodiment of the present invention;
fig. 5 is a first schematic diagram of a lower current flow in the unmanned vehicle control method according to the embodiment of the present invention;
fig. 6 is a schematic diagram of a lower current routine in the unmanned vehicle control method according to the embodiment of the present invention;
fig. 7 is a first schematic diagram of a lower current process when a fault occurs in the unmanned vehicle control method according to the embodiment of the present invention;
fig. 8 is a schematic diagram of a lower current process when a fault occurs in the unmanned vehicle control method according to the embodiment of the present invention;
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanying figures 1 to 8 are described in detail below.
Referring to fig. 1, a first aspect of the present invention provides an unmanned vehicle control method, the method comprising:
when the unmanned vehicle needs to be powered on, if the unmanned vehicle receives a power-on request trigger signal, controlling the unmanned vehicle to automatically complete a power-on operation step;
when the unmanned vehicle needs to be powered off, if the unmanned vehicle receives a power-off request trigger signal, controlling the unmanned vehicle to automatically complete a power-off operation step;
the power-on operation step comprises: firstly, carrying out low-voltage electrification, and judging that high-voltage electrification is carried out after the low-voltage electrification is finished;
the power-off operation step comprises the following steps: firstly, high voltage reduction is carried out, and low voltage reduction is carried out after the high voltage reduction is finished.
Specifically, when the unmanned vehicle is in a power-off state, if the unmanned vehicle receives a power-on request signal, the unmanned vehicle is controlled to automatically complete a power-on operation step; when the unmanned vehicle is in a high-voltage power-on completion state or an automatic driving power-on completion state, if the unmanned vehicle receives the power-off request signal, controlling the unmanned vehicle to automatically complete the power-off operation step.
Therefore, when the unmanned vehicle receives the power-on request trigger signal or the power-off request trigger signal, the power-on or power-off operation is automatically completed, so that on one hand, the power-on or power-off operation steps of the unmanned vehicle are reduced, and the operation safety is improved; on the other hand, the requirement on the skill of an operator is low, and the comfort of the unmanned vehicle operation is improved.
Preferably, referring to fig. 1, after the unmanned vehicle automatically completes the power-on operation step, if the unmanned vehicle receives the power-on request trigger signal again, the unmanned vehicle is controlled to perform the automatic driving power-on step.
Therefore, after the unmanned vehicle completes high-voltage power-on, if the unmanned vehicle receives the power-on request signal, the unmanned vehicle is controlled to automatically drive and power on, so that the unmanned vehicle is powered on from low voltage to high voltage and then automatically drives and is powered on, only two times of power-on request trigger signals are needed to be executed, power-on operation steps are reduced through automatic judgment and completion, operation is convenient, errors are not prone to occurring, and safety of unmanned vehicle operation is improved.
Preferably, the generation manner of the power-up request trigger signal or the power-down request trigger signal includes: a key trigger or a remote message signal trigger.
It should be noted that the power-on of the unmanned vehicle at least includes one of low-voltage power-on, high-voltage power-on and automatic driving power-on.
The power down of the unmanned vehicle at least comprises: the low voltage is lower than the high voltage.
When the unmanned vehicle finishes low-voltage power-down, if the unmanned vehicle receives a signal generated by key triggering or remote message signal triggering, the unmanned vehicle is indicated to need to be powered on, and the signal is a low-voltage power-on signal; when the unmanned vehicle is powered on at high voltage, if the unmanned vehicle receives a signal generated by triggering of a key or triggering of a remote message signal, the unmanned vehicle is indicated to need to be automatically driven and powered on, and the signal is an automatic driving and powering-on signal; when the unmanned vehicle automatically drives and is powered on, if the unmanned vehicle receives a signal generated by triggering of a key or triggering of a remote message signal, the unmanned vehicle is indicated to need to be powered off, and the signal is a power-off signal.
Therefore, the invention adopts a key or a remote message signal as the trigger signal for powering on and powering off, so that the operation is simple and the error is not easy to occur.
Preferably, referring to fig. 2, the step of powering on at low voltage specifically includes: and closing the self-locking relay and the IG relay.
It should be noted that the latching relay is closed, so that the unmanned vehicle can continuously receive the power-on request trigger signal.
And the IG relay is closed and used for awakening a low-voltage power demand component of the unmanned vehicle.
Preferably, after the IG relay is successfully closed, the high-voltage power-on is performed, where the step of the high-voltage power-on specifically includes:
closing a relay inside the battery;
when the unmanned vehicle receives the information that the relay inside the battery is closed, the pre-charging relay is closed;
after the unmanned vehicle receives the information that the pre-charging relay is closed, further judging whether the voltage between the output end of the battery and the input end of the motor is smaller than a first preset voltage value, if so, closing a main positive relay, and disconnecting the pre-charging relay;
after the unmanned vehicle receives the information that the main positive relay is closed and the pre-charging relay is opened, whether the state of the motor received by the unmanned vehicle is a ready state or not is further judged, and if yes, the high-voltage electrification of the unmanned vehicle is completed.
It should be noted that the pre-charge relay is connected in parallel with the main positive relay and is located in a high-voltage branch of the battery and the motor, and when the high-voltage power is supplied, the pre-charge relay is closed first, then the main positive relay is closed and the pre-charge relay is disconnected, so that the instant impact damage of the high-voltage power supply is reduced, and the stability and the safety of the high-voltage power supply are ensured.
The value of the first preset voltage value is 5V.
Therefore, after the low-voltage power-on, the invention automatically judges the closing information of the relay, the voltage difference between the battery and the motor and the state information of the motor, and automatically completes the high-voltage power-on without the participation of operators when the conditions are met, thereby simplifying the operation of the electric control on the unmanned vehicle and improving the safety of the electric control on the unmanned vehicle.
Preferably, referring to fig. 3, the step of the unmanned vehicle after receiving the information that the main positive relay is closed and the pre-charge relay is open further comprises: judging whether the voltage between the output end of the battery and the input end of the motor received by the unmanned vehicle is smaller than the first preset voltage value or not, and if so, controlling the unmanned vehicle to enter a step of waiting for high-voltage completion;
and further judging whether the state of the motor received by the unmanned vehicle is a ready state, if so, completing the high-voltage electrification of the unmanned vehicle, otherwise, keeping the step of waiting for the high-voltage completion by the unmanned vehicle.
It should be noted that, when the main positive relay is closed, the state of the motor may be an unprepared state, and therefore, after the main positive relay is closed, whether the voltage between the output end of the battery and the input end of the motor meets a certain condition is determined by increasing, so that the accuracy and the effectiveness of the high-voltage power-on determination of the unmanned vehicle are ensured.
Preferably, referring to fig. 4, the unmanned vehicle entering the high pressure completion waiting step further comprises: and further judging whether the unmanned vehicle receives a charging gun connection signal, if so, entering a charging step, otherwise, keeping the high-voltage waiting step by the unmanned vehicle.
It should be noted that the unmanned vehicle includes a charging gun, and therefore it is necessary to determine whether the charging gun has a connection signal, and when the charging gun has the connection signal, it indicates that the unmanned vehicle needs to be charged, and high-voltage power-on cannot be completed.
Therefore, the invention judges whether the charging gun has a connection signal or not after the main positive relay is closed, thereby ensuring the safety of the unmanned vehicle.
Preferably, the step of automatically driving and powering on the unmanned vehicle specifically comprises: closing the automatic driving relay; and after the unmanned vehicle receives the information that the automatic driving relay is closed, the automatic driving electrification of the unmanned vehicle is completed.
Preferably, referring to fig. 5, after the automatic driving power-on of the unmanned vehicle is completed, if the unmanned vehicle receives the power-off request trigger signal, the unmanned vehicle is controlled to automatically complete the power-off operation step.
Therefore, the unmanned vehicle automatically drives to be powered on, and when the unmanned vehicle receives a power-off request trigger signal in the normal driving process, the power-off operation is automatically completed, so that on one hand, the power-off operation steps of the unmanned vehicle are reduced, and the operation safety is improved; on the other hand, the requirement on the skill of an operator is low, and the comfort of the unmanned vehicle operation is improved.
Preferably, referring to fig. 6, the step of powering down specifically includes:
releasing the enabling instruction of the motor;
when the current received by the unmanned vehicle is smaller than a preset current value, sending a high-voltage power-off instruction;
controlling the main positive relay to be disconnected according to the high-voltage power-off instruction;
when the unmanned vehicle receives the information that the main positive relay is disconnected, a quick discharge instruction is sent to enable the motor to discharge quickly;
when the voltage between the output end of the battery and the input end of the motor received by the unmanned vehicle is larger than a second preset voltage value, the relay inside the battery is controlled to be switched off, and the high-voltage power-down is completed.
The value of the preset current value is 1A.
Therefore, the invention judges whether the high-voltage component stops working by adopting the magnitude of the current in the power-off operation, thereby playing the role of protecting the high-voltage component; whether the motor finishes discharging or not is judged by adopting the voltage between the output end of the battery and the input end of the motor, and the safety is improved.
Preferably, the low voltage reduction is performed after the high voltage reduction is completed; the low-voltage power-down device specifically comprises: and disconnecting the self-locking relay and the IG relay.
Preferably, referring to fig. 7, after the automatic driving power-on of the unmanned vehicle is completed, if the unmanned vehicle receives the fault information, it is determined whether the current vehicle speed of the unmanned vehicle is lower than a preset vehicle speed value, and if so, the unmanned vehicle is controlled to perform the high-voltage power-down.
The value of the preset vehicle speed value is 1 Km/h.
Specifically, the fault information comprises fault information of the unmanned vehicle and collision information of the unmanned vehicle, and when the unmanned vehicle breaks down or collides, the main positive relay and the battery relay are directly disconnected when the current speed of the unmanned vehicle is judged to be lower than a preset speed value. Wherein, judge the current speed of the unmanned vehicle because: when a fault occurs, the motor is required to brake to stop the unmanned vehicle, and then high-voltage power-off treatment is carried out, so that the unmanned vehicle or people are prevented from being damaged.
Therefore, when the unmanned vehicle receives the fault information and the current speed of the unmanned vehicle is lower than the preset speed value, the unmanned vehicle is controlled to finish high-voltage reduction, and safety of the unmanned vehicle and people is guaranteed.
Preferably, referring to fig. 8, the step after the voltage reduction at the high voltage is completed further includes: and removing the fault of the unmanned vehicle, and controlling the unmanned vehicle to perform low-voltage reduction when the unmanned vehicle receives the power-down request trigger signal after the fault is removed.
It should be noted that, since the fault information may be displayed by a dashboard or a signal lamp, for example, the dashboard fault lamp is turned on or the vehicle status lamp flashes red to notify the operator of the unmanned vehicle fault handling. Before the fault is removed, the low-voltage power-on signal is kept, so that maintenance personnel can conveniently check fault information, and the fault of the unmanned vehicle can be solved.
Therefore, after the fault is relieved, the low-voltage reduction of the unmanned vehicle is controlled, so that maintenance personnel can conveniently check fault information and fault reasons, the fault of the unmanned vehicle is further solved, and the next normal work of the unmanned vehicle is ensured.
A second aspect of the present invention provides an unmanned vehicle including the above unmanned vehicle control method.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (6)
1. An unmanned vehicle control method, comprising:
when the unmanned vehicle is in a power-off state, if the unmanned vehicle receives a power-on request signal, controlling the unmanned vehicle to automatically complete a power-on operation step; the power-on operation step comprises the following steps: firstly, carrying out low-voltage electrification, and judging that high-voltage electrification is carried out after the low-voltage electrification is finished;
after the unmanned vehicle automatically finishes the power-on operation step, if the unmanned vehicle receives the power-on request triggering signal again, controlling the unmanned vehicle to carry out the automatic driving power-on step;
when the unmanned vehicle is in a high-voltage power-on completion state or an automatic driving power-on completion state, if the unmanned vehicle receives a power-off request signal, controlling the unmanned vehicle to automatically complete a power-off operation step;
the generation mode of the power-on request trigger signal or the power-off request trigger signal comprises the following steps: a key trigger or a remote message signal trigger;
the step of performing low-voltage power-on specifically comprises: closing the self-locking relay and the IG relay;
after the IG relay is successfully closed, the step of high-voltage electrification specifically comprises the following steps: closing a relay inside the battery; when the unmanned vehicle receives the information that the relay inside the battery is closed, the pre-charging relay is closed; after the unmanned vehicle receives the information that the pre-charging relay is closed, further judging whether the difference between the output voltage of the battery and the input voltage of the motor is smaller than a first preset voltage value, if so, closing a main positive relay, and disconnecting the pre-charging relay; after the unmanned vehicle receives the information that the main positive relay is closed and the pre-charging relay is opened, judging whether the voltage difference between the output end of the battery and the input end of the motor received by the unmanned vehicle is smaller than a first preset voltage value or not, and if so, entering a high-voltage waiting finishing step by the unmanned vehicle; further judging whether the state of the motor received by the unmanned vehicle is a ready state or not, if so, completing the high-voltage electrification of the unmanned vehicle, otherwise, keeping the unmanned vehicle in the step of waiting for the high-voltage completion; wherein, unmanned car gets into waits that high pressure accomplishes the step and still includes: further judging whether the unmanned vehicle receives a charging gun connection signal, if so, entering a charging step, otherwise, keeping the unmanned vehicle in the high-voltage waiting step;
the power-off operation step comprises the following steps: releasing the enabling instruction of the motor; when the current received by the unmanned vehicle is smaller than a preset current value, a high-voltage power-off command is sent; controlling the main positive relay to be disconnected according to the high-voltage power-off instruction; when the unmanned vehicle receives the information that the main positive relay is disconnected, a rapid discharging instruction is sent to enable the motor to discharge rapidly; when the voltage difference between the output end of the battery and the input end of the motor received by the unmanned vehicle is larger than a second preset voltage value, controlling the relay inside the battery to be switched off, and finishing the high-voltage reduction; and judging that the low voltage is reduced after the high voltage is reduced.
2. The unmanned vehicle control method of claim 1, wherein the step of powering on the unmanned vehicle during autonomous driving specifically comprises: closing the automatic driving relay; and after the unmanned vehicle receives the information that the automatic driving relay is closed, the automatic driving electrification of the unmanned vehicle is completed.
3. The unmanned vehicle control method of claim 1, wherein the low-voltage power-down is performed after completion of the high-voltage power-down; the low-voltage power supply specifically comprises: and disconnecting the self-locking relay and the IG relay.
4. The unmanned vehicle control method according to claim 1, wherein after the automatic driving power-up of the unmanned vehicle is completed, if the unmanned vehicle receives fault information, it is determined whether a current vehicle speed of the unmanned vehicle is lower than a preset vehicle speed value, and if so, the unmanned vehicle is controlled to perform the high-voltage power-down.
5. The unmanned vehicle control method of claim 4, wherein the step after completion of the powering down at the high voltage further comprises: and if the fault is removed, when the unmanned vehicle receives the power-off request trigger signal, controlling the unmanned vehicle to perform the low-voltage power-off.
6. An unmanned vehicle comprising the unmanned vehicle control method according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010214593.7A CN111605434B (en) | 2020-03-24 | 2020-03-24 | Unmanned vehicle control method, control system and unmanned vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010214593.7A CN111605434B (en) | 2020-03-24 | 2020-03-24 | Unmanned vehicle control method, control system and unmanned vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111605434A CN111605434A (en) | 2020-09-01 |
| CN111605434B true CN111605434B (en) | 2022-09-27 |
Family
ID=72194711
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010214593.7A Active CN111605434B (en) | 2020-03-24 | 2020-03-24 | Unmanned vehicle control method, control system and unmanned vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111605434B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113602094A (en) * | 2021-08-05 | 2021-11-05 | 东风汽车集团股份有限公司 | New energy automobile power-on method and device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109774781A (en) * | 2019-01-14 | 2019-05-21 | 洛阳智能农业装备研究院有限公司 | A kind of unmanned electric tractor whole-control system |
| CN110281786A (en) * | 2019-05-27 | 2019-09-27 | 东风柳州汽车有限公司 | Electric car power-on and power-off control method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20190100099A (en) * | 2019-08-08 | 2019-08-28 | 엘지전자 주식회사 | Method for providing vehicle charging service |
-
2020
- 2020-03-24 CN CN202010214593.7A patent/CN111605434B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109774781A (en) * | 2019-01-14 | 2019-05-21 | 洛阳智能农业装备研究院有限公司 | A kind of unmanned electric tractor whole-control system |
| CN110281786A (en) * | 2019-05-27 | 2019-09-27 | 东风柳州汽车有限公司 | Electric car power-on and power-off control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111605434A (en) | 2020-09-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107662501B (en) | Pure electric vehicle power-off control method and pure electric vehicle | |
| CN109532494B (en) | High-voltage power-on control method and high-voltage power-off control method for pure electric vehicle | |
| CN110303905B (en) | High-voltage topological structure for pure electric commercial vehicle and power-on and power-off control method | |
| CN113459810B (en) | Power-off control method based on full-power electricity-electricity hybrid fuel cell automobile | |
| CN102463897B (en) | Control device for vehicle | |
| CN110254237B (en) | Method for controlling power-on and power-off mode of electric automobile | |
| EP1909303B1 (en) | Robot control apparatus comprising a servo amplifier having an AC/DC converter | |
| CN111532137B (en) | New energy automobile high-voltage power-on and power-off control method | |
| CN108340855B (en) | Control method and control device for power supply main switch of vehicle | |
| CN105691209A (en) | Electrical system for controller with distribution type architecture and power supply redundancy electric intelligent vehicle | |
| CN111605434B (en) | Unmanned vehicle control method, control system and unmanned vehicle | |
| CN112428822A (en) | Diagnosis control method and device and electric automobile | |
| US11285822B2 (en) | Electric power system and control method therefor | |
| KR101909275B1 (en) | Apparatus and Method for Battery Charge | |
| CN112937304B (en) | Electric motor car low-voltage storage battery insufficient voltage's starting system | |
| CN114013282A (en) | Whole-vehicle high-voltage power-on and power-off control method and control equipment of hydrogen fuel cell vehicle | |
| CN113183822A (en) | Electric automobile safety battery replacement control system and method | |
| CN111038264B (en) | Delayed power-off control system and control method for vehicle | |
| CN109733245B (en) | Method for continuously charging electric automobile after firmware or software is upgraded | |
| CN108725206B (en) | Control method of electric vehicle and electric vehicle using control method | |
| CN215752026U (en) | New energy automobile is to outer discharge control system | |
| CN112046421B (en) | Power-on control device and method of all-in-one controller and automobile | |
| CN112248814A (en) | Loader power-on control method and loader | |
| JP3394217B2 (en) | Electric vehicle control device and contactor control method | |
| CN112356843A (en) | Off-line detection equipment-based hybrid power passenger vehicle transportation method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |