CN113126545A

CN113126545A - Power management system, method and apparatus for autonomous vehicle controller

Info

Publication number: CN113126545A
Application number: CN202110403717.0A
Authority: CN
Inventors: 吴伟岳; 陆兆春
Original assignee: Nanjing Zhaoyue Intelligent Technology Co ltd
Current assignee: Nanjing Zhaoyue Intelligent Technology Co ltd
Priority date: 2021-04-15
Filing date: 2021-04-15
Publication date: 2021-07-16

Abstract

The invention discloses a power management system, a method and a device of an automatic driving vehicle controller. The system comprises: the device comprises a collecting unit, a processing unit and an output unit, wherein the processing unit comprises a communication module, a logic processing module, a control module and an error recording module. According to the invention, by receiving the voltage comparison result between the voltage data of the power supply of each chip on the automatic driving vehicle controller and the voltage threshold of the power supply of each chip, generating the logic processing signal of the power supply of each chip according to the voltage comparison result, and outputting the logic processing signal to logically control the power supply of each chip on the automatic driving vehicle controller, the voltage of the power supply of each chip on the automatic driving vehicle controller can be monitored and recorded in real time, and all the power supplies are subjected to power-on and power-off management, so that the problems of instability and uncontrollable conditions of the power supply in the starting and stopping processes of the vehicle by the automatic driving vehicle controller are avoided.

Description

Power management system, method and apparatus for autonomous vehicle controller

Technical Field

The invention relates to the technical field of vehicle automatic control, in particular to a power management system, a method and a device of an automatic driving vehicle controller.

Background

The field of intelligent vehicle control, in particular the technology of automatic driving vehicle control, is a hot spot of intelligent vehicle research and development at present. The circuitry in the autopilot controller and the main control chip used become more and more complex and typically use the GPU, CPU, SOCS, DSP, MCU, MEMORY and other ASIC chips at the same time. The power supplies for supplying power to each chip on the control board are more and more, the types of the voltages include various voltages such as 12v, 5v, 3.3v, 2.5v, 1.8v, 1.2v, 0.9v and the like, and the precision requirement is higher and higher. A stable and controllable power supply is beginning to become one of the key elements in an autopilot controller. How to quickly and reliably monitor each power supply and synchronously manage all the power supplies is a difficult point. Due to the complexity of the vehicle-mounted environment, a plurality of electronic devices on the vehicle can generate various influences on the power supply of a controller on the vehicle when the vehicle is started and closed, so that a plurality of uncertain states are generated during starting and closing to influence the system.

Some vehicle control panel power management technologies use separate devices plus an MCU for monitoring and management. However, due to the operating speed and operating principle of the MCU, only a few power supplies can be monitored, and simultaneous monitoring, but polling monitoring, is not possible. The general frequency is up to several KHz, and all power supplies can not be monitored and recorded in real time and can not be managed for powering on and powering off all the power supplies, so that the unstable and uncontrollable conditions of the power supplies can occur in the starting and stopping processes of the vehicle of the automatic driving vehicle controller, the I/O state of a main chip on the controller and the signal state among the chips can be in an uncertain state, a system problem is generated, and finally a serious automatic driving safety problem is caused.

Therefore, there is a need for a power management system, method and apparatus for an autonomous vehicle controller to solve the above problems.

Disclosure of Invention

The invention provides a power management system, a method and a device of an automatic driving vehicle controller, which aim to solve the problem that the existing automatic driving vehicle-mounted control panel power management technology cannot monitor and record all power supplies in real time and manage the power supply and the power supply of all the power supplies in a power-on and power-off mode, so that the automatic driving vehicle controller has unstable and uncontrollable power supplies in the starting and stopping processes of a vehicle.

In a first aspect, the present invention provides a power management system for an autonomous vehicle controller, comprising: the system comprises an acquisition unit, a processing unit and an output unit, wherein the processing unit comprises a communication module, a logic processing module, a control module and an error recording module, the acquisition unit is in signal connection with the processing unit, and the processing unit is in signal connection with the output unit;

the acquisition unit is used for acquiring voltage data of a power supply of each chip on the automatic driving vehicle controller, comparing the voltage data with a voltage threshold of the power supply of each chip to obtain a voltage comparison result, and sending the voltage comparison result to the processing unit;

the processing unit is used for receiving the voltage comparison result through the communication module; generating a logic processing signal for the power supply of each chip according to the voltage comparison result through a logic processing module, wherein the logic processing signal is used for performing power-on sequence management, power-off sequence management, reset management and external control management on the power supply of each chip; outputting the logic processing signal to an output unit through a control module; recording a voltage comparison result between voltage data of a power supply of each chip on the automatic driving vehicle controller and a voltage threshold of the power supply of each chip through an error recording module;

and the output unit is used for receiving and executing the logic processing signal.

Further, the acquisition unit comprises an ASCIC chip.

Furthermore, the acquisition unit is also used for acquiring the temperature data and the current data of each chip on the automatic driving vehicle controller.

Furthermore, the communication module is connected with the acquisition unit through an SPI communication interface.

Further, the output unit comprises a control end of the MOS tube, an enable input end of the LDO and the DC-DC, and a reset end of each chip on the automatic driving vehicle controller.

Further, the chip comprises GPU, CPU, ASIC, SOCS, DSP, MCU and MEMORY.

Further, the processing unit is a nonvolatile FPGA chip.

Further, the control module is further configured to output a voltage comparison result between the voltage data of the power supply of each chip on the autonomous vehicle controller and the voltage threshold of the power supply of each chip.

In a second aspect, the present invention provides a method of power management for an autonomous vehicle controller, comprising:

receiving a voltage comparison result between voltage data of a power supply of each chip on an autonomous vehicle controller and a voltage threshold of the power supply of each chip;

generating a logic processing signal for the power supply of each chip according to the voltage comparison result, wherein the logic processing signal is used for performing power-on sequence management, power-off sequence management, reset management and external control management on the power supply of each chip;

recording voltage comparison results between voltage data of a power supply of each chip on the autonomous vehicle controller and voltage thresholds of the power supply of each chip;

and outputting the logic processing signal to logically control the power supply of each chip on the automatic driving vehicle controller.

In a third aspect, the present invention provides a power management apparatus for an autonomous vehicle controller, comprising:

the communication module is used for receiving a voltage comparison result between the voltage data of the power supply of each chip on the automatic driving vehicle controller and the voltage threshold of the power supply of each chip;

the logic processing module is used for generating logic processing signals of the power supplies of the chips according to the voltage comparison result, wherein the logic processing signals are used for carrying out power-on sequence management, power-off sequence management, reset management and external control management on the power supplies of the chips;

the error recording module is used for recording voltage comparison results between the voltage data of the power supply of each chip on the automatic driving vehicle controller and the voltage threshold of the power supply of each chip;

and the control module is used for outputting the logic processing signal so as to logically control the power supply of each chip on the automatic driving vehicle controller.

The invention has the following beneficial effects: the invention provides a power supply management system, a method and a device of an automatic driving vehicle controller, which generate a logic processing signal of the power supply of each chip according to a voltage comparison result between the voltage data of the power supply of each chip on the automatic driving vehicle controller and the voltage threshold of the power supply of each chip by receiving the voltage comparison result, wherein the logic processing signal is used for carrying out power-on sequence management, power-off sequence management, reset management and external control management on the power supply of each chip, recording the voltage comparison result between the voltage data of the power supply of each chip on the automatic driving vehicle controller and the voltage threshold of the power supply of each chip, outputting the logic processing signal to carry out logic control on the power supply of each chip on the automatic driving vehicle controller, thereby realizing the real-time monitoring and recording of the power supply voltage of each chip on the automatic driving vehicle controller, and all power supplies are managed to be powered on and powered off, so that the problem that the power supplies of an automatic driving vehicle controller are unstable and uncontrollable in the starting and stopping processes of the vehicle is solved.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without any inventive exercise.

FIG. 1 is a schematic diagram of a power management system for an autonomous vehicle controller according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of a processing unit of a power management system of an autonomous vehicle controller according to an embodiment of the present invention.

Fig. 3 is a detailed exemplary architecture diagram of a power management system of an autonomous vehicle controller according to an embodiment of the present invention.

Fig. 4 is a flowchart of a power management method for an autonomous vehicle controller according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. The technical solutions provided by the embodiments of the present invention are described in detail below with reference to the accompanying drawings.

With the increasing complexity of autonomous vehicle controllers, the controllers have evolved from controllers made by a single MCU to domain controllers of multiple MCUs to more complex autonomous vehicle controllers. Such controllers have multiple GPUs or CPUs and other ASIC, DSP or MCU chips. Therefore, the power supplies on the controller are more and more, including different power supply voltages of 12V, 5V, 3.3V, 2.5V, 1.8V, 1.2V, 0.9V, etc., so that the problems of simultaneous power-on among chips, uncertainty of initial state during communication between chips, uncertainty of final state during simultaneous power-off, and instability of multiple power supplies during system operation can be caused during system power-on and power-off processes. The invention adds FPGA (field programmable gate array) chip and ASCIC (analog sensing control) chip on the automatic driving vehicle controller and designs control program, for each main chip in the automatic driving vehicle controller, such as: the control system comprises a GPU (graphic processing unit), a CPU (central processing unit), an ASICS (application specific integrated circuit), an SOCS (system on chip), a DSP (digital signal processing), a MCU (micro control unit) and a MEMORY (MEMORY), wherein each power supply of the SOCS and the DSP is monitored in real time, the power-on and power-off sequence of the power supply is adjusted in real time according to a monitoring result, and the stability of the power supply is optimized.

Referring to fig. 1, the present invention provides a power management system for an autonomous vehicle controller, comprising: the device comprises an acquisition unit 1, a processing unit 2 and an output unit 3. The processing unit 2 comprises a communication module 21, a logic processing module 22, a control module 23 and an error recording module 24, the acquisition unit 1 is in signal connection with the processing unit 2, and the processing unit 2 is in signal connection with the output unit 3.

The acquisition unit 1 is used for acquiring voltage data of power supplies of chips on the automatic driving vehicle controller, comparing the voltage data with voltage thresholds of the power supplies of the chips to obtain voltage comparison results, and sending the voltage comparison results to the processing unit. The processing unit 2 is used for receiving the voltage comparison result through the communication module; generating logic processing signals of the power supplies of the chips according to the voltage comparison result through a logic processing module, wherein the logic processing signals are used for carrying out power-on sequence management, power-off sequence management, reset management and external control management on the power supplies of the chips; outputting a logic processing signal to an output unit through a control module; and recording the voltage comparison result between the voltage data of the power supply of each chip on the automatic driving vehicle controller and the voltage threshold of the power supply of each chip through an error recording module. And the output unit 3 is used for receiving and executing the logic processing signal.

The acquisition unit 1 includes ASCIC chips, and 1 ASCIC chip can acquire voltage of 20 power supplies and set a voltage threshold. The voltage threshold value is different according to each circuit voltage, for example, a 3.3V power supply is used, and when the actual voltage value exceeds 3.2V in the power-on process, the available voltage is considered to be reached and a signal is output; the 1.8V power supply considers that the available voltage is reached when the power supply reaches 1.75V and outputs a signal, and the voltage threshold can be set according to different requirements.

The processing unit 2 comprises a communication module 21, a logic processing module 22, a control module 23 and an error recording module 24, the communication module 21 can be connected with the acquisition unit 1 through an SPI communication interface, the processing unit 2 performs logic processing through the logic processing module 22 after acquiring a voltage comparison result output by the acquisition unit 1, then controls an output signal of I/O through the control module 23, and meanwhile, the independent error recording module 24 records all conditions that the generated voltage is lower than or higher than a threshold value and can output the conditions through the control module 23. The control module 23 is further configured to output a voltage comparison result between the voltage data of the power supply of each chip on the autonomous vehicle controller and the voltage threshold of the power supply of each chip.

The output unit 3 can be a control end of a MOS transistor, an enable input end of an LDO (low dropout regulator), a DC-DC, and a reset end of each chip on the controller of the autonomous vehicle.

Referring to fig. 2 and 3, the logic processing module 22 includes a power-on sequence management module 221, a power-off sequence management module 222, a reset management module 223, and other logic modules 224. The logic processing module 22 may be programmed according to the power-on requirements of different chips.

For example, after the MOS transistor 204 reaches 1.2v, 2 clock cycles are required, then 0.9v of the LDO205 is turned on, then the MOS transistor is turned on again after 2 clock cycles, and then 2.5v of the DC-DC206 is supplied, the power-on sequence management module 221 is programmed, the programming is performed through the hardware programming language verilog, the input source is the MOS transistor 204, the LDO205, and the DC-DC206, and the I/O is controlled and the corresponding control result is output through the control module 23 through condition and delay logic control.

For example, if it is required to shut off 1.2v of the MOS transistor 204 first, then shut off 0.9v of the LDO205 after 2 clock cycles, then shut off 2.5v of the DC-DC206 after 2 clock cycles, then program writing is performed in the power-down sequence management module 222, programming is performed through the hardware programming language verilog, the input source is the MOS transistor 204, the LDO205, and the DC-DC206, and finally the I/O is controlled by the control module 23 and the corresponding control result is output through condition and delay logic control, so as to perform power-down sequence management. If the power-on and power-off sequence management is not performed, the chip 203 in the system may have an abnormal initial operation or abnormal power-off operation, which may cause system problems.

In the normal operation process of the system, if a certain power supply is abnormal, the error recording module 24 records the abnormal error, and the control module 23 performs output control to reset the chip corresponding to the corresponding abnormal power supply and allow the other chips 203 to access and read the error record.

In the normal operation process of the system, if a certain power supply is abnormal, an abnormal error is recorded through the error recording module 24, output control can be performed through the control module 23, the chip corresponding to the corresponding abnormal power supply is reset controlled, and the whole system can be reset controlled.

The output voltage of the DC-DC converter connected to the ASCIC device trim pins can be managed by trimming the voltage of the DC-DC206 by the ASCIC202, making power management algorithms by the other logic modules 224. The ASCIC device accurately keeps the output voltage of the DC-DC converter at the level specified by the power management algorithm through an on-chip closed-loop control mechanism, and the power output accuracy of the DC-DC converter is improved.

The other logic modules 224 may be configured according to the actual situation of different power supplies, for example, a switch for controlling an external LED lamp or a fan is required, and the other logic modules 224 may be programmed accordingly to control the state of the output pin under the determined input condition.

In the embodiment, a nonvolatile FPGA201 and an ASCIC202 are used for monitoring all power supplies on the whole automatic driving vehicle controller, the accurate numerical values of all the power supplies are monitored, the numerical values can be fed back to the main control chip under the condition that the power supplies have problems, and the power supply and power-on and power-off sequence of all CPUs, MCUs and the like are controlled, so that the system is more stable.

This non-volatile FPGA can have over 200I/Os available. The FPGA chip is mainly completed by 7 parts, which are respectively: programmable input and output unit, basic programmable logic unit, complete clock management, embedded block RAM, rich wiring resource, embedded bottom functional unit and embedded special hardware module, and features that all I/O and internal logic circuits of FPGA can be operated by using hardware language programming. Different from the I/O polling working mode of the MCU, the FPGA synchronously executes internal logic programs in parallel, is driven by a clock synchronously and can realize the synchronous operation of all I/O. The non-volatile FPGA is different from a common FPGA, and has the advantages that a single chip and a single power supply can be powered on instantly to work within 10ms, and the MCU can work faster than a common MCU and enter a power management state. The ASCIC chip is provided with 20 high-precision programmable voltage threshold comparators, and can judge overvoltage faults and undervoltage faults of 20 power supplies at the same time.

The ASCIC chip also has 2 current monitoring circuits, and 2 programmable threshold comparators. The acquisition unit is also used for acquiring the temperature data and the current data of each chip on the automatic driving vehicle controller. The temperature monitor is directly connected to the temperature sensing diode and can measure the temperature on the board of a given location or a device mounted on the circuit board. The temperature monitoring circuit also contains programmable threshold comparators that measure the state of voltage, current and temperature using the ASCIC202 and are connected to the FPGA201 through a communication interface. Logic algorithms internal to the FPGA201 are used to perform power management and control processing functions based on these state data. The FPGA201 controls enabling signals of an MOS tube 204, an LDO205 and a DC-DC206 of a power supply in the system, and further monitors and controls the power-on and power-off sequence of all the power supplies in the system.

Specifically, the FPGA201 is used to monitor the entire power system, and when the voltage of the power MOS204, LDO205, DC-DC206, etc. in the system exceeds or falls below a threshold, the time and voltage, and current temperature, etc. under the condition are all recorded in the error log 207, and can be saved and transmitted to other chips 203 (such as GPU, CPU, ASICS, SOCS, DSP, MCU, MEMORY) in the system through the FPGA 201.

Specifically, the FPGA201 is used for monitoring the whole power supply system, when the voltages of the power MOS tube 204, the LDO205, the DC-DC206 and the like in the system exceed or are lower than a threshold value, error logs 207 are recorded, meanwhile, reset control can be performed on the chips 203 such as a GPU, a CPU, an ASICS, an SOCS, a DSP, an MCU, a MEMORY and the like in the system through a control output module of the FPGA201, and reset control signals can be independently output to any chip with voltage problems or all chips of the system at the same time.

Specifically, the selected non-volatile FPGA201 has more than 200 programmable I/os, and all can simultaneously monitor 100 power supplies and reset and enable control the chips or power supplies on 100 systems, and can simultaneously monitor more than 100 different power supplies. When any power supply is unstable, the power supply is lower than a threshold value or exceeds the threshold value, the power supply can be monitored in real time and recorded and stored, when the power supply is lower than a certain threshold value and possibly when some chips work abnormally, any or all power supplies can be started immediately according to fault data to restart a single chip or the whole system, and data errors are avoided.

Referring to fig. 4, the present invention further provides a power management method for an automatic driving vehicle controller, including:

step S401 receives a voltage comparison result between the voltage data of the power supply of each chip on the autonomous vehicle controller and the voltage threshold of the power supply of each chip.

Step S402, generating logic processing signals for the power supply of each chip according to the voltage comparison result, wherein the logic processing signals are used for performing power-on sequence management, power-off sequence management, reset management and external control management on the power supply of each chip.

In step S403, the voltage comparison result between the voltage data of the power supply of each chip and the voltage threshold of the power supply of each chip on the autonomous vehicle controller is recorded.

And S404, outputting a logic processing signal to logically control the power supply of each chip on the automatic driving vehicle controller.

An embodiment of the present invention further provides a power management device for an autonomous vehicle controller, including:

and the communication module is used for receiving a voltage comparison result between the voltage data of the power supply of each chip on the automatic driving vehicle controller and the voltage threshold of the power supply of each chip.

And the logic processing module is used for generating logic processing signals of the power supply of each chip according to the voltage comparison result, wherein the logic processing signals are used for carrying out power-on sequence management, power-off sequence management, reset management and external control management on the power supply of each chip.

And the error recording module is used for recording the voltage comparison result between the voltage data of the power supply of each chip on the automatic driving vehicle controller and the voltage threshold of the power supply of each chip.

And the control module is used for outputting a logic processing signal so as to logically control the power supply of each chip on the automatic driving vehicle controller.

An embodiment of the present invention further provides a storage medium, and a storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements some or all of the steps in each embodiment of the power management method for an autonomous vehicle controller provided by the present invention. The storage medium may be a magnetic disk, an optical disk, a Read-only memory (ROM) or a Random Access Memory (RAM).

Those skilled in the art will readily appreciate that the techniques of the embodiments of the present invention may be implemented as software plus a required general purpose hardware platform. Based on such understanding, the technical solutions in the embodiments of the present invention may be essentially or partially implemented in the form of a software product, which may be stored in a storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.

The same and similar parts in the various embodiments in this specification may be referred to each other. In particular, as for the power management device embodiment of the autonomous vehicle controller, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant points can be referred to the description in the method embodiment.

The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention.

Claims

1. A power management system for an autonomous vehicle controller, comprising: the system comprises an acquisition unit, a processing unit and an output unit, wherein the processing unit comprises a communication module, a logic processing module, a control module and an error recording module, the acquisition unit is in signal connection with the processing unit, and the processing unit is in signal connection with the output unit;

2. The power management system of an autonomous vehicle controller of claim 1 wherein the acquisition unit includes an ASCIC chip.

3. The power management system of an autonomous vehicle controller of claim 2 wherein the collection unit is further configured to collect temperature data and current data for chips on the autonomous vehicle controller.

4. The power management system of an autonomous vehicle controller of claim 1 wherein the communication module is connected to the acquisition unit via an SPI communication interface.

5. The power management system of an autonomous vehicle controller of claim 1 wherein the output unit comprises a control terminal of a MOS transistor, an enable input terminal of a LDO, a DC-DC, and a reset terminal of each chip on the autonomous vehicle controller.

6. The autonomous vehicle controller power management system of claim 5, wherein the chip comprises a GPU, CPU, ASIC, SOCS, DSP, MCU, and MEMORY.

7. The power management system of an autonomous vehicle controller of claim 1 wherein the processing unit is a non-volatile FPGA chip.

8. The power management system of an autonomous vehicle controller of claim 1 wherein the control module is further configured to output a voltage comparison between the voltage data of the power supply of each chip on the autonomous vehicle controller and a voltage threshold of the power supply of each chip.

9. A method for power management of an autonomous vehicle controller, comprising:

10. A power management device for an autonomous vehicle controller, comprising: