CN114261461A - Unmanned vehicle and whole vehicle communication system thereof - Google Patents
Unmanned vehicle and whole vehicle communication system thereof Download PDFInfo
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- CN114261461A CN114261461A CN202111382152.9A CN202111382152A CN114261461A CN 114261461 A CN114261461 A CN 114261461A CN 202111382152 A CN202111382152 A CN 202111382152A CN 114261461 A CN114261461 A CN 114261461A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02T10/00—Road transport of goods or passengers
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- Y02T10/72—Electric energy management in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
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Abstract
The invention discloses an unmanned vehicle communication system and an unmanned vehicle in the technical field of unmanned vehicles, wherein the unmanned vehicle communication system comprises a central vehicle control unit which is respectively in communication connection with a vehicle-mounted sensor, a power system and a suspension control system through a CAN bus; and the central vehicle controller is in communication connection with a motor controller for driving the unmanned vehicle to walk through a FlexRay bus. The invention realizes a CAN-FlexRay double-bus-based unmanned platform whole vehicle communication system, and avoids the problem that when a plurality of nodes simultaneously generate data, the real-time performance of a network is poor because an unmanned vehicle adopts a single CAN bus; the problem of when adopting many CAN buses to carry out network layout and build, the network architecture structure is complicated, CAN not ensure the technical problem who satisfies control system's requirement is solved, has better commonality, and simple structure, with low costs, easily realization CAN effectually avoid the potential safety hazard, improve the communication reliability of unmanned vehicle whole car system.
Description
Technical Field
The invention belongs to the technical field of unmanned vehicles, and particularly relates to an unmanned vehicle communication system and an unmanned vehicle.
Background
An unmanned vehicle is a ground unmanned system that can accomplish tasks in a variety of ground environments either through remote control or in an autonomous manner. The system integrates multiple technologies such as environment perception, positioning navigation, path planning, wireless transmission, motion control and the like. With the continuous development of science and technology, the Electronic and intelligent unmanned vehicles tend to increase, so that the number of Electronic Control Units (ECUs) increases, which may cause some undesirable situations, such as increased wiring harnesses for connecting different ECUs, poor safety, increased difficulty in manufacturing the unmanned vehicles, and increased cost. In the prior art, a Controller Area Network (CAN) bus is a serial communication protocol bus for real-time applications, which CAN transmit signals using twisted pair wires and is one of the most widely used field buses in the world, and a CSMA/ca (carrier Sense Multiple Access with connectivity availability) mechanism is adopted as the bus. When data occurs simultaneously in a plurality of nodes, the data contends for the bus through a set of arbitration mechanisms, which causes effective delay of some data, and the lower priority data packets may need to wait for a longer time. The requirement of some subsystems on the real-time performance of the bus cannot be met. The highest transmission speed of the traditional CAN bus is 1Mbps, and the requirement of subsystems such as a drive control system and the like on higher communication speed cannot be met. If a plurality of CAN buses are adopted for network layout and construction, the network architecture structure is complicated, and the requirement of a control system cannot be met.
Disclosure of Invention
The invention aims to provide an unmanned vehicle communication system and an unmanned vehicle, and aims to solve the technical problems that the unmanned vehicle in the prior art adopts a single CAN bus communication mode, the system structure is complex, and the data timeliness is poor.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the communication system comprises a central vehicle control unit, wherein the central vehicle control unit is respectively in communication connection with a vehicle-mounted sensor, a power system and a suspension control system through a CAN bus; and the central vehicle controller is in communication connection with a motor controller for driving the unmanned vehicle to walk through a FlexRay bus.
Furthermore, a wireless receiver is configured on the CAN bus and used for receiving a control signal from a command center and sending the received control signal to the central vehicle controller through the CAN bus, so that a vehicle control decision is realized.
Further, the vehicle-mounted sensor comprises a displacement sensor, an oil pressure sensor, an inclination angle sensor and an IMU inertial measurement unit, and is used for transmitting the current operation attitude information of the unmanned vehicle to the central vehicle control unit through a CAN bus.
Further, the power system comprises a power range extending system and a battery energy management system, and is used for transmitting power system operation data including battery voltage, battery current, radiator operation power, engine output power, engine inter-cooling temperature and PDU operation parameters to the central vehicle control unit.
Further, the suspension control system receives a control instruction of the central vehicle control unit through a CAN bus and controls the lifting of the chassis of the unmanned vehicle according to the received control instruction.
Furthermore, the CAN bus adopts a twisted pair, two ends of the twisted pair are connected with a 120 ohm resistor in parallel, and the transmission rate is 500 kbps.
Furthermore, the FlexRay bus adopts a dual-channel redundancy configuration, the transmission rate is 10Mbps, and two ends of the bus are connected with a 90-ohm resistor in parallel.
Further, the motor controller comprises a plurality of groups of motor controller nodes for driving the unmanned vehicle to walk, and the motor controller nodes realize information exchange with the central vehicle control unit through the FlexRay bus.
Further, the FlexRay bus comprises two media access time sequences, a static part based on a TDMA technology and a dynamic part based on a micro time slot access mechanism, and the motor controller node information is configured in the static part.
In a second aspect, an unmanned vehicle is provided, and the unmanned vehicle is provided with the unmanned vehicle communication system of the first aspect.
Compared with the prior art, the invention has the following beneficial effects: the central vehicle controller is respectively in communication connection with the vehicle-mounted sensor, the power system and the suspension control system through the CAN bus, and is in communication connection with the motor controller for driving the unmanned vehicle to walk through the FlexRay bus, so that the unmanned platform vehicle communication system based on the CAN-FlexRay double buses is realized, the problem that the unmanned vehicle adopts a single CAN bus, when a plurality of nodes generate data simultaneously, the real-time performance of the network is poor is avoided, and the requirements of the real-time performance and the reliability of the information of the unmanned vehicle driving control system are effectively met; the problem of when adopting many CAN buses to carry out network layout and build, the network architecture structure is complicated, CAN not ensure the technical problem who satisfies control system's requirement is solved, has better commonality, and simple structure, with low costs, easily realization CAN effectually avoid the potential safety hazard, improve the communication reliability of unmanned vehicle whole car system.
Drawings
Fig. 1 is a schematic structural diagram of a vehicle network system of an unmanned vehicle communication system according to an embodiment of the present invention;
fig. 2 is a bus data flow diagram of an unmanned vehicle communication system according to an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
The first embodiment is as follows:
as shown in fig. 1 and 2, an unmanned vehicle communication system comprises a central vehicle controller, wherein the central vehicle controller is respectively in communication connection with a vehicle-mounted sensor, a power system and a suspension control system through a CAN bus; the central vehicle controller is in communication connection with a motor controller for driving the unmanned vehicle to walk through a FlexRay (a bus technology which is used for the automobile, has high speed, determinability and fault tolerance capability, combines event triggering and time triggering, has the characteristics of high-efficiency network utilization rate and system flexibility, and can be used as a backbone network of a new generation of automobile internal network).
The communication network based on the CAN bus is used for tasks such as management control of components such as a power range extending system and a battery, suspension system control, acquisition of platform running state information, fault diagnosis and the like. The FlexRay bus with the characteristics of high communication broadband, a dual-channel structure, time triggering, event triggering and the like is used for driving control and information feedback of each motor.
The communication system mainly comprises a central Vehicle Control Unit (VCU) node, a vehicle-mounted sensor node, a suspension control system node, a power range extending system node, a battery management system node and the like which take a CAN bus as a main communication network, and a motor controller node which takes a FlexRay bus as a main communication network and is used for driving the unmanned vehicle to walk.
The central vehicle controller realizes vehicle control decision, and judges the driving intention of the unmanned vehicle through signals such as an accelerator, gears, corners, braking and the like; the current actual state of the vehicle is judged by monitoring vehicle state information such as vehicle speed, attitude and the like through a sensor, and a running state control instruction of the vehicle is sent to a suspension control system, a battery management system, a drive control system and the like.
The CAN bus is hung with a control panel and a wireless receiver. The wireless receiver is used for receiving a wireless signal instruction from the command center and sending a control signal to the vehicle controller through the CAN bus to realize vehicle control decision.
In this embodiment, the transmission rate of the CAN bus is 500kbps, the communication medium is a twisted pair, and the two ends of the bus are connected in parallel with a 120 ohm resistor.
And the suspension control system is communicated with the vehicle control unit through a CAN bus, receives a control instruction and executes the lifting control of the chassis of the unmanned vehicle.
The FlexRay bus provides two media access timings, a static part based on TDMA (time division multiple access) technology and a dynamic part based on a mini-slot access mechanism. The motor controller node information is configured in a static part.
When the unmanned vehicle runs, signals such as an accelerator, gears, corners, braking and the like are sent to the central vehicle controller through the CAN bus. The central vehicle controller synthesizes the information of the current state of the unmanned vehicle, optimizes and calculates the output rotating speed and torque of each hub motor through a program in the controller according to a vehicle energy management strategy and a driving control strategy, and transmits the output rotating speed and torque to a corresponding motor controller through an internal high-speed and reliable FlexRay bus network. The motor controller controls the corresponding motor to output according to the requirement. Meanwhile, the central controller can synthesize the data sent by each node, and displays important parameters reflecting the running state of the unmanned vehicle, such as the rotating speed of the hub motor, the state of the range extender, the parameters of the battery and other signals on a monitoring display screen of a command center, so as to help an operator to know the running state and road information of the whole vehicle.
As shown in fig. 1, the central vehicle controller includes a CAN bus communication network and a FlexRay bus communication network interface, and the interaction and conversion of the two interface information are performed inside the controller. Information acquisition and fault diagnosis signals of the power range extending system, the battery energy management system, the suspension system and the finished automobile data sensor all realize information transmission and interaction under the CAN network. And the motor controller for driving the unmanned vehicle to walk is communicated with the central vehicle control unit through a FlexRay bus network.
The power system of the whole vehicle is composed of a power range extending system and a battery energy management system, the power system mainly comprises parameters such as high-voltage battery voltage, high-voltage battery current, radiator running power, engine output power, engine inter-cooling temperature and PDU running state, and the parameters are communicated with the controller through a CAN bus to realize information interaction. And the power system receives a control instruction of the whole vehicle controller through the CAN bus and sends state information to the whole vehicle controller.
The vehicle-mounted sensor mainly comprises a displacement sensor, an inclination angle sensor, an oil pressure sensor, an IMU (inertial measurement unit) and the like (the displacement sensor, the inclination angle sensor, the oil pressure sensor and the IMU are all CAN (controller area network) bus output type sensors), and is mainly used for acquiring the current operation attitude of the vehicle. The vehicle acceleration and the angular acceleration acquired by the tilt angle sensor and the vehicle yaw angle and the IMU of the vehicle CAN be directly transmitted to the central vehicle control unit through the CAN bus and displayed on the control terminal. The displacement sensor is mainly used in a suspension system, reads the numerical value of the displacement sensor in each support oil cylinder of the unmanned vehicle through a CAN bus, and CAN realize the automatic or manual lifting action of the suspension system through the internal algorithm processing of a controller. The oil pressure sensor is used for reading the pressure inside the brake energy accumulator, sending the current pressure of the energy accumulator to the controller end in a CAN bus mode, and starting and stopping the hydraulic pump station after comparing the current pressure with the pre-warning pressure value set by the program.
The wireless receiver is used for receiving wireless signal instructions of the control command center, and the instructions comprise key vehicle operation parameters such as an accelerator, gears, steering and braking. The command is input into the central vehicle control unit through a CAN signal, then the CAN signal is converted into a FlexRay signal inside the central vehicle control unit, and then the action of the driving motor is controlled through a FlexRay bus network. The FlexRay bus adopts dual-channel redundancy configuration, the transmission rate is 10Mbps, and two ends of the bus are connected with a 90-ohm resistor in parallel. The motor controller comprises four groups of motor controller nodes, and the motor controller nodes realize information exchange with the whole vehicle controller through the FlexRay bus.
As shown in fig. 2, in the operation process of the unmanned vehicle, an operator sends a speed signal V and a rotation angle signal θ to the wireless receiver through the command center terminal in a wireless communication mode, and the wireless receiver sends the control signal to the central vehicle controller through the CAN bus. The measured actual speed V and the measured rotation angle signal theta are sent to a central vehicle controller through a CAN bus by combining a vehicle-mounted sensor, the rotating speed n and the torque T of each hub motor are calculated through a closed-loop control algorithm according to a vehicle energy management strategy and a driving control strategy, and the rotating speed n and the torque T are transmitted to the corresponding motor controller through an internal high-speed reliable FlexRay bus network. The motor controller controls the corresponding motor to output according to the requirement.
When the unmanned vehicle runs under road conditions such as slopes, roadblocks, gullies and the like, an operator sends a running mode instruction to the wireless receiver through the command center terminal in a wireless communication mode, and the wireless receiver sends the instruction signal to the central vehicle controller through the CAN bus. And calculating the expansion amount S of each suspension oil cylinder through an internal algorithm program of the central vehicle controller, and sending the expansion amount S to a controller of a suspension system through a CAN bus for execution.
Meanwhile, the central vehicle controller can synthesize the data sent by each node, and displays important parameters reflecting the running state of the unmanned vehicle, such as the rotating speed of the hub motor, the state of the range extender, the parameters of the battery and other signals on a monitoring display screen of a command center, so as to help an operator to know the running state and road information of the whole vehicle.
Example two:
the embodiment provides an unmanned vehicle based on the communication system for the whole unmanned vehicle, and the unmanned vehicle is provided with the communication system for the whole unmanned vehicle.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. The utility model provides a whole car communication system of unmanned car which characterized by includes: the central vehicle control unit is respectively in communication connection with the vehicle-mounted sensor, the power system and the suspension control system through a CAN bus; and the central vehicle controller is in communication connection with a motor controller for driving the unmanned vehicle to walk through a FlexRay bus.
2. The unmanned vehicle communication system as claimed in claim 1, wherein the CAN bus is configured with a wireless receiver, and the wireless receiver is configured to receive a control signal from a command center and transmit the received control signal to a central vehicle controller through the CAN bus, so as to implement a vehicle control decision.
3. The unmanned vehicle communication system as claimed in claim 1, wherein the vehicle-mounted sensor comprises a displacement sensor, an oil pressure sensor, an inclination sensor and an IMU inertial measurement unit, and is configured to transmit current operation attitude information of the unmanned vehicle to the central vehicle control unit through a CAN bus.
4. The unmanned vehicle communication system of claim 1, wherein the power system comprises a power range extending system and a battery energy management system, and is configured to transmit power system operation data including battery voltage, battery current, radiator operation power, engine output power, inter-engine cooling temperature, and PDU operation parameters to the central vehicle controller.
5. The communication system of claim 1, wherein the suspension control system receives a control command from the central vehicle control unit through a CAN bus and controls the lifting of the chassis of the unmanned vehicle according to the received control command.
6. The unmanned vehicle communication system of claim 1, wherein the CAN bus is a twisted pair cable having a 120 ohm resistor connected in parallel at 500 kbps.
7. The unmanned vehicle communication system as claimed in claim 1, wherein the FlexRay bus adopts a dual-channel redundancy configuration, the transmission rate is 10Mbps, and two ends of the FlexRay bus are connected with a 90-ohm resistor in parallel.
8. The unmanned vehicle communication system as claimed in claim 1, wherein the motor controller comprises a plurality of sets of motor controller nodes for driving the unmanned vehicle to travel, and the motor controller nodes exchange information with a central vehicle controller through the FlexRay bus.
9. The unmanned vehicle communication system of claim 8, wherein the FlexRay bus comprises two media access timings, a static part based on TDMA technology and a dynamic part based on mini-slot access mechanism, and the motor controller node information is configured in the static part.
10. An unmanned vehicle, wherein the unmanned vehicle is provided with the unmanned vehicle communication system according to any one of claims 1 to 9.
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| CN202111382152.9A CN114261461A (en) | 2021-11-22 | 2021-11-22 | Unmanned vehicle and whole vehicle communication system thereof |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102328655A (en) * | 2011-07-11 | 2012-01-25 | 北京交通大学 | Automobile hybrid electric system based on FlexRay buses |
| CN102582461A (en) * | 2012-02-17 | 2012-07-18 | 扬州亚星客车股份有限公司 | Range-extended C+B dynamical system |
| CN106601000A (en) * | 2015-10-20 | 2017-04-26 | 中国科学院微电子研究所 | Electronic control system and method for new energy automobile |
| US20200019187A1 (en) * | 2018-07-10 | 2020-01-16 | Shenzhen Geniusmart Technologies Co., Ltd. | Vehicle Control Method And Control System |
| CN113093738A (en) * | 2021-03-17 | 2021-07-09 | 东风商用车有限公司 | Unmanned card collection control system and control method thereof |
-
2021
- 2021-11-22 CN CN202111382152.9A patent/CN114261461A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102328655A (en) * | 2011-07-11 | 2012-01-25 | 北京交通大学 | Automobile hybrid electric system based on FlexRay buses |
| CN102582461A (en) * | 2012-02-17 | 2012-07-18 | 扬州亚星客车股份有限公司 | Range-extended C+B dynamical system |
| CN106601000A (en) * | 2015-10-20 | 2017-04-26 | 中国科学院微电子研究所 | Electronic control system and method for new energy automobile |
| US20200019187A1 (en) * | 2018-07-10 | 2020-01-16 | Shenzhen Geniusmart Technologies Co., Ltd. | Vehicle Control Method And Control System |
| CN113093738A (en) * | 2021-03-17 | 2021-07-09 | 东风商用车有限公司 | Unmanned card collection control system and control method thereof |
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