CN114670767A - Heavy commercial vehicle composite internet system and commercial vehicle - Google Patents
Heavy commercial vehicle composite internet system and commercial vehicle Download PDFInfo
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- CN114670767A CN114670767A CN202210437208.4A CN202210437208A CN114670767A CN 114670767 A CN114670767 A CN 114670767A CN 202210437208 A CN202210437208 A CN 202210437208A CN 114670767 A CN114670767 A CN 114670767A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
Abstract
The invention relates to the technical field of vehicle control, in particular to a heavy-duty commercial vehicle composite internet system and a commercial vehicle. The first regional control unit and the second regional control unit that distribute on the tractor insert central server through the ethernet, and the third regional control unit that distributes on the trailer, the fourth regional control unit inserts central server through the wireless network, this scheme of wired and wireless combining together has been adopted, avoided setting up complicated physical circuit overall arrangement between tractor and trailer, when tractor and trailer dynamic separation, also need not plug electronic apparatus and communication cable, make whole car overall arrangement more reasonable, mainly avoided because physical cable and electronic apparatus produce the trouble because frequent plug, communication real-time and reliability have been guaranteed.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a heavy-duty commercial vehicle composite internet system and a commercial vehicle.
Background
In recent years, with the development of automobile electronic control technology and the continuous improvement of requirements of people on vehicle safety, comfort and economy, electronic devices equipped for heavy commercial vehicles are more and more, the electrical system of the whole vehicle is more and more complex, and great challenges are brought to the function expansion, installation space distribution, cost control and development period of the whole vehicle.
In addition, the structural characteristics of the heavy commercial vehicle are considered, the tractor and the trailer can be dynamically separated, frequent plugging and unplugging problems can occur to electronic and electrical components, the wired wiring harness is complex in arrangement, faults are easy to occur after a long time, and the safety is not high during the running of the vehicle.
Disclosure of Invention
The invention mainly solves the technical problem that when the existing tractor and trailer are dynamically separated, electronic and electric components are easy to break down due to frequent plugging and unplugging.
The utility model provides a heavy commercial car composite networking system, heavy commercial car includes tractor and trailer, its characterized in that, composite networking system includes: the system comprises a central server, a first area control unit, a second area control unit, a third area control unit and a fourth area control unit;
the second area control unit, the first area control unit and the central server are arranged on the tractor part, and the third area control unit and the fourth area control unit are arranged on the trailer part; the first area control unit, the second area control unit, the third area control unit and the fourth area control unit are in communication connection with the actuators and the sensors in the corresponding areas through signal lines; the first area control unit and the second area control unit are also in communication connection with the central server through a vehicle-mounted Ethernet; the third area control unit and the fourth area control unit are also in wireless communication connection with the central server through a communication network;
the first area control unit, the second area control unit, the third area control unit and the fourth area control unit are used for collecting information collected by sensors in areas of the first area control unit, the second area control unit, the third area control unit and the fourth area control unit and sending the information to the central server, and the central server is used for generating corresponding control signals after carrying out unified summary processing on various information; the first area control unit, the second area control unit, the third area control unit and the fourth area control unit are used for controlling the corresponding actuators to work according to the control signals.
In one embodiment, the central server comprises a wired signal transceiving module, a wireless signal transceiving module, a dynamic response module, an ID matching module and a central computing processing unit;
the wired signal transceiver module is used for communicating with the second area control unit and the first area control unit through a vehicle-mounted Ethernet;
the wireless signal transceiver module is used for carrying out wireless communication with the third area control unit and the fourth area control unit;
the dynamic response module is used for detecting whether the tractor is correctly connected with the trailer, and if the tractor is correctly connected with the trailer, the dynamic response module activates the wireless signal transceiver module on the tractor and sends an activation control command, wherein the activation control command is used for activating the third area control unit and the fourth area control unit on the trailer to work;
the ID matching module is used for confirming whether the wireless signal currently received by the wireless signal receiving and transmitting module is sent by the target trailer or not, and if so, the wireless signal is forwarded to the central computing processing unit;
the central computing and processing unit is used for computing and processing the received information and generating a scheduling command and a control command; the wireless signal transceiver module and the wired signal transceiver module are also used for sending the scheduling command and the control command to the corresponding area control unit.
In one embodiment, the central server further comprises a signal shaper; the signal shaper is used for processing, classifying and scheduling signals received by the wired signal transceiving module and the wireless signal transceiving module on the central server and then outputting the signals to the central computing and processing unit;
the trailer further comprises one or more rear area expandable control units, and the rear area expandable control units are arranged on the expanded part of the trailer; the rear area expandable control unit is also in wireless communication connection with the central server through a communication network, and the central server and the rear area expandable control unit perform information interaction to control the expanded part of the trailer.
In one embodiment, the sensor comprises a radar and a camera; the radar and the camera are used for collecting the surrounding environment information of the vehicle;
the central computing processing unit comprises an automatic emergency braking analysis processing module; the automatic emergency braking analysis processing module is used for analyzing the acquired vehicle surrounding environment information in real time to determine whether an emergency braking condition is triggered or not, and if so, an emergency braking command is sent out; and the first area control unit, the second area control unit, the third area control unit and the fourth area control unit control corresponding brake actuators to work to perform emergency braking after receiving the emergency braking command.
In one embodiment, the first area control unit and the second area control unit are identical in structure;
the first area control unit comprises a first area information composite transceiver module, a first global scheduler module, a first area controller and an Ethernet transceiver module;
the first area information composite transceiver module is used for receiving vehicle information in an area of the first area information composite transceiver module and a control command and a scheduling command of the central server;
the first global scheduler module is used for calculating and processing to generate a communication scheduling command according to the received vehicle information and the scheduling command from the central server;
the first area controller is used for carrying out network protocol conversion on the received and sent information and generating a control command;
the Ethernet transceiver module is used for communicating with the wired signal transceiver module of the central server so as to send the communication scheduling command and the control command.
In one embodiment, the third area control unit, the fourth area control unit and the rear area expandable control unit have the same structure;
the third area control unit comprises a third area information composite transceiving module, a third global scheduler module, a third area controller and a third wireless transceiving module;
the third area information composite transceiver module is used for receiving vehicle information in an area of the third area information composite transceiver module and a control command and a scheduling command of the central server;
the third global scheduler module is used for calculating and processing the received vehicle information and a scheduling command from the central server to generate a communication scheduling command;
the third area controller is used for carrying out network protocol conversion on the received and sent information and generating a control command;
the third wireless transceiver module is used for communicating with the wireless signal transceiver module of the central server so as to send the communication scheduling command and the control command.
In one embodiment, further comprising: determining the number of rear area expandable control units to be set according to the length of the trailer;
the number n of the rear area expandable control units required to be arranged on the trailer is determined in the following way:
n=(L-E)/ε；
wherein epsilon is a proportionality coefficient, L is the trailer length, and E is the reserved length of the third area control unit and the fourth area control unit.
In one embodiment, the signal shaper comprises an ingress port, a classifier, a fifth global scheduler module, an egress port;
the input port is used for accessing wired signals and wireless signals sent by all the area control units; the classifier is used for classifying the received wired signals and wireless signals and generating a queue comprising a plurality of signal flows; the fifth global scheduler module is configured to uniformly schedule the multiple signal streams by using a split communication scheduling method, so as to send the multiple signal streams from the output port to a corresponding regional control unit;
wherein, when scheduling the multiple signal streams, the method further comprises:
in a basic communication period, carrying out differentiated scheduling on wired signals and wireless signals; the transmission time length of any wired signal is enabled to meet the following first constraint condition, and the transmission time length of any wireless signal is enabled to meet the following second constraint condition;
the first constraint is:
；
the second constraint is:
；
wherein the content of the first and second substances,T base cycle-is the duration of the basic communication period,T wired in order to be the transmission duration of the wired signal,T wireless is the transmission duration of the wireless signal.
In one embodiment, in the control area corresponding to the first area control unit and the second area control unit, the time when the sensor in the control area sends the sensor signal to the first area control unit and the second area control unit in the wired communication mode is iT base cycle-Wherein i is the number of cycles; the first area control unit and the second area control unit send signals to the central server in a wired mode at the moment
(ii) a The time when the central server sends signals to the actuators in the first area control unit and the second area control unit in a wired communication mode is
；
In the control areas corresponding to the third area control unit and the fourth area control unit, the time when the third area control unit and the fourth area control unit send signals to the central server through the wireless network is
。
A heavy commercial vehicle comprising a composite networking system as described above.
According to the heavy commercial vehicle composite network system of the embodiment, the first area control unit and the second area control unit which are distributed on the tractor are connected to the central server through the Ethernet, the third area control unit and the fourth area control unit which are distributed on the trailer are connected to the central server through the wireless network, the scheme of combining the wired mode and the wireless mode is adopted, the complex physical line layout between the tractor and the trailer is avoided, when the tractor is dynamically separated from the trailer, the electronic electric appliance and the communication cable do not need to be plugged and pulled, the whole vehicle layout is more reasonable, the problem that the physical cable and the electronic electric appliance break down due to frequent plugging and pulling is mainly avoided, and the real-time performance and the reliability of communication are guaranteed.
Drawings
Fig. 1 is a schematic overall structure diagram of a composite networking system according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a central server according to an embodiment of the present application;
FIG. 3 is a schematic structural diagram of a first area control unit according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a third area control unit according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a signal shaper according to an embodiment of the present application;
FIG. 6 is a timing diagram illustrating the propagation of a cable signal according to an embodiment of the present application;
fig. 7 is a timing diagram illustrating the propagation of wireless signals according to an embodiment of the present application.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings. Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.
Furthermore, the described features, operations, or characteristics may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed.
The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning.
In the embodiment of the invention, a novel heavy-duty commercial vehicle composite networking system is provided, the system adopts a scheme of combining wired communication and wireless communication, namely, an area control unit on a tractor communicates with a central server in a wired communication mode, and an area control unit on a trailer communicates with the central server in a wireless communication mode, so that the complex physical circuit layout between the tractor and the trailer is avoided, when the tractor and the trailer are dynamically separated, an electronic electric appliance and a communication cable do not need to be plugged, the layout of the whole vehicle is more reasonable, the faults caused by frequent plugging of the physical cable and the electronic electric appliance are mainly avoided, and the real-time performance and the reliability of communication are ensured.
In the present embodiment, in combination with a specific commercial vehicle, the first zone control unit 1 may be understood as a right front zone control unit, the second zone control unit 2 may be understood as a left front zone control unit, the third zone control unit 3 may be understood as a right middle zone control unit, and the fourth zone control unit 4 may be understood as a left middle zone control unit, for convenience of understanding by those skilled in the art.
The first embodiment is as follows:
referring to fig. 1, the present embodiment provides a composite internet system for a heavy-duty commercial vehicle, including: a central server 5, a first area control unit 1, a second area control unit 2, a third area control unit 3, and a fourth area control unit 4.
The first zone control unit 1, the second zone control unit 2, and the central server are provided in a tractor portion, and specifically, the first zone control unit 1 and the second zone control unit 2 are generally provided in the front right and front left of the tractor, respectively. The third area control unit 3 and the fourth area control unit 4 are arranged in the trailer part, and specifically, the third area control unit 3 and the fourth area control unit 4 are respectively arranged in the middle of the right side and the middle of the left side of the trailer. The first area control unit 1, the second area control unit 2, the third area control unit 3 and the fourth area control unit 4 are in communication connection with the actuators and the sensors of the corresponding areas through signal lines so as to respectively control the actuators of the corresponding areas. In general, the actuators and sensors of the individual control areas are connected in communication via a CAN bus (controller area network) to a corresponding area control unit, which may be understood as a sub-controller for controlling a corresponding drive (for example a wheel drive).
The first area control unit 1 and the second area control unit 2 are also in communication connection with a central server 5 through a vehicle-mounted Ethernet; the third area control unit 3 and the fourth area control unit 4 are also in wireless communication connection with the central server through a communication network; the specific wireless communication mode can be a near field communication mode selected according to needs, such as ZigBee, bluetooth, WiFi, and the like. The first area control unit 1, the second area control unit 2, the third area control unit 3 and the fourth area control unit 4 are used for collecting information collected by sensors in the areas and sending the information to the central server 5, and the central server 5 is used for generating corresponding control signals after carrying out unified summary processing on various information; the first area control unit 1, the second area control unit 2, the third area control unit 3 and the fourth area control unit 4 are used for controlling the corresponding actuators to work according to the control signals. In this embodiment, each area control unit is only responsible for network protocol conversion and forwarding of information of the area, and does not perform further calculation processing, and finally, the central server performs calculation and processing uniformly to obtain a control signal.
As shown in fig. 2, the central server 5 of the present embodiment includes a wired signal transceiver module 51, a wireless signal transceiver module 52, a dynamic response module 53, an ID matching module 54, and a central computing processing unit 55; the wired signal transceiving module 51 is used for communicating with the second area control unit 2 and the first area control unit 1 through the in-vehicle ethernet. The wireless signal transceiver module 52 is configured to perform wireless communication with the third area control unit 3 and the fourth area control unit 4; the dynamic response module 53 is used to detect whether the tractor and trailer are properly connected, and in particular, to monitor the positions of the kingpin and fifth wheel lock via sensors at the junction of the tractor and trailer, and if a limit point is reached, the mechanical connection is correct. Then, by detecting the sidelight and the tail light on the trailer, if the trailer can work normally, the electrical connection is correct; and if the electrical connection and the mechanical connection are both correct, the tractor and the trailer can be considered to be correctly connected, and if the connection is correct, the wireless signal transceiver module 51 on the tractor is activated, and an activation control command is sent, wherein the activation control command is used for activating the third area control unit 3 and the fourth area control unit 4 on the trailer to work, so that the real-time communication connection is maintained. The ID matching module 54 is configured to determine whether the wireless signal currently received by the wireless signal transceiver module 52 is sent by the target trailer, and if so, forward the wireless signal to the central computing unit 55, specifically, the wireless signal sending end sends a pairing number, and the receiving end compares the wireless signal with a preset number in the system after receiving the pairing number, if the wireless signal sending end and the receiving end are the same, the received wireless signal is considered to be successfully ID-matched, that is, the received wireless signal is sent by the target trailer, otherwise, the wireless signal is considered to be unsuccessfully ID-matched, and the wireless signal is not sent by the target trailer. If not, the signal is not processed or deleted from the receive queue. The central computing and processing unit 55 is used for computing and processing the received information and generating a scheduling command and a control command; the wireless signal transceiver module 52 and the wired signal transceiver module 51 are further configured to send the scheduling command and the control command to the corresponding area control unit, and the corresponding area control unit controls the actuator to operate according to the scheduling command and the control command.
In one embodiment, the central server 5 further comprises a signal shaper 56; the signal shaper 56 is used for processing, classifying and scheduling the signals received by the wired signal transceiver module 51 and the wireless signal transceiver module 52 on the central server 5 and then outputting the signals to the central computing processing unit 55. In this embodiment, the wireless signal transceiver module 51 is activated and performs wireless communication through ID matching, the signal shaper 56 is configured to classify and schedule the received wired signal and wireless signal, and finally output the wired signal and wireless signal, and the central computing processing module 55 is configured to complete calculation of information of each area, processing of complex functions, and sending a scheduling command and a control command to the area control unit. Specifically, the sensor of each control area on the vehicle comprises a radar and a camera; the radar and the camera are used for collecting the surrounding environment information of the vehicle; for example, the radar is used for acquiring millimeter wave signals to construct surrounding three-dimensional entity environment information, the camera acquires picture information of the surrounding environment, and the acquired three-dimensional entity environment information and the picture information are combined to obtain vehicle surrounding environment information. The central computing processing unit 55 includes an automatic emergency braking analysis processing module; the automatic emergency braking analysis processing module is used for analyzing the acquired vehicle surrounding environment information in real time to determine whether an emergency braking condition is triggered or not, and if so, an emergency braking command is sent out; after receiving the emergency braking command, the first area control unit 1, the second area control unit 2, the third area control unit 3, and the fourth area control unit 4 control the corresponding brake actuators to work so as to perform emergency braking.
Taking the automatic emergency braking AEB as an example, firstly, sensors in the front left area, the front right area and the rear area of a vehicle are communicated with a local area control unit through a CAN bus, transmitted to a local area controller, and then forwarded to a central server 5 by the local area control unit, so that high-speed and real-time information exchange with a camera, a radar and the like is realized, an automatic emergency braking command is generated by calculation, then, a braking command is forwarded to each local area control unit through an ethernet and a wireless network based on a SmartMesh protocol, a corresponding scheduling and control command is generated, and a braking actuator in the local area is started, so that the real-time performance and the reliability of the automatic emergency braking are ensured, and the driving safety of the vehicle is improved.
In one embodiment, the composite networking system further comprises one or more rear area-expandable control units 6, the rear area-expandable control units 6 being provided on an expanded portion of the trailer; the rear area expandable control unit 6 is also in wireless communication connection with the central server through a communication network, and the central server 5 and the rear area expandable control unit 6 perform information interaction to control the expansion part of the trailer. The rear area expandable control unit 6 has the same structure as the third area control unit 3. The rear area expandable control unit is arranged, the number of the rear area control units can be determined according to the length of the vehicle, and design requirements of different vehicles can be better met.
The first area control unit 1 and the second area control unit 2 of the present embodiment are identical in structure. The present embodiment takes the first area control unit 1 as an example to explain the structure thereof.
As shown in fig. 3, the first area control unit 1 includes a first area information composite transceiver module 11, a first global scheduler module 12, a first area controller 13, and an ethernet transceiver module 14. The first area information composite transceiver module 11 is used for receiving vehicle information in an area thereof and a control command and a scheduling command of the central server 5; the first global scheduler module 12 is configured to calculate and process a communication scheduling command according to the received vehicle information and the scheduling command from the central server 5; the third area controller 13 is used for performing network protocol conversion on the received and transmitted information and generating a control command; the ethernet transceiver module 14 is used for communicating with the wired signal transceiver module of the central server 5 to transmit communication scheduling commands and control commands.
As shown in fig. 4, the third area control unit 3, the fourth area control unit 4, and the rear area expansion control unit 6 of the present embodiment are all the same in structure. The third area control unit 3 includes a third area information composite transceiver module 31, a third global scheduler module 32, a third area controller 33, and a third wireless transceiver module 34. The third area information composite transceiver module 31 is used for receiving vehicle information in the area and control commands and scheduling commands of the central server 5; the third global scheduler module 32 is used for calculating and processing the received vehicle information and the scheduling command from the central server to generate a communication scheduling command; the third area controller 33 is used for performing network protocol conversion on the received and transmitted information and generating a control command; the third wireless transceiver module 34 is used for communicating with the wireless signal transceiver module of the central server 5 to transmit the communication scheduling command and the control command. The wireless transceiver module of this embodiment sends the scheduling command and the control command of the local control unit to the central server 5 through a wireless network based on SmartMesh protocol (internet of things underlying protocol based on a block chain).
In one embodiment, the number of rear area expandable control units to be set is also determined according to the length of the trailer; the number n of rear area expandable control units required to be arranged on the trailer is determined in the following way:
n=(L-E)/ε；
wherein epsilon is a proportionality coefficient, epsilon is generally 2.5, the length of a general commercial vehicle trailer is 12m, the reserved length of the third and fourth area control units is 2m, and n is normally 4. L is the trailer length, and E is the length reserved for the third area control unit and the fourth area control unit.
As shown in fig. 5, the signal shaper 56 of the present embodiment includes an ingress port 561, a classifier 562, a fifth global scheduler module 563, and an egress port 564. The input port 561 is used for accessing wired signals and wireless signals sent by all the area control units; the classifier 562 is configured to classify the received wired signal and wireless signal, and generate a queue including a plurality of signal streams; the fifth global scheduler module 563 is configured to uniformly schedule the plurality of signal streams using a split communication scheduling method to issue from the egress port 564 to the corresponding regional control units.
In a basic period, the wired signal and the wireless signal are differentially scheduled, and when scheduling various signal streams, the method further comprises the following steps:
in a basic communication period, carrying out differentiated scheduling on wired signals and wireless signals; the transmission time length of any wired signal is enabled to meet the following first constraint condition, and the transmission time length of any wireless signal is enabled to meet the following second constraint condition;
the first constraint is:
；
the second constraint is:
；
wherein the content of the first and second substances,T base cycle-is the duration of the basic communication period,T wired in order to be the transmission duration of the wired signal,T wireless is the transmission duration of the wireless signal. max (T wired ) Represents the maximum transmission duration, max: (T wireless ) Representing the maximum transmission duration of the wireless signal. In the embodiment, in consideration of different signal transmission characteristics of wired communication and wireless communication, signals of 4 channels of wired communication and 2 channels of wireless communication are uniformly distributed in the period in order to rationalize network resource allocation, that is, each channel of wired communication corresponds to a quarter period, and each channel of wireless communication corresponds to a half period, so that the constraint conditions shown above are obtained.
In an embodiment, as shown in fig. 6, a wired signal analysis timing chart based on a split communication scheduling method is adopted in the system of this embodiment, and in a control area corresponding to the first area control unit 1 and the second area control unit 2, a time when a sensor in the control area transmits a sensor signal to the first area control unit 1 and the second area control unit 2 in a wired communication manner is iT base cycle-Wherein i is the number of cycles; first zone control unit 1 and second zone control unitThe time when the area control unit 2 transmits a signal to the center server 5 by wire is
(ii) a The time when the central server sends signals to the actuators in the first area control unit 1 and the second area control unit 2 by wire communication is
。
Fig. 7 is a timing chart of the wireless signal analysis in the system of the present embodiment using the split communication scheduling method, where the whole signal loop has 3 segments, which are: the system comprises an area sensor, an area control unit, a central server and an area executor. In the control areas corresponding to the third area control unit 3 and the fourth area control unit 4, the third area control unit 3 and the fourth area control unit 4 transmit signals to the central server 5 through the wireless network at the moment
。
In view of the constraint conditions of wired and wireless signal transmission, the scheduling method can fully meet the constraint conditions, explains the signal transmission time of each channel of wired signals and wireless signals, effectively inhibits network congestion and reasonably and fully utilizes resources, ensures the differentiated scheduling of wired signal streams and wireless signal stream queues from the classifier, and achieves the purpose of shaping.
The separated communication scheduling method adopted in this embodiment performs differentiated scheduling on the wired signal and the wireless signal, so that the packet loss rate of the network packet can be greatly reduced, the delay can be reduced, the network congestion can be suppressed, and the network resources can be reasonably allocated.
The system of the embodiment ensures that the automatic emergency braking system has great performance advantages in real-time performance and synchronism, optimizes the wiring problem, improves the running safety of the vehicle while considering the characteristics of the heavy commercial vehicle, and provides advanced technical support for the design of the automatic emergency braking control system of the heavy commercial vehicle regional framework.
Example two:
the embodiment provides a heavy-duty commercial vehicle, which comprises the composite networking system provided in the first embodiment.
Those skilled in the art will appreciate that all or part of the functions of the various methods in the above embodiments may be implemented by hardware, or may be implemented by computer programs. When all or part of the functions of the above embodiments are implemented by a computer program, the program may be stored in a computer-readable storage medium, and the storage medium may include: a read only memory, a random access memory, a magnetic disk, an optical disk, a hard disk, etc., and the program is executed by a computer to realize the above functions. For example, the program may be stored in a memory of the device, and when the program in the memory is executed by the processor, all or part of the functions described above can be implemented. In addition, when all or part of the functions in the above embodiments are implemented by a computer program, the program may be stored in a storage medium such as a server, another computer, a magnetic disk, an optical disk, a flash disk, or a removable hard disk, and may be downloaded or copied to a memory of a local device, or may be version-updated in a system of the local device, and when the program in the memory is executed by a processor, all or part of the functions in the above embodiments may be implemented.
The present invention has been described in terms of specific examples, which are provided to aid understanding of the invention and are not intended to be limiting. For a person skilled in the art to which the invention pertains, several simple deductions, modifications or substitutions may be made according to the idea of the invention.
Claims (10)
1. The utility model provides a heavy commercial car composite networking system, heavy commercial car includes tractor and trailer, its characterized in that, composite networking system includes: the system comprises a central server, a first area control unit, a second area control unit, a third area control unit and a fourth area control unit;
the second area control unit, the first area control unit and the central server are arranged on the tractor part, and the third area control unit and the fourth area control unit are arranged on the trailer part; the first area control unit, the second area control unit, the third area control unit and the fourth area control unit are in communication connection with the actuators and the sensors in the corresponding areas through signal lines; the first area control unit and the second area control unit are also in communication connection with the central server through a vehicle-mounted Ethernet; the third area control unit and the fourth area control unit are also in wireless communication connection with the central server through a communication network;
the first area control unit, the second area control unit, the third area control unit and the fourth area control unit are used for collecting information collected by sensors in areas of the first area control unit, the second area control unit, the third area control unit and the fourth area control unit and sending the information to the central server, and the central server is used for generating corresponding control signals after carrying out unified summary processing on various information; the first area control unit, the second area control unit, the third area control unit and the fourth area control unit are used for controlling the corresponding actuators to work according to the control signals.
2. The heavy-duty commercial vehicle composite internet system of claim 1, wherein the central server comprises a wired signal transceiving module, a wireless signal transceiving module, a dynamic response module, an ID matching module, and a central computing processing unit;
the wired signal transceiver module is used for communicating with the second area control unit and the first area control unit through a vehicle-mounted Ethernet;
the wireless signal transceiver module is used for carrying out wireless communication with the third area control unit and the fourth area control unit;
the dynamic response module is used for detecting whether the tractor is correctly connected with the trailer, and if the tractor is correctly connected with the trailer, the dynamic response module activates the wireless signal transceiver module on the tractor and sends an activation control command, wherein the activation control command is used for activating the third area control unit and the fourth area control unit on the trailer to work;
the ID matching module is used for confirming whether the wireless signal currently received by the wireless signal receiving and transmitting module is sent by the target trailer or not, and if so, the wireless signal is forwarded to the central computing processing unit;
the central computing and processing unit is used for computing and processing the received information and generating a scheduling command and a control command; the wireless signal transceiver module and the wired signal transceiver module are also used for sending the scheduling command and the control command to the corresponding area control unit.
3. The heavy-duty commercial vehicle compound internet system of claim 2, wherein the central server further comprises a signal shaper; the signal shaper is used for processing, classifying and scheduling signals received by the wired signal transceiving module and the wireless signal transceiving module on the central server and then outputting the signals to the central computing and processing unit;
the trailer further comprises one or more rear area expandable control units, and the rear area expandable control units are arranged on the expanded part of the trailer; the rear area expandable control unit is also in wireless communication connection with the central server through a communication network, and the central server and the rear area expandable control unit perform information interaction to control the expanded part of the trailer.
4. The heavy-duty commercial vehicle compound networking system of claim 3, wherein the sensor comprises a radar and a camera; the radar and the camera are used for collecting the surrounding environment information of the vehicle;
the central computing processing unit comprises an automatic emergency braking analysis processing module; the automatic emergency braking analysis processing module is used for analyzing the acquired vehicle surrounding environment information in real time to determine whether an emergency braking condition is triggered or not, and if so, an emergency braking command is sent out; and after receiving the emergency braking command, the first area control unit, the second area control unit, the third area control unit and the fourth area control unit control corresponding brake actuators to work so as to perform emergency braking.
5. The composite networking system for heavy-duty commercial vehicles of claim 3, wherein the first zone control unit and the second zone control unit are identical in structure;
the first area control unit comprises a first area information composite transceiving module, a first global scheduler module, a first area controller and an Ethernet transceiving module;
the first area information composite transceiver module is used for receiving vehicle information in an area of the first area information composite transceiver module and a control command and a scheduling command of the central server;
the first global scheduler module is used for calculating and processing to generate a communication scheduling command according to the received vehicle information and the scheduling command from the central server;
the first area controller is used for carrying out network protocol conversion on the received and sent information and generating a control command;
the Ethernet transceiver module is used for communicating with the wired signal transceiver module of the central server so as to send the communication scheduling command and the control command.
6. The composite networking system for heavy-duty commercial vehicles according to claim 2, wherein the third zone control unit, the fourth zone control unit and the rear zone expandable control unit have the same structure;
the third area control unit comprises a third area information composite transceiver module, a third global scheduler module, a third area controller and a third wireless transceiver module;
the third area information composite transceiver module is used for receiving vehicle information in an area of the third area information composite transceiver module and a control command and a scheduling command of the central server;
the third global scheduler module is used for calculating and processing to generate a communication scheduling command according to the received vehicle information and the scheduling command from the central server;
the third area controller is used for carrying out network protocol conversion on the received and sent information and generating a control command;
the third wireless transceiver module is used for communicating with the wireless signal transceiver module of the central server so as to send the communication scheduling command and the control command.
7. The heavy-duty commercial vehicle compound networking system of claim 2, further comprising: determining the number of rear area expandable control units to be set according to the length of the trailer;
the number n of the rear area expandable control units required to be arranged on the trailer is determined in the following manner:
n=(L-E)/ε；
wherein epsilon is a proportionality coefficient, L is the trailer length, and E is the reserved length of the third area control unit and the fourth area control unit.
8. The heavy-duty commercial vehicle composite networking system according to claim 3, wherein the signal shaper comprises an ingress port, a classifier, a fifth global scheduler module, an egress port;
the input port is used for accessing wired signals and wireless signals sent by all the area control units; the classifier is used for classifying the received wired signals and wireless signals and generating a queue comprising a plurality of signal flows; the fifth global scheduler module is configured to uniformly schedule the multiple signal streams by using a split communication scheduling method, so as to send the multiple signal streams from the output port to a corresponding regional control unit;
wherein, when scheduling the multiple signal streams, the method further comprises:
in a basic communication period, carrying out differentiated scheduling on wired signals and wireless signals; the transmission time length of any wired signal is enabled to meet the following first constraint condition, and the transmission time length of any wireless signal is enabled to meet the following second constraint condition;
the first constraint is:
；
the second constraint is:
；
wherein the content of the first and second substances,T base cycle-is the duration of the basic communication period,T wired in order to be the transmission duration of the wired signal,T wireless is the transmission duration of the wireless signal.
9. The composite networking system of claim 8, wherein in the control areas corresponding to the first area control unit and the second area control unit, the time when the sensors in the control areas send the sensor signals to the first area control unit and the second area control unit in a wired communication manner is iT base cycle-Wherein i is the number of cycles; the first area control unit and the second area control unit send signals to the central server in a wired mode at the moment
(ii) a The time when the central server sends signals to the actuators in the first area control unit and the second area control unit in a wired communication mode is
；
In the control areas corresponding to the third area control unit and the fourth area control unit, the time when the third area control unit and the fourth area control unit send signals to the central server through the wireless network is
。
10. A heavy commercial vehicle comprising a composite networking system according to any one of claims 1 to 9.
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