CN114940183B - Distributed power backup control system capable of achieving automatic driving and vehicle - Google Patents
Distributed power backup control system capable of achieving automatic driving and vehicle Download PDFInfo
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- CN114940183B CN114940183B CN202210588308.7A CN202210588308A CN114940183B CN 114940183 B CN114940183 B CN 114940183B CN 202210588308 A CN202210588308 A CN 202210588308A CN 114940183 B CN114940183 B CN 114940183B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
- B60W2050/021—Means for detecting failure or malfunction
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
- B60W2050/0292—Fail-safe or redundant systems, e.g. limp-home or backup systems
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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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Safety Devices In Control Systems (AREA)
Abstract
The invention discloses a distributed power backup control system meeting automatic driving and a vehicle, which comprise a first area controller, a second area controller, a power control unit, an electric drive control unit and an automatic driving control unit, wherein the first area controller is connected with the second area controller; the power control units are redundant in the first zone controller. The automatic driving system is characterized in that necessary power output can be carried out when a power system is abnormal aiming at high-level automatic driving, the requirements of side parking or safety area parking are met, the whole-vehicle area controller is relied on, and power redundancy backup control is realized in a distributed mode, so that when a main power control system fails, the redundancy backup power control system can provide basic power control output, and the safety design goal of an automatic driving vehicle is met.
Description
Technical Field
The invention belongs to the technical field of automatic driving control, and particularly relates to a distributed power backup control system capable of meeting automatic driving and a vehicle.
Background
Currently, automatic driving above L3 (driver in loop automatic driving) and L4, L5 (full automatic driving) is still in the development process, and in the automatic driving state, the control process is generally divided into three parts of environment sensing, path planning and control execution, so that full redundancy design is required for sensing, control and execution to ensure safety. Currently, the power control unit has a certain potential safety hazard, and can enter a limp-home mode when a part of failure mode occurs; but if a failure occurs in which the control capability is completely lost, such as a power outage, bus loss, damage, etc., the control power is completely lost. In the automatic driving process, if the traffic flow is large, the road is maintained on the roadside or the road with a fault vehicle on the right side, the power loss cannot ensure that the vehicle can stop by side, the vehicle only stops on the expressway, and if a power redundancy system is not designed, a significant potential safety risk point exists for the power failure.
In this regard, those skilled in the art have made extensive research and development. For example: CN202110694612.5 discloses an automatic driving redundancy control system and method, comprising: the main control subsystem and the backup control subsystem enter a minimum risk mechanism when any one or more of the driver misoperation or the main sensing equipment, the main execution equipment, the backup controller and the backup execution equipment are in a fault state, the main controller performs path planning, sends a control instruction to the main execution equipment and/or sends a control instruction to the backup execution equipment through the backup controller; and when the main controller is monitored to be in a fault state, entering a minimum risk mechanism, stopping responding to a control instruction sent by the main controller by the main execution device, receiving real-time driving environment information detected by the main sensing device by the backup controller, planning a path, and sending the control instruction to the backup execution device. The vehicle can realize various minimum risk minimizing mechanisms such as safe parking of the vehicle lane, safe parking of an emergency vehicle lane, deceleration of the vehicle lane, obstacle avoidance deceleration and the like. However, the technology mainly relates to redundancy of an automatic driving controller and redundancy control strategies of steering and braking, and does not relate to the problem of how to ensure redundant power output after power abnormality. As another example, CN202010165744.4 discloses a parking redundancy control method, an automatic driving system and driving equipment, including: simultaneously sending a first safe parking request to a main brake controller through an automatic driving main controller and an automatic driving auxiliary controller; judging whether all parts in the automatic driving system are normal or not; if the judgment result is yes, the main brake controller sends an electronic parking request to the electronic parking controller based on the first safety parking request, and sends a P-gear request to the P-gear controller so that the automatic driving system completes the parking action of the vehicle; and if the judgment result is negative, executing the parking redundant response. And, without adding additional hardware mechanisms, the vehicle can be safely parked while the vehicle is in an autopilot driving state and before the driver takes over the vehicle. But this technique also does not address how to ensure safety in the event of a power failure.
Therefore, how to solve the problem that when an automatic driving automobile power system is abnormal, the automobile can safely stop by side or drive to a safety zone, and the problem that a low-cost solution is needed to be solved by a person skilled in the art is solved.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a design method for meeting the requirement of redundant backup of automatic driving distributed power control, which solves the problem that when a power system is abnormal, a vehicle cannot be ensured to safely stop by side or run to a safety zone for parking.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the invention provides a distributed power backup control system meeting automatic driving, which comprises a first area controller, a second area controller, a power control unit, an electric drive control unit and an automatic driving control unit, wherein the first area controller is connected with the second area controller; the power control units are redundant in the first zone controller.
Further, the first area controller and the redundant backup power control unit are connected with an automatic driving control unit through a CAN1, and the automatic driving control unit is connected with a second area controller through a CAN 2; the first regional controller and the redundant backup power control unit are connected with the drive control unit through the CAN 4; the second regional controller is connected with the first regional controller and the redundant backup power control unit, the power control unit and the electric drive control unit through the CAN 3.
Further, the first area controller monitors whether CAN3 communication is normal, monitors whether torque forwarding of the second area controller is normal, forwards a redundant torque request sent by the automatic driving control unit from CAN1 to CAN3, and monitors whether an electric drive command and a state sent by the power control unit are normal; after the main power is lost, the electric drive control unit is directly controlled by the CAN4 based on the redundant power control unit;
the second area controller forwards a torque request sent by the automatic driving control unit from CAN2 to CAN3;
the power control unit is responsible for converting the received torque control command into an electric drive command of the electric drive control unit;
The electric drive control unit is responsible for executing a drive command of the power control unit and executing power output of the vehicle; the main power failure condition is responsible for receiving the redundant electric drive command to execute corresponding power output;
The automatic driving control unit is responsible for outputting a torque request under an automatic driving state to realize acceleration and deceleration control of the vehicle; based on the fed back power state information, corresponding control is performed.
Further, the redundant backup power control unit is a software module and is integrated in the first area controller, and after the failure of normal output of the main power system is monitored, a command is directly sent to the electric drive through the CAN4 according to the automatic driving torque request, so that the automatic driving power output is ensured.
Further, the invention satisfies the workflow of the automatic driving distributed power backup control system as follows:
Under normal conditions, the automatic driving control unit sends a torque control signal to the second area controller through the CAN2, and the second area controller forwards the torque control signal to the power control unit through the CAN3 and then converts the torque control signal into an electric drive command to be sent to the electric drive control unit for execution; meanwhile, the first area controller receives redundant control information sent by the automatic driving control unit through the CAN1, and monitors whether the torque control signal of the automatic driving control unit, an electric drive command sent by the power control unit, self state information and CAN bus communication are normal or not through the CAN 3.
When power loss or abnormality caused by the power control unit, automatic driving control unit torque control signal forwarding abnormality or CAN3 communication abnormality occurs:
s1, after the first regional controller monitors that the failure occurs, activating a redundant backup power module;
S2, after the redundant backup power module monitors failure, a power take-over signal is sent to the automatic driving controller and the electric drive control unit, and a torque control command sent by the automatic driving controller is converted into a power control command and is output to the electric drive control unit for execution;
s3, the redundant backup power module takes over the power control unit and monitors whether the main power is recovered to be normal;
S4, the first regional controller monitors whether the main power system is recovered to be normal or not and lasts for a certain time;
If the normal state is restored, the system switches back to the main power control;
s5, the main power system confirms that the redundant backup power module returns to normal, and the redundant backup power module sends an exit state to the automatic driving controller and the electric driving control unit;
S6, after the redundant backup power module receives confirmation fed back by the automatic driving controller and the electric drive control unit and exits the redundant power control state, the redundant power control is exited, and the system is seamlessly switched back to the main power control system;
otherwise, the redundant backup power module executes based on the autopilot control unit torque command until a safe stop is completed.
Further, after the S4 system is recovered to be normal, the redundant power module sends information capable of switching normal power control to the automatic driving control unit; after the feedback of the automatic driving control unit can be switched back to the main power system, the redundant control unit sends out a redundant control exiting command to the electric driving control unit and is switched back to normal control.
The invention satisfies the automatic driving distributed power backup control system, and the working flow is as follows:
Under normal conditions, after the automatic driving control unit sends a torque control signal to the second area controller through the CAN2, the second area controller forwards the torque control signal to the power control unit through the CAN3 and then converts the torque control signal into an electric drive command to be sent to the electric drive control unit for execution; meanwhile, a first area controller (comprising a power control backup unit) receives redundant control information sent by an automatic driving control unit through a CAN1, monitors whether torque information sent by the power control unit is normal or not and whether CAN bus communication is normal or not through a CAN3, sends power take-over information to the automatic driving control unit through the CAN1 when power loss or CAN3 communication abnormality occurs, and sends a torque control command to the electric driving control unit through a CAN4 to execute corresponding power backup control; in the process, if the power control unit is recovered to be normal, the main power system control is switched back, otherwise, the lane safety parking or the emergency lane safety parking is carried out based on the automatic driving command.
The invention also provides an automatic driving vehicle, which adopts the distributed power backup control system and relies on the whole vehicle electronic and electric appliance architecture regional controller to realize power redundancy backup control in a distributed mode, so that when the main power control system fails, the redundant backup power control system can provide basic power control output, and the safety design goal of the automatic driving vehicle is ensured to be achieved, thereby ensuring the safety of the vehicle and a user. The automatic control system can carry out necessary power control output when the power control system is abnormal aiming at high-level automatic driving, and the requirements of side parking or parking in a safe area are met.
Compared with the prior art, the invention has the following beneficial effects:
1. The invention relies on the current whole vehicle electronic and electric architecture to deploy the redundant backup power control unit in the regional controller and realize basic power control through software, thereby realizing a low-cost solution of redundant power control output under the condition of interruption of a main power system and ensuring that the high-level automatic driving safety requirement is met; and depending on the existing controller, the current power controller is not affected.
2. The invention avoids using a completely redundant power control system and reduces the development cost.
3. The invention discloses a design method for a distributed power backup of high-level automatic driving, which aims at the problem that the power control system is abnormal in the high-level automatic driving, and can carry out necessary power control output so as to meet the requirements of side parking or parking in a safe area. By means of the whole vehicle electronic and electric appliance architecture regional controller, power redundancy backup control is realized in a distributed mode, so that when a main power control system fails, the redundancy backup power control system can provide basic power control output, and the safety design goal of an automatic driving vehicle is guaranteed, and the safety of the vehicle and a user is guaranteed.
Drawings
FIG. 1 is a block diagram of a distributed power backup control system for automatic driving according to the present invention;
FIG. 2 is a flow chart of the invention satisfying the autopilot distributed power backup control.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. Combinations of embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to meet the design requirement of an automatic driving distributed power backup control system, and the redundant power control unit is arranged in an area controller and directly connected with a motor controller by means of the existing whole vehicle electronic and electric appliance architecture, so that under the condition that a main power control system fails, the redundant power control unit can monitor in time and control the electric drive unit through a redundant loop to perform basic power control, thereby realizing the requirement of an automatic driving system for leaning on the side or a safe area, and ensuring the lowest cost.
Referring to fig. 1, the present invention satisfies an autopilot distributed power backup control system comprising: a first zone controller 1, a second zone controller 2, a power control unit 3, an electric drive control unit 4 and an automatic drive control unit 5. The first regional controller 1 is used for redundant power control backup units and is connected with the automatic driving control unit 5 through the CAN 1; the first area controller 1, the second area controller 2, the power control unit 3, the electric drive control unit 4 and the second area controller 2 are connected through the CAN 3; the first area controller 1 is connected with the drive control unit 4 through the CAN 4; the second zone controller 2 is connected to an autopilot control unit 5 via CAN 2.
The first area controller 1 monitors whether CAN3 communication is normal, monitors whether torque forwarding of the area controller 2 is normal, forwards a redundant torque request sent by the automatic driving control unit 5 from the CAN1 to the CAN3, and monitors whether an electric drive command and a state sent by the power control unit 4 are normal; after the main power is lost, the electric drive control unit 4 is directly controlled by the CAN4 based on the redundant power control unit;
the second zone controller 2 forwards the torque request sent by the autopilot control unit 5 from CAN2 to CAN3;
the power control unit 3 is responsible for converting the received torque control command into an electric drive command of the electric drive control unit 4;
The electric drive control unit 4 is responsible for executing a drive command of the power control unit 3 and executing power output of the vehicle; the main power failure condition is responsible for receiving the redundant electric drive command to execute corresponding power output;
The automatic driving control unit 5 is responsible for outputting a torque request under an automatic driving state to realize acceleration and deceleration control of the vehicle; based on the fed back power state information, corresponding control is carried out;
the redundant backup power control unit is a software module and is integrated in the first area controller, and after the fact that the main power system cannot normally output is monitored, a command is directly sent to the electric drive through the CAN4 according to the automatic driving torque request, so that automatic driving power output is guaranteed.
Referring to fig. 2, when a power loss or abnormality due to the power control unit, an autopilot control unit torque control signal forwarding abnormality, or CAN3 communication abnormality occurs:
S1, after the first regional controller 1 monitors that the failure occurs, activating a redundant backup power module;
S2, after the redundant backup power module monitors failure, a power take-over signal is sent to the automatic driving controller 5 and the electric drive control unit 4, and a torque control command sent by the automatic driving controller 5 is converted into a power control command to be output to the electric drive control unit 4 for execution;
s3, the redundant backup power module takes over the power control unit 3 and monitors whether the main power is recovered to be normal;
s4, the first regional controller 1 monitors whether the main power system is recovered to be normal or not and lasts for a certain time;
If the normal state is restored, the system switches back to the main power control;
S5, the main power system confirms that the redundant backup power module returns to normal, and the redundant backup power module sends an exit state to the automatic driving controller 5 and the electric driving control unit 4;
s6, after the redundant backup power module receives confirmation fed back by the automatic driving controller 5 and the electric drive control unit 4, the redundant power control is exited, and the system is seamlessly switched back to the main power control system;
otherwise, the redundant backup power module executes based on the autopilot control unit 5 torque command until a safe stop is completed.
Further, after the S4 system is recovered to be normal, the redundant power module sends information capable of switching normal power control to the automatic driving control unit 5; after the feedback of the automatic driving control unit 5 can be switched back to the main power system, the redundant control unit sends out a redundant control exiting command to the electric driving control unit 4 and is switched back to normal control.
The working flow of the system of the invention is as follows:
the first regional controller 1 monitors the power loss of the power control unit 3 through the CAN3, and the second regional controller 2 transmits the abnormal automatic driving torque control or the bus CAN3 is paralyzed, and then transmits power take-over information to the automatic driving control unit 5 through the CAN1 and transmits power take-over information to the electric driving control unit 4 through the CAN 4; after receiving the takeover information, the autopilot control unit 5 performs necessary safety degradation and continues to send a redundant torque control command to the first regional controller 1 through the CAN 1;
Meanwhile, the redundant backup power control unit in the first regional controller 1 sends a torque control command to the electric drive control unit 4 through the CAN4 according to the automatic driving control unit 5 to execute corresponding power backup control, and continues to control electric driving force output;
The first area controller 1 monitors whether the main power system is restored to normal and for a certain time;
if the normal state is recovered, the system is switched back to the original mode for control;
And if the vehicle is not recovered to be normal, executing according to the automatic driving control command until the safe parking is completed.
The invention carries out full redundancy design on sensing, control and execution according to the system design requirement of advanced automatic driving, and utilizes the regional controller in the existing whole vehicle electronic and electric architecture to distribute power monitoring units, and the redundant backup power control unit is arranged in the regional controller to realize basic power control, realize the monitoring of a main power system under the condition of automatic driving, realize the redundant control of power when the main control unit has abnormal power loss, and ensure the achievement of an automatic driving safety state; and meanwhile, the cost of the redundant power control system is greatly reduced.
Finally, it should be noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the technical solution, and those skilled in the art should understand that modifications and equivalents may be made to the technical solution of the present invention without departing from the spirit and scope of the present invention, and all such modifications and equivalents are included in the scope of the claims.
Claims (6)
1. The distributed power backup control system for automatic driving is characterized by comprising a first area controller (1), a second area controller (2), a power control unit (3), an electric drive control unit (4) and an automatic driving control unit (5); redundancy backup power control units in the first zone controller (1);
the first regional controller (1) and the redundant backup power control unit are connected with the automatic driving control unit (5) through the CAN1, and the automatic driving control unit (5) is connected with the second regional controller (2) through the CAN 2; the first regional controller (1) and the redundant backup power control unit thereof are connected with the electric drive control unit (4) through the CAN 4; the second regional controller (2) is connected with the first regional controller (1) and the redundant backup power control unit, the power control unit (3) and the electric drive control unit (4) through the CAN 3;
The first area controller (1) monitors whether CAN3 communication is normal, monitors whether torque forwarding of the second area controller (2) is normal, forwards a redundant torque request sent by the automatic driving control unit (5) from the CAN1 to the CAN3, and monitors whether an electric drive command and a state sent by the power control unit (3) are normal; after the main power is lost, the electric drive control unit (4) is directly controlled by the CAN4 based on the redundant power control unit;
the second area controller (2) forwards the torque request sent by the automatic driving control unit (5) from the CAN2 to the CAN3;
The power control unit (3) is responsible for converting the received torque control command into an electric drive command of the electric drive control unit (4);
The electric drive control unit (4) is responsible for executing a drive command of the power control unit (3) and executing power output of the vehicle; the main power failure condition is responsible for receiving the redundant electric drive command to execute corresponding power output;
The automatic driving control unit (5) is responsible for outputting a torque request under an automatic driving state to realize acceleration and deceleration control of the vehicle; based on the fed back power state information, corresponding control is performed.
2. The distributed power backup control system for automatic driving according to claim 1, wherein the redundant backup power control unit is a software module, is integrated in the first area controller, and directly sends a command to the electric drive through the CAN4 according to the automatic driving torque request after monitoring that the main power system cannot normally output, so as to ensure automatic driving power output.
3. The satisfied autopilot distributed power backup control system of claim 1 wherein the workflow of the system is as follows:
Under normal conditions, the automatic driving control unit (5) sends a torque control signal to the second area controller (2) through the CAN2, the second area controller (2) forwards the torque control signal to the power control unit (3) through the CAN3, and then the torque control signal is converted into an electric driving command and sent to the electric driving control unit (4) for execution; meanwhile, the first area controller (1) receives redundant control information sent by the automatic driving control unit (5) through the CAN1, and monitors whether torque control signals of the automatic driving control unit (5), electric drive commands sent by the power control unit (3), self state information and CAN bus communication are normal or not through the CAN 3.
4. The satisfied autopilot distributed power backup control system of claim 1 wherein, when a power loss or abnormality due to a power control unit, an autopilot control unit torque control signal forwarding abnormality, or a CAN3 communication abnormality occurs:
S1, after the first regional controller (1) monitors that the failure occurs, activating a redundant backup power module;
S2, after the redundant backup power module monitors failure, a power take-over signal is sent to the automatic driving control unit (5) and the electric drive control unit (4), and a torque control command sent by the automatic driving control unit (5) is converted into a power control command to be output to the electric drive control unit (4) for execution;
s3, the redundant backup power module takes over the power control unit (3) and monitors whether the main power is recovered to be normal;
S4, the first regional controller (1) monitors whether the main power system is recovered to be normal or not and lasts for a certain time;
If the normal state is restored, the system switches back to the main power control;
s5, the main power system confirms that the system returns to normal, and the redundant backup power module sends an exit state to the automatic driving control unit (5) and the electric driving control unit (4);
S6, after the redundant backup power module receives the confirmation fed back by the automatic driving control unit (5) and the electric drive control unit (4), the redundant power control is exited, and the system is seamlessly switched back to the main power control system;
otherwise, the redundant backup power module executes based on the autopilot control unit (5) torque command until a safe stop is completed.
5. The distributed power backup control system for automatic driving according to claim 4, wherein after the S4 system returns to normal, the redundant power module sends information of switchable normal power control to the automatic driving control unit (5); after the feedback of the automatic driving control unit (5) can be switched back to the main power system, the redundant control unit sends out a redundant control exiting command to the electric driving control unit (4) and is switched back to normal control.
6. An autonomous vehicle comprising the distributed power backup control system of any of claims 1-5.
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| CN202210588308.7A CN114940183B (en) | 2022-05-27 | 2022-05-27 | Distributed power backup control system capable of achieving automatic driving and vehicle |
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