CN114954016A

CN114954016A - Intelligent power-on management system for unmanned vehicle

Info

Publication number: CN114954016A
Application number: CN202210627229.2A
Authority: CN
Inventors: 苏张勇
Original assignee: Neolix Technologies Co Ltd
Current assignee: Neolix Technologies Co Ltd
Priority date: 2022-06-02
Filing date: 2022-06-02
Publication date: 2022-08-30

Abstract

The present disclosure provides an intelligent power-on management system for an unmanned vehicle. This system is applied to unmanned vehicle or unmanned vehicle, includes: after the unmanned vehicle is powered off, the control unit judges the fault condition of the battery systems, and when any one of the two battery systems has no fault, the control unit controls the non-fault battery system to be started; when both the two battery systems have no faults, the control unit judges the electric quantity condition of the battery systems, controls the battery system with lower residual electric quantity to start when the residual electric quantities of both the two battery systems are larger than a preset threshold value, and controls the battery system with higher residual electric quantity to start when the residual electric quantities of both the two battery systems are smaller than or equal to the preset threshold value; after the battery system is started, the pre-charging relay is controlled to be closed, after the pre-charging condition is met, the main negative relay is closed, the pre-charging relay is disconnected, and the unmanned vehicle is powered on. The power-on time consumption of the battery system of the unmanned vehicle is reduced, and the power-on efficiency and the power-on safety of the unmanned vehicle are improved.

Description

Intelligent power-on management system for unmanned vehicle

Technical Field

The present disclosure relates to the field of unmanned vehicle technology, and in particular, to an intelligent power-on management system for an unmanned vehicle.

Background

An unmanned vehicle, also called as an unmanned vehicle, an automatic vehicle or a wheeled mobile robot, is an integrated and intelligent technical product integrating multiple elements such as environment perception, path planning, state recognition and vehicle control, and the power of the unmanned vehicle is usually provided by a driving motor, and the energy is derived from a lithium battery. Receive the restriction of filling electric pile at present, the on-vehicle charging of unmanned car is very inconvenient, and on-vehicle charging time is longer simultaneously, influences the operation time.

In the prior art, when a battery system in an unmanned vehicle is replaced, the unmanned vehicle needs to be powered off, and then the battery system used currently is replaced by using a manual battery replacement mode, so that the battery system is replaced manually, a battery system with large weight is generally disassembled into a plurality of small battery packs, the weight of a single group of batteries is reduced, and the batteries can be independently disassembled and replaced manually. However, with the increase of the number of battery packs, when the battery system is powered on and managed, the conventional battery system of the unmanned vehicle is powered on by selecting a proper battery system in a manual judgment mode, and the power-on operation is also completed by manual operation, so that the power-on time consumption of the battery system is increased, the time and labor consumption of the power-on process are caused, the power-on efficiency and safety of the unmanned vehicle are reduced, and the operation time of the vehicle is also influenced.

Disclosure of Invention

In view of this, the embodiment of the present disclosure provides an intelligent power-on management system for an unmanned vehicle, so as to solve the problems that in the prior art, increasing power-on time of a battery system results in time and labor consuming in a power-on process, reduces power-on efficiency and safety of the unmanned vehicle, and affects vehicle operation time.

The embodiment of the present disclosure provides an intelligent power-on management system for an unmanned vehicle, including: the system comprises two battery systems and a control unit, wherein the two battery systems are used for supplying power to the unmanned vehicle, and the control unit is used for judging the fault condition and the electric quantity condition of the two battery systems; after the unmanned vehicle is powered off, the control unit judges the fault condition of each battery system, and when any one of the two battery systems has no fault, the control unit controls the battery system without the fault to be started; when the two battery systems are not in fault, the control unit judges the electric quantity condition of each battery system, when the residual electric quantity of the two battery systems is larger than a preset threshold value, the control unit controls the battery system with lower residual electric quantity in the two battery systems to start, and when the residual electric quantity of the two battery systems is smaller than or equal to the preset threshold value, the control unit controls the battery system with higher residual electric quantity in the two battery systems to start; after the control unit controls the battery system to be started, the control unit controls the pre-charging relay to be closed, and after the pre-charging condition is achieved, the main negative relay is closed and the pre-charging relay is opened, and the unmanned vehicle is powered on.

The embodiment of the present disclosure adopts at least one technical scheme that can achieve the following beneficial effects:

the control unit is used for judging the fault condition and the electric quantity condition of the two battery systems; after the unmanned vehicle is powered off, the control unit judges the fault condition of each battery system, and when any one of the two battery systems has no fault, the control unit controls the battery system without the fault to be started; when both the two battery systems have no fault, the control unit judges the electric quantity condition of each battery system, when the residual electric quantity of both the two battery systems is greater than a preset threshold value, the control unit controls the battery system with lower residual electric quantity in the two battery systems to be started, and when the residual electric quantity of both the two battery systems is less than or equal to the preset threshold value, the control unit controls the battery system with higher residual electric quantity in the two battery systems to be started; after the control unit controls the battery system to be started, the control unit controls the pre-charging relay to be closed, and after the pre-charging condition is achieved, the main negative relay is closed and the pre-charging relay is opened, and the unmanned vehicle is powered on. The intelligent power-on management of the unmanned vehicle battery system is realized, the battery system which is most suitable for the current situation can be automatically selected for replacement, the power-on time of the battery system is shortened, manual operation is not needed in the power-on process, the power-on efficiency of the unmanned vehicle is improved, meanwhile, the influence of the power-on process on the vehicle operation time is reduced, and the operation time of the unmanned vehicle is prolonged.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without inventive efforts.

Fig. 1 is a schematic overall structure diagram of an intelligent power-on management system for an unmanned vehicle according to an embodiment of the present disclosure;

fig. 2 is a schematic overall structure diagram of an intelligent power-on management system for an unmanned vehicle according to another embodiment of the present disclosure;

FIG. 3 is a schematic flow chart diagram of intelligent power-on management for unmanned vehicles provided by embodiments of the present disclosure;

fig. 4 is a schematic diagram of an electronic device provided by an embodiment of the disclosure.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the disclosed embodiments. However, it will be apparent to one skilled in the art that the present disclosure may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present disclosure with unnecessary detail.

With the development of the automatic driving technology and the new energy automobile technology, the application scene and the application range of the unmanned vehicle are gradually expanded, for example, the unmanned vehicle is divided into application scenes, including but not limited to an unmanned delivery vehicle, an unmanned retail vehicle, an unmanned cleaning vehicle, an unmanned patrol vehicle and the like, and the unmanned vehicle may also be called an automatic driving vehicle or an unmanned vehicle.

The automatic driving usually uses a new energy automobile as a carrier, so the power of the unmanned vehicle is usually provided by a driving motor, and the energy is derived from a lithium battery in a battery system. Receive the restriction of filling electric pile at present, unmanned car can adopt on-vehicle mode of charging, and on-vehicle charging means to charge the lithium cell of dress on the car through filling electric pile or on-vehicle machine that charges, and it needs external electric pile of filling to provide the power and unmanned car parks in fixed place and charges, and consequently the on-vehicle charging of unmanned car is also very inconvenient, and on-vehicle charge time is longer simultaneously, influences the operation time.

Compared with a vehicle-mounted charging mode, battery replacement is one of the preferable modes for solving the energy supply problem of the unmanned vehicle, and is a process of switching from one battery pack (or battery system) to another battery pack (or battery system). However, the switching process of the existing battery system still has the following problems:

when a battery system in an unmanned vehicle is switched, the unmanned vehicle is powered off, and then the battery system with insufficient electric quantity in the unmanned vehicle is replaced by a battery system with sufficient electric quantity by using a manual battery replacement mode. In order to facilitate the manual replacement of the battery system, a complete battery system with larger weight is split into a plurality of small battery packs, so that the weight of a single battery pack is reduced, and the aim of manually replacing the battery is fulfilled.

However, the electric quantity of the small battery pack is often low, and in order to improve the electric quantity upper limit of the unmanned vehicle, the number of the battery packs needs to be increased, however, as the number of the battery packs increases, when the unmanned vehicle is powered on, intelligent management needs to be performed on a plurality of battery systems, and the power-on operation of the plurality of battery systems is ensured to be safer. However, when the existing unmanned vehicle battery system is subjected to power-on management, a proper battery system is mainly selected to be powered on through a manual judgment mode, and the power-on operation is also completed through manual operation, so that the power-on time consumption of the battery system is increased, the time and labor are wasted in the power-on process, the power-on efficiency of the unmanned vehicle is reduced, the power-on safety of the unmanned vehicle battery system is reduced, and the operation time of the vehicle is also influenced.

For example, in a specific embodiment of the prior art, a battery system with a relatively large weight is split into a plurality of battery packs, so that the weight of a single battery pack is reduced, and the battery pack is convenient to replace manually, for example, a battery system with a weight of 65kg is split into four small battery packs, and when the electric quantity of one battery pack cannot meet the power supply requirement, a low-electric-quantity battery pack is replaced by a high-electric-quantity battery pack manually. However, when the battery system in the prior art is used for power-on management, the operation difficulty of the power-on management of the battery system is increased due to the large number of battery packs, and in the current power-on management, a proper battery system is mainly selected to be powered on by a manual judgment mode, and all the power-on operations are also manually completed, so that the power-on time consumption of the battery system is increased, and the power-on safety of the battery system is reduced.

In view of the above problems in the prior art, an embodiment of the present disclosure provides an improved intelligent power-on management system for an unmanned vehicle, in which when the unmanned vehicle is in a power-off state, a control unit determines a fault condition and a power condition of a battery system in the unmanned vehicle, when any one of two battery systems has no fault, the battery system with the fault is removed, the battery system without the fault is directly selected for power-on, when both of the two battery systems have no fault, based on a determination result of the power conditions of the two battery systems, when remaining powers of the two battery systems are both greater than a predetermined threshold, the battery system with a lower remaining power of the two battery systems is used as a power-on object, and when remaining powers of the two battery systems are both less than or equal to the predetermined threshold, the battery system with a higher remaining power of the two battery systems is used as the power-on object, after a power-on object most suitable for the current unmanned vehicle battery system condition is selected, the selected battery system is controlled to be started, the control unit controls the pre-charging relay to be closed, and the total negative relay is closed and the pre-charging relay is disconnected after the pre-charging condition is met, so that the power-on process of the unmanned vehicle is completed. According to the method and the device for controlling the vehicle to be powered on, the powered-on object most suitable for the current battery system condition can be automatically selected according to the judgment result of the current battery system condition, the vehicle is controlled to be powered on automatically, the power-on time consumption of the battery system is shortened, the power-on efficiency is improved, the safety of power-on operation is improved, the unmanned vehicle can be ensured to be in a sufficient electric quantity state within the time as much as possible, and the operation time of the vehicle is prolonged.

The following describes a structure of an intelligent power-on management system for an unmanned vehicle according to an embodiment of the present disclosure with reference to the drawings. Fig. 1 is a schematic view of an overall structure of an intelligent power-on management system for an unmanned vehicle according to an embodiment of the present disclosure, and as shown in fig. 1, the overall structure of the intelligent power-on management system for an unmanned vehicle may specifically include the following:

the system comprises two battery systems (such as a battery system A and a battery system B) and a control unit, wherein the two battery systems are used for supplying power to the unmanned vehicle, and the control unit is used for judging the fault condition and the electric quantity condition of the two battery systems; after the unmanned vehicle is powered off, the control unit judges the fault condition of each battery system, and when any one of the two battery systems has no fault, the control unit controls the battery system without the fault to be started; when the two battery systems are not in fault, the control unit judges the electric quantity condition of each battery system, when the residual electric quantity of the two battery systems is larger than a preset threshold value, the control unit controls the battery system with lower residual electric quantity in the two battery systems to start, and when the residual electric quantity of the two battery systems is smaller than or equal to the preset threshold value, the control unit controls the battery system with higher residual electric quantity in the two battery systems to start; after the control unit controls the battery system to be started, the control unit controls the pre-charging relay to be closed, and after the pre-charging condition is achieved, the main negative relay is closed and the pre-charging relay is opened, and the unmanned vehicle is powered on.

Specifically, according to the characteristics of the lithium battery and the technical characteristics of the battery management system, the battery system of the unmanned vehicle is subjected to a modularization sub-packaging design again, one battery system with large electric quantity and heavy weight is split into a plurality of battery packs, wherein every two battery packs are connected in series to form one battery system, so that the whole battery system is divided into a plurality of battery systems with small scales, the battery packs in each battery system can reach the weight of manually replacing the battery, and it needs to be noted that the power-on management system provided by the embodiment of the disclosure also supports manual battery replacement and power-on operation.

As shown in fig. 1, the present embodiment splits a previously complete large battery system into 4 small battery packs, wherein each 2 battery packs are connected in series to form one battery system, for example, each unmanned vehicle may be equipped with 4 battery packs, which together form two parallel battery systems, namely battery system a and battery system b. Taking a complete large battery system with a voltage platform of 72V and electric quantity of 12.9kWh as an example, the specific splitting method may be to split a large battery pack of 12.9kWh into 4 small battery packs, for example, into a battery pack a, a battery pack B, a battery pack C, and a battery pack D; the electric quantity of each battery pack is 3.2kWh, and a 10-string 28-parallel battery combination mode can be adopted, so that the voltage platform corresponding to each battery pack is 36V, and the weight is 17.5 kg. The battery pack A and the battery pack B are connected in series to form a battery system A, the battery pack C and the battery pack D are connected in series to form a battery system B, voltage platforms corresponding to the battery system A and the battery system B are both 72V, and electric quantity is both 6.45 kWh.

Further, in the intelligent power-on Management system according to the embodiment of the present disclosure, the intelligent power-on Management system may include two Battery systems and a control Unit, each Battery system includes two Battery packs connected in series, and each Battery pack includes a BMU (Battery Management Unit) and a BMU relay; the Control Unit is integrated with a VCU (Vehicle Control Unit) and a BCU (Battery Control Unit), so that the Control Unit has both the VCU function and the BCU function.

Further, the BMU may collect information of cell voltage, cell temperature, remaining power, and fault state of the battery pack, and feed back the information of the battery pack to the VCU through the CAN bus, for example, transmit state information of each battery pack in the battery system a and the battery system b by using the CAN1 bus in fig. 1. In addition, the BMU may also control the opening and closing of a relay of the BMU, and the BCU may control the waking up and sleeping of the BMU through an activation signal, which is a power supply signal transferred through a circuit between the BCU and the BMU, for example, the waking up and sleeping of the BMU may be controlled by using a 12V power supply signal.

Further, the battery controller BCU can control the opening and closing of a master negative relay and a pre-charge relay, which is also called a pre-charge relay, to realize the switching of the battery system according to the feedback information of the BMU. The VCU is an electric control system of the unmanned vehicle, can also be called a vehicle control unit or an electronic control unit, is a core electronic control unit for realizing vehicle control decision in the unmanned vehicle, and can be used for collecting vehicle information, controlling vehicle operation, diagnosing vehicle faults and the like. It should be noted that the VCU according to the embodiment of the present disclosure is integrated in the control unit, and the BMS battery system may be integrated in the VCU, so that the control unit further has the function of the BMS.

It should be noted that, in the overall structure of the intelligent power-on management system provided in the embodiment of the present disclosure, two sets of parallel battery systems composed of four battery packs are taken as an example for description, and therefore, the following specific embodiment of the present disclosure takes an intelligent power-on process between two sets of battery systems as an example for description. It should be understood that the intelligent power-on management system of the embodiment of the present disclosure is not limited to two sets of battery systems, the power-on management of more than two sets of battery systems is also applicable, and the number of the battery systems and the number of the battery packs do not limit the technical solution of the present disclosure.

In some embodiments, the system further includes a central computing platform and a server back-end, the server back-end is configured to send a power-on signal to the central computing platform via a network signal, the central computing platform is configured to transmit the power-on signal to the control unit, and the control unit activates the battery management units of the two battery systems via the circuit after receiving the power-on signal.

Specifically, in addition to the structure of the intelligent power-on management system shown in fig. 1, another embodiment of the present disclosure provides another overall structure of the intelligent power-on management system for an unmanned vehicle. Fig. 2 is a schematic view of an overall structure of an intelligent power-on management system for an unmanned vehicle according to another embodiment of the present disclosure, and as shown in fig. 2, the overall structure of the intelligent power-on management system for an unmanned vehicle may specifically include the following:

the contents of the same structural parts in the intelligent power-on management system shown in fig. 2 and the intelligent power-on management system shown in fig. 1 are not repeated, and the following describes different structural parts between the two. The other intelligent power-on management system shown in fig. 2 further includes a central computing platform and a server background.

Furthermore, the central computing platform may adopt an Xavier chip, which is an intelligent system of the car networking and may also be called an intelligent control unit, and may be used to transmit the received information to the server background through a network signal of the car networking, for example, through a 5G signal, WiFi, or the like for information transmission; the Xavier chip CAN forward a power-on signal sent by the server background to the control unit through the CAN bus. After receiving the power-on signal, the control unit respectively sends 12V electric signals to the BMUs of the two battery systems through the hard wire circuit, so that the BMUs of the two battery systems are activated.

Further, the server background may be an automatic driving server background or a remote driving server background, the automatic driving server background may also be referred to as an unmanned server background, the automatic driving server background corresponds to a background program of an automatic driving function of the unmanned vehicle, and the remote driving server background corresponds to a background program of a remote driving function of the unmanned vehicle.

Furthermore, the control unit is respectively connected with the BMUs of the two battery systems through a CAN1 bus, the central computing platform is connected with the control unit through a CAN2 bus, and the server background is connected with the central computing platform through network signals.

In some embodiments, each battery system includes one or more battery packs connected in series, each battery pack includes a battery management unit and a relay, the battery management unit is configured to send state information and electric quantity information of the battery pack to the control unit through the CAN bus, and the control unit is configured to determine a fault condition or an electric quantity condition of each battery system according to the state information or the electric quantity information of each battery system.

Specifically, the BMU in each battery system collects state information and electric quantity information corresponding to each battery pack, and transmits the state information and the electric quantity information of the battery pack to the control unit through the CAN1 bus, for example, the BMU reports all state information (including voltage, temperature, serial number, fault state, etc.) of the battery pack to the VCU in the control unit through the CAN1 bus, and the VCU in the control unit judges whether the battery system has a fault according to the state information.

In some embodiments, the state information of the battery packs includes voltage, temperature, serial number and fault state information corresponding to each battery pack, and the determining, by the control unit, the fault condition of the battery system according to the state information of the battery system includes: the control unit calculates the voltage difference and the temperature difference corresponding to each battery system based on the voltage and the temperature of the battery pack in the battery system, and judges the fault condition of the battery system by using the voltage difference and the temperature difference; and/or the control unit matches the serial number of the battery pack in each battery system based on the serial number of the battery pack in the battery system, and judges the fault condition of the battery system according to the serial number matching result; and/or the control unit judges the fault condition of the battery system based on the BMU fault information and the battery fault information in the fault state information.

Specifically, the control unit determines the fault condition of each battery system according to the state information of the battery pack reported by each BMU, and the embodiment of the present disclosure provides three fault determination manners based on the state information, that is, a first manner is to perform fault determination based on a voltage difference and a temperature difference, a second manner is to perform fault determination based on a serial number of the battery pack, and a third manner is to perform fault determination based on the fault state information.

Further, when the fault determination is performed based on the first method, the control unit calculates the voltage difference and the temperature difference corresponding to each battery system based on the voltage and the temperature of each battery pack in each battery system, and since the plurality of battery packs in the same battery system have a series relationship, the voltage difference and the temperature difference corresponding to the entire battery system can be calculated according to the voltage and the temperature corresponding to each battery pack reported by each BMU. In practical application, the BMU may also directly report the voltage and temperature corresponding to the detection point in each battery system, calculate the voltage difference and temperature difference of each battery system based on the voltage and temperature of each detection point, and determine whether the battery system has a fault according to the voltage difference and temperature difference, for example, when the temperature difference is greater than 10 °, it is determined that the battery system has a fault.

Further, when fault judgment is performed based on the second mode, the BMU of each battery pack corresponds to a unique battery serial number, whether two or more battery packs belong to the same battery system can be judged according to the battery serial numbers, the battery system cannot break down only when the battery packs in the same battery system are connected in series, and in practical application, whether the battery packs belong to the same battery system can be judged according to the last two digits of the battery serial numbers corresponding to the battery packs.

Further, when performing fault judgment based on the second method, fault state information may be generated when the battery pack or the BMU fails, for example, a fault code is generated, the BMU reports the fault code of the battery pack to the control unit, and the control unit may directly judge which battery system fails according to the fault code, so as to judge the fault condition of the battery system, in practical applications, the fault state information includes, but is not limited to, the following two types: BMU fault information and battery fault information.

In some embodiments, the control unit controls the non-faulty battery system to be turned on, including: the control unit sends the closing signal to the battery management unit of the fault-free battery system through the CAN bus connected with the fault-free battery system, the battery management unit of the fault-free battery system controls the relay to be closed after receiving the closing signal, and the fault-free battery system is started.

Specifically, the battery management unit BMU is also used to control the opening and closing of the BMU relay, and when the BMU relay is opened, the battery system is closed, and when the BMU relay is closed, the battery system is opened. In practical application, the control unit sends an opening signal or a closing signal to the BMUs in the battery system through the CAN bus, and the BMUs control respective BMU relays to be opened or closed after receiving the opening signal or the closing signal, so that the opening and closing control of the battery system is realized.

Further, when any one of the two battery systems has no fault, the battery system without the fault is preferentially selected to supply power to the unmanned vehicle, after the battery system without the fault is determined, the control unit sends a closing signal to the BMU of the battery system without the fault in a CAN signal mode, the BMU of the battery system without the fault immediately controls the BMU relay to be closed after receiving the closing signal, at the moment, the battery system without the fault is started, and the battery system without the fault is used as a working battery system for supplying power to the unmanned vehicle. In practical application, when the two battery systems are judged to have faults, the power supply is selected to be stopped.

In some embodiments, the determining, by the control unit, the power information of the battery pack includes a remaining power corresponding to each battery pack, and the determining, by the control unit, the power condition of the battery system includes: the control unit calculates a remaining capacity of each battery system based on a remaining capacity of a battery pack in the battery systems, compares the remaining capacities of the two battery systems with predetermined thresholds, respectively, according to the remaining capacities of the battery systems, and compares the remaining capacities between the two battery systems, wherein the predetermined threshold is 30% of the remaining capacity.

Specifically, the remaining power refers to SOC corresponding to the battery pack or the battery system, and the SOC refers to state of charge of the battery pack or the battery system, and is used for reflecting the remaining capacity of the battery pack or the battery system, where the SOC is numerically defined as a ratio of the remaining capacity to the total capacity of the battery, and is expressed by a common percentage; the SOC of the battery can be estimated by using parameters such as terminal voltage, charge/discharge current, and internal resistance of the battery. In practical application, the predetermined threshold may be set to 30%, or the threshold may be set according to actual requirements, and the size of the specific threshold does not constitute a limitation to the technical solution of the present disclosure.

Further, when it is determined that both of the two battery systems are fault-free battery systems, the SOC corresponding to each battery system is compared. Each BMU in the battery system reports the electric quantity information (such as reporting SOC) of each battery pack, the control unit calculates the SOC corresponding to the battery system based on the SOC of each battery pack in the battery system, then compares the SOC of each battery system with a preset threshold value, and selects the battery system with less electric quantity between the two battery systems as a working object (namely as a working battery system) when the SOCs of the two battery systems are both greater than the preset threshold value (namely 30%), namely when the SOCs of the two battery systems are both greater than 30%; when the SOC of both battery systems is not greater than a predetermined threshold (i.e., 30%), that is, when the SOC of both battery systems is less than or equal to 30%, the battery system with a larger amount of electricity between the two battery systems is selected as the operating object (i.e., as the operating battery system).

In some embodiments, the controlling unit controls the battery system with the lower residual amount of the two battery systems to be turned on, and includes: the control unit sends the closing signal to the battery management unit of the battery system with lower residual electric quantity through the CAN bus connected with the battery system with lower residual electric quantity, the battery management unit of the battery system with lower residual electric quantity controls the relay to be closed after receiving the closing signal, and the battery system with lower residual electric quantity is opened.

Specifically, when a battery system with lower residual capacity is selected as a battery system for supplying power to the unmanned vehicle, that is, the battery system with lower residual capacity is taken as a power-on object, the control unit sends a closing signal to the BMU of the battery system with lower residual capacity in a CAN signal mode, and the BMU of the battery system with lower residual capacity immediately controls the BMU relay to close after receiving the closing signal, and at the moment, the battery system with lower residual capacity is started, and the battery system with lower residual capacity is taken as a working battery system for supplying power to the unmanned vehicle.

In some embodiments, the control unit controls the battery system with the higher residual amount of the two battery systems to be turned on, and includes: the control unit sends the closing signal to the battery management unit of the battery system with higher residual capacity through the CAN bus connected with the battery system with higher residual capacity, the battery management unit of the battery system with higher residual capacity controls the relay to close after receiving the closing signal, and the battery system with higher residual capacity is opened.

Specifically, when a battery system with higher residual capacity is selected as a battery system for supplying power to the unmanned vehicle, that is, the battery system with higher residual capacity is taken as a power-on object, the control unit sends a closing signal to the BMU of the battery system with higher residual capacity in a CAN signal mode, and the BMU of the battery system with higher residual capacity immediately controls the BMU relay to be closed after receiving the closing signal, and at the moment, the battery system with higher residual capacity is started, and the battery system with higher residual capacity is taken as a working battery system for supplying power to the unmanned vehicle.

In some embodiments, after the control unit controls the battery system to be turned on, the control unit controls the pre-charging relay to be closed through the circuit, the pre-charging relay pre-charges a capacitor of a driving motor controller of the unmanned vehicle, when the voltage of the capacitor is the same as that of another battery system, the overall negative relay is closed, the pre-charging relay is opened, and the unmanned vehicle is powered up again.

Specifically, after the control unit sends a closing instruction (i.e., a closing signal) to the BMU of the battery system as the power-on object through the CAN bus, the BMU closes the relay, and only the relay of one battery system (i.e., a working battery system for supplying power to the unmanned vehicle) of the two battery systems is closed at this time, so that the situation that the relays of the two parallel battery systems are closed at the same time CAN be avoided, if the relays of the two parallel battery systems are closed at the same time, the high-voltage battery system CAN rapidly charge the low-voltage battery system, and thus great damage CAN be caused to the battery and the relay.

Further, the unmanned vehicle powering off of the embodiment of the present disclosure may also be referred to as a powering down high voltage, and the unmanned vehicle powering on may also be referred to as a powering up high voltage, in other words, a powering up process of the unmanned vehicle is an upper high voltage process of the unmanned vehicle. After the control unit controls the closing of the pre-charging relay, the pre-charging relay starts to pre-charge the pre-charging capacitor, and the total negative relay can be closed only when the voltage of the pre-charging capacitor reaches a certain value, for example, when the voltage of the pre-charging capacitor is close to the voltage value of the second battery system, the total negative relay is closed again. The purpose of doing so is that utilize pre-charge relay and pre-charge resistance to constitute pre-charge circuit, carry out the pre-charge to pre-charge electric capacity through pre-charge circuit when unmanned on-vehicle high pressure, because battery system links to each other with driving motor controller, there is the electric capacity great electric capacity in the driving motor controller, if the electric capacity is in zero state before the electricity is gone up, namely there is not energy in the electric capacity, then at the circuit closure moment, the electric current can be very big, if do not put forward the restriction to the electric current, then will cause huge impact to battery and relay. Therefore, the pre-charging capacitor of the driving motor controller is charged, so that spark arcing when the high-voltage relay is closed is reduced, high-voltage impact is prevented from damaging high-voltage parts, and the safety of a high-voltage system is improved.

In some embodiments, a vehicle control unit VCU and a battery controller BCU are integrated in the control unit, the battery management unit adopts a BMU unit, the relay adopts a BMU relay, the central computing platform adopts an Xavier chip, and the server background includes an automatic driving server background or a remote driving server background.

Specifically, the control unit of the embodiment of the present disclosure integrates all functions of the vehicle control unit VCU and the battery controller BCU, for example, the BCU CAN be used for controlling charging and discharging of the storage battery pack and controlling and managing the ambient temperature of the storage battery pack, and functions of receiving data and feeding back an open circuit state are implemented through the internal CAN bus and the VCU. In practical application, the vehicle control unit VCU also integrates the functions of the BMS battery system.

According to the technical scheme provided by the embodiment of the disclosure, according to battery state information and electric quantity information reported by BMUs in each battery system, firstly, the fault condition of each battery system is judged, the fault battery system can be eliminated according to the judgment result, and a fault-free battery system is directly selected to be electrified; secondly, when the two battery systems are both fault-free battery systems, the intelligent power-on management system can select an optimal battery system to carry out power-on work according to the SOC of each battery system, for example, when the SOC of the two battery systems is more than 30%, the battery system with the smaller SOC is selected to carry out power-on work, the battery system with the lower residual electric quantity is used up, then the battery systems are switched, and the battery systems after being used up can be immediately replaced manually, so that the unmanned vehicle can be ensured to be always in a state of sufficient electric quantity; if the SOC of the two battery systems is less than or equal to 30%, the battery system with the larger SOC is selected to be powered on to work, and the battery system with the higher residual electric quantity has longer one-time continuous working time, so that the battery system with the lower residual electric quantity is convenient for replacing the battery system at the manual selection time, frequent switching of the battery system is avoided, the battery replacement of the unmanned vehicle is convenient to follow, and the operation time and the operation effect of the unmanned vehicle are improved.

The above-mentioned embodiment explains the structure and principle of the intelligent power-on management system for unmanned vehicles in detail, and in combination with the intelligent power-on management system for unmanned vehicles provided by the above-mentioned embodiment, a brief introduction is made to the process of performing intelligent power-on management for unmanned vehicles by using the intelligent power-on management system for unmanned vehicles.

Fig. 3 is a schematic flow chart illustrating intelligent power-on management of an unmanned vehicle according to an embodiment of the present disclosure. As shown in fig. 3, the intelligent power-on management method for an unmanned vehicle may specifically include:

s301, when the unmanned vehicle is in a power-off state, acquiring state information and electric quantity information of each battery system in the unmanned vehicle, and sending an activation signal to a battery management unit in the battery system to activate the battery management unit of the battery system;

s302, after the battery management unit is activated, judging the fault condition of the battery system based on the state information of the battery system, and when judging that one battery system in all the battery systems has no fault, sending a closing instruction to the battery management unit of the battery system without the fault so as to open the battery system without the fault;

s303, when all the battery systems have no faults, judging the electric quantity condition of the battery systems based on the electric quantity information of the battery systems, when the residual electric quantity of all the battery systems is judged to be larger than a preset threshold value, sending a closing instruction to a battery management unit of the battery system with lower residual electric quantity to open the battery system with lower residual electric quantity, and when the residual electric quantity of all the battery systems is judged to be smaller than or equal to the preset threshold value, sending a closing instruction to a battery management unit of the battery system with higher residual electric quantity to open the battery system with higher residual electric quantity;

and S304, controlling the closing of the pre-charging relay by using the control unit, and closing the total negative relay and opening the pre-charging relay after the pre-charging condition is reached so that the unmanned vehicle enters a power-on state.

It should be understood that, the sequence numbers of the steps in the foregoing method embodiments do not imply an order of execution, and the order of execution of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present disclosure.

Fig. 4 is a schematic diagram of an electronic device 4 provided by the embodiment of the present disclosure. As shown in fig. 4, the electronic apparatus 4 of this embodiment includes: a processor 401, a memory 402 and a computer program 403 stored in the memory 402 and executable on the processor 401. The steps in the above-described method embodiments are implemented when the processor 401 executes the computer program 403. Alternatively, the processor 401 implements the functions of the respective modules/units in the above-described respective apparatus embodiments when executing the computer program 403.

The electronic device 4 may be a desktop computer, a notebook, a palm computer, a cloud server, or other electronic devices. The electronic device 4 may include, but is not limited to, a processor 401 and a memory 402. Those skilled in the art will appreciate that fig. 4 is merely an example of electronic device 4 and does not constitute a limitation of electronic device 4 and may include more or fewer components than shown, or different components.

The Processor 401 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc.

The storage 402 may be an internal storage unit of the electronic device 4, for example, a hard disk or a memory of the electronic device 4. The memory 402 may also be an external storage device of the electronic device 4, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the electronic device 4. The memory 402 may also include both internal storage units of the electronic device 4 and external storage devices. The memory 402 is used for storing computer programs and other programs and data required by the electronic device.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules, so as to perform all or part of the functions described above. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit.

The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, the present disclosure may implement all or part of the flow in the method of the above embodiments, and may also be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the steps of the above method embodiments may be implemented. The computer program may comprise computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain suitable additions or additions that may be required in accordance with legislative and patent practices within the jurisdiction, for example, in some jurisdictions, computer readable media may not include electrical carrier signals or telecommunications signals in accordance with legislative and patent practices.

The above examples are only intended to illustrate the technical solutions of the present disclosure, not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present disclosure, and are intended to be included within the scope of the present disclosure.

Claims

1. An intelligent power-on management system for an unmanned vehicle, comprising: the system comprises two battery systems and a control unit, wherein the two battery systems are used for supplying power to the unmanned vehicle, and the control unit is used for judging the fault condition and the electric quantity condition of the two battery systems;

after the unmanned vehicle is powered off, the control unit judges the fault condition of each battery system, and when any one of the two battery systems has no fault, the control unit controls the battery system without the fault to be started;

when the two battery systems are not in fault, the control unit judges the electric quantity condition of each battery system, when the residual electric quantity of the two battery systems is larger than a preset threshold value, the control unit controls the battery system with lower residual electric quantity in the two battery systems to start, and when the residual electric quantity of the two battery systems is smaller than or equal to the preset threshold value, the control unit controls the battery system with higher residual electric quantity in the two battery systems to start;

after the control unit controls the battery system to be started, the control unit controls a pre-charging relay to be closed, and after a pre-charging condition is achieved, a total negative relay is closed and the pre-charging relay is opened, and the unmanned vehicle is powered on.

2. The system of claim 1, further comprising a central computing platform and a server back-end, wherein the server back-end is configured to send a power-on signal to the central computing platform via a network signal, the central computing platform is configured to transmit the power-on signal to the control unit, and the control unit activates the battery management units of the two battery systems via a circuit after receiving the power-on signal.

3. The system of claim 1, wherein each battery system comprises one or more battery packs connected in series, each battery pack comprises a battery management unit and a relay, the battery management unit is configured to send status information and electric quantity information of the battery pack to the control unit through a CAN bus, and the control unit is configured to determine a fault condition or an electric quantity condition of each battery system according to the status information or the electric quantity information of each battery system.

4. The system of claim 3, wherein the state information of the battery packs comprises a voltage, a temperature, a serial number and fault state information corresponding to each battery pack, and the control unit judges the fault condition of the battery system according to the state information of the battery system, and comprises:

the control unit calculates a voltage difference and a temperature difference corresponding to each battery system based on the voltage and the temperature of a battery pack in the battery system, and judges the fault condition of the battery system by using the voltage difference and the temperature difference; and/or the presence of a gas in the gas,

the control unit matches the serial number of the battery pack in each battery system based on the serial number of the battery pack in the battery system, and judges the fault condition of the battery system according to the serial number matching result; and/or the presence of a gas in the gas,

and the control unit judges the fault condition of the battery system based on the BMU fault information and the battery fault information in the fault state information.

5. The system of claim 1, wherein the control unit controls the non-faulty battery system to turn on, comprising:

the control unit sends a closing signal to a battery management unit of the fault-free battery system through a CAN bus connected with the fault-free battery system, the battery management unit of the fault-free battery system controls a relay to be closed after receiving the closing signal, and the fault-free battery system is started.

6. The system of claim 3, wherein the battery pack power information includes a remaining power corresponding to each battery pack, and the determining, by the control unit, the power condition of the battery system according to the battery system power information includes:

the control unit calculates the remaining capacity of each battery system based on the remaining capacity of a battery pack in the battery system, compares the remaining capacities of the two battery systems with predetermined thresholds respectively according to the remaining capacities of the battery systems, and compares the remaining capacities between the two battery systems, wherein the predetermined threshold is 30% of the remaining capacity.

7. The system according to claim 1, wherein the control unit controls the battery system having the lower remaining amount of the two battery systems to be turned on, including:

the control unit sends a closing signal to the battery management unit of the battery system with the lower residual electric quantity through a CAN bus connected with the battery system with the lower residual electric quantity, the battery management unit of the battery system with the lower residual electric quantity controls the relay to be closed after receiving the closing signal, and the battery system with the lower residual electric quantity is started.

8. The system according to claim 1, wherein the control unit controls the battery system having the higher remaining amount of electricity of the two battery systems to be turned on, including:

the control unit sends a closing signal to the battery management unit of the battery system with higher residual capacity through the CAN bus connected with the battery system with higher residual capacity, the battery management unit of the battery system with higher residual capacity controls the relay to be closed after receiving the closing signal, and the battery system with higher residual capacity is opened.

9. The system of claim 1, wherein after the control unit controls the battery system to be turned on, the control unit controls the pre-charge relay to be closed through a circuit, the pre-charge relay pre-charges a capacitor of a driving motor controller of the unmanned vehicle, and when the voltage of the capacitor is the same as that of another battery system, the general negative relay is closed and the pre-charge relay is opened, and the unmanned vehicle is powered up again.

10. The system according to any one of claims 1-9, wherein the control unit is integrated with a Vehicle Control Unit (VCU) and a Battery Control Unit (BCU), the battery management unit is a BMU unit, the relay is a BMU relay, the central computing platform is an Xavier chip, and the server background comprises an automatic driving server background or a remote driving server background.