CN115296393A - Redundant power supply management method, device, equipment and medium for automatic driving vehicle - Google Patents
Redundant power supply management method, device, equipment and medium for automatic driving vehicle Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J9/00—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting
- H02J9/04—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source
- H02J9/06—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems
- H02J9/068—Electronic means for switching from one power supply to another power supply, e.g. to avoid parallel connection
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/007—Regulation of charging or discharging current or voltage
- H02J7/00712—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters
- H02J7/007182—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters in response to battery voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
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Abstract
The application provides a method, a device, equipment and a medium for managing redundant power supplies of an automatic driving vehicle, wherein the method comprises the following steps: the method comprises the steps that a first voltage when a first power supply in a main power supply loop supplies power to a load of the main power supply loop or a second voltage of a second power supply of a redundant power supply loop in the automatic driving process of a vehicle is obtained, and the main power supply loop is connected with the redundant power supply loop through a power supply management module; and if the first voltage or the second voltage is within a preset fault voltage range, disconnecting the main power supply loop from the redundant power supply loop through the power management module so as to realize single-loop power supply of the automatic driving vehicle. Compared with the prior art, the method has the advantages that only a single storage battery and a single power management module are used, so that the cost is reduced, and the safety level of automatic driving redundant power management can be improved by using the method.
Description
Technical Field
The present application relates to the field of autonomous driving electronic control technologies, and in particular, to a method, an apparatus, a device, and a medium for managing redundant power supplies of an autonomous driving vehicle.
Background
The increasing maturity of autopilot technology, the level of L3 and above, allows the driver to be out of sight for a longer time, even completely. Thus, in the event of a vehicle failure, the system is required to continue to perform dynamic driving tasks for a certain period of time until the driver takes over or a safe stop is achieved. This requires redundant designs of autonomous vehicles on important systems affecting driving safety, including sensing redundancy, braking redundancy, steering redundancy, communication redundancy, and power redundancy.
The prior art has two sets of power supply systems which form complete redundancy by using two power supply conversion devices and two storage batteries, can meet the requirement of power supply redundancy, but has high cost and occupies more arrangement space; and a single power supply conversion device is also used, and two storage batteries form redundant power supply, so that although the requirement of power supply redundancy can be met, the cost is increased due to the two storage batteries, and the arrangement space of the whole vehicle is also occupied.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present invention provides a method, apparatus, device and medium for redundant power management of an autonomous vehicle, which only depends on a single power conversion device, a single battery and a single power management module to implement redundant power management of the autonomous vehicle, so as to solve the above-mentioned technical problems.
In one embodiment of the present invention, a method for managing redundant power sources of an autonomous vehicle is provided, the method comprising:
the method comprises the steps that a first voltage when a first power supply in a main power supply loop supplies power to a load of the main power supply loop or a second voltage of a second power supply of a redundant power supply loop in the automatic driving process of a vehicle is obtained, and the main power supply loop is connected with the redundant power supply loop through a power supply management module;
and if the first voltage or the second voltage is within a preset fault voltage range, disconnecting the main power supply loop from the redundant power supply loop through the power management module so as to realize single-loop power supply of the automatic driving vehicle.
In an embodiment of the present invention, before the obtaining a first voltage when a first power supply in a main power supply loop supplies power to a load of the main power supply loop or a second voltage when a second power supply in a redundant power supply loop supplies power to a load of the main power supply loop in an automatic driving process of a vehicle, the power management module further includes:
responding to a power-on instruction of a power management module, and powering on the power management module through the second power supply;
responding to a detection instruction of the power management module, and detecting whether the first relay or the second relay is available to obtain a detection result;
and if the detection result of the power management module is that the first relay or the second relay is available, closing the first relay and the second relay so as to connect the main power supply loop with the redundant power supply loop.
In an embodiment of the present invention, after closing the first relay and the second relay, the method further includes:
responding to a first power supply detection instruction, detecting the first power supply to obtain a first power supply detection result;
and if the first power supply detection result indicates that the first power supply is available, adjusting the first power supply to an enabling mode so as to supply power to the second power supply and the main power supply loop load.
In an embodiment of the invention, if the first voltage is within a preset fault voltage range, disconnecting the main power supply loop and the redundant power supply loop through the power management module includes:
if the first voltage exceeds a preset overvoltage voltage threshold, the output of the first power supply is closed to cut off the power supply to the main power supply loop load;
and disconnecting the first relay and/or the second relay, and supplying power to the load in the redundant power supply loop through the second power supply.
In an embodiment of the present invention, if the first voltage is within a preset fault voltage range, the disconnecting the main power supply loop and the redundant power supply loop through the power management module includes:
if the first voltage is lower than a preset first undervoltage threshold, the output of the first power supply is closed to cut off the power supply to the main power supply loop load;
and disconnecting the first relay and/or the second relay, and supplying power to the load in the redundant power supply loop through the second power supply.
In an embodiment of the present invention, if the second voltage is within a preset fault voltage range, disconnecting the main power supply loop and the redundant power supply loop through the power management module includes:
and if the second voltage is lower than a preset second undervoltage threshold, disconnecting the first relay and/or the second relay, and supplying power to the main power supply loop load through the first power supply.
In an embodiment of the present invention, there is also provided a redundant power management apparatus for an autonomous vehicle, the apparatus includes a main power supply loop, a redundant power supply loop, and a power management module, wherein the main power supply loop and the redundant power supply loop are connected through the power management module;
the primary power supply loop comprises a first power supply and a primary power supply loop load, the first power supply is connected with the primary power supply loop load, and the first power supply is configured to supply power to the primary power supply loop load and a second power supply when the primary power supply loop and a redundant power supply loop are connected through the power management module;
the redundant power supply loop includes a second power supply and a redundant power supply loop load, the second power supply is connected with the redundant power supply loop load, and the second power supply is configured to supply power to the redundant power supply loop load when the main power supply loop and the redundant power supply loop are disconnected by the power management module.
In an embodiment of the invention, the power management module includes:
the first relay is used for carrying out self-checking according to the detection instruction of the power management module;
the second relay is used for carrying out self-checking according to the detection instruction of the power management module;
the first monitoring unit is used for monitoring a first voltage when the first power supply supplies power to the main power supply loop load;
and the second monitoring unit is used for monitoring the second voltage of the second power supply.
In an embodiment of the present invention, an electronic device is further provided, including:
one or more processors;
a storage device to store one or more programs that, when executed by the one or more processors, cause the electronic equipment to implement the autonomous vehicle redundant power management method as described above.
In an embodiment of the present invention, there is also provided a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor of a computer, causes the computer to execute the redundant power management method for an autonomous vehicle as described above.
The invention has the beneficial effects that: the method comprises the steps that a first voltage when a first power supply in a main power supply loop supplies power to a load of the main power supply loop or a second voltage of a second power supply of a redundant power supply loop in the automatic driving process of a vehicle is obtained, and the main power supply loop is connected with the redundant power supply loop through a power supply management module; if the first voltage or the second voltage is within a preset fault voltage range, the connection between the main power supply loop and the redundant power supply loop is disconnected through the power supply management module, so that single-loop power supply of the automatic driving vehicle is realized; in the application, a first power supply is a high-voltage direct-current power supply or a power generation device of an automatic driving automobile, and the first power supply supplies power for a main power supply loop load; the second power supply is a storage battery, and when the main power supply loop is disconnected with the redundant power supply loop, the storage battery supplies power to the load in the redundant power supply loop; compared with the prior art, the method has the advantages that only a single storage battery and a single power management module are used, so that the cost is reduced, and the safety level of automatic driving redundant power management can be improved by using the method.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and, together with the description, serve to explain the principles of the application. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
FIG. 1 is a schematic illustration of an implementation environment for a redundant power management method for an autonomous vehicle according to an exemplary embodiment of the present application;
FIG. 2 is a flow chart illustrating a method for redundant power management of an autonomous vehicle in accordance with an exemplary embodiment of the present application;
FIG. 3 is a flowchart illustrating a loop connection step prior to step S210 in accordance with an exemplary embodiment of the present application;
FIG. 4 is a flow chart of the main supply loop load supply step following step S330 in the embodiment of FIG. 3 in an exemplary embodiment;
FIG. 5 is a block diagram of an autonomous vehicle redundant power management apparatus shown in an exemplary embodiment of the present application;
FIG. 6 is a schematic diagram of the power management module 3 of FIG. 5 in an exemplary embodiment;
FIG. 7 illustrates a schematic structural diagram of a computer system suitable for use in implementing the electronic device of an embodiment of the present application.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the disclosure of the present specification, wherein the following description is made for the embodiments of the present invention with reference to the accompanying drawings and the preferred embodiments. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be understood that the preferred embodiments are illustrative of the invention only and are not limiting upon the scope of the invention.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
In the following description, numerous details are set forth to provide a more thorough explanation of embodiments of the present invention, however, it will be apparent to one skilled in the art that embodiments of the present invention may be practiced without these specific details, and in other embodiments, well-known structures and devices are shown in block diagram form, rather than in detail, in order to avoid obscuring embodiments of the present invention.
In the existing redundant power management process of the automatic driving vehicle, two power conversion devices and two storage batteries are used in part of technologies to form two sets of completely redundant power supply systems, so that although the requirement of power redundancy can be met, the cost is high, and more layout space is occupied; in part of technologies, a single power supply conversion device is used, and two storage batteries form redundant power supply, so that although the requirement of power supply redundancy can be met, the cost is increased due to the two storage batteries, and the arrangement space of the whole vehicle is occupied.
The embodiment of the application provides a redundant power supply management method, a device, equipment and a medium of an automatic driving vehicle with low cost and high functional safety level, which are composed of a single power supply conversion device, a single storage battery and a single power supply management module and can meet the automatic driving requirements of the L3 level and above, and the embodiment will be described in detail below.
Referring first to fig. 1, fig. 1 is a schematic diagram illustrating an implementation environment of a redundant power management method for an autonomous vehicle according to an exemplary embodiment of the present application. The implementation environment comprises a terminal 101, a cloud device 102 and a server 103. The terminal 101 is configured to execute the redundant power management method for the autonomous driving vehicle in the embodiment of the application, and the cloud device 102 and the server 103 are configured to acquire vehicle data in real time, perform data management and control, and perform relevant analysis on the redundant power management method for the autonomous driving vehicle.
Schematically, a terminal 101 obtains a first voltage when a first power supply in a main power supply loop supplies power to a load of the main power supply loop or a second voltage of a second power supply of a redundant power supply loop in the automatic driving process of a vehicle, wherein the main power supply loop is connected with the redundant power supply loop through a power supply management module; and if the first voltage or the second voltage is within a preset fault voltage range, disconnecting the main power supply loop from the redundant power supply loop through the power management module so as to realize single-loop power supply of the automatic driving vehicle. In the application, a first power supply is a high-voltage direct-current power supply or a power generation device of an automatic driving automobile, and the first power supply supplies power for a main power supply loop load; the second power supply is a storage battery, and supplies power to the load in the redundant power supply loop through the storage battery when the main power supply loop is disconnected with the redundant power supply loop; compared with the prior art, the method has the advantages that only a single storage battery and a single power management module are used, so that the cost is reduced, and the safety level of automatic driving redundant power management can be improved by using the method.
The terminal 101 shown in fig. 1 may be, for example, a vehicle-mounted terminal. The server 103 shown in fig. 1 may be, for example, an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing basic cloud computing services such as a cloud service, a cloud database, cloud computing, a cloud function, a cloud storage, a Network service, cloud communication, a middleware service, a domain name service, a security service, a CDN (Content Delivery Network), a big data and artificial intelligence platform, and the like, which is not limited herein. The terminal 101 may communicate with the server 103 through a wireless network such as 3G (third generation mobile information technology), 4G (fourth generation mobile information technology), 5G (fifth generation mobile information technology), and the like, which is not limited herein.
FIG. 2 is a flow chart illustrating a method for redundant power management of an autonomous vehicle in accordance with an exemplary embodiment of the present application. The method provided in the embodiments of the present application may be executed by any electronic device with computing processing capability, and in the following embodiments, the terminal 101 is taken as an example for an execution subject, but the present disclosure is not limited thereto.
Referring to fig. 2, the redundant power management method for an autonomous vehicle according to the embodiment of the present application at least includes the following steps S210 to S220.
In step S210, a first voltage of the main power supply loop when the first power supply supplies power to the load of the main power supply loop or a second voltage of the redundant power supply loop is obtained during the automatic driving of the vehicle.
In an embodiment of the present application, the main power supply loop and the redundant power supply loop are connected through a power management module. The first power source may be, for example, a power conversion device, which is responsible for converting high-voltage dc power generated by the high-voltage dc power battery or the power generation device into 12V dc power required by the main power supply loop. The redundant power supply circuit second power supply can be, for example, a battery which is charged by the power supply of the first power supply when the vehicle is travelling normally.
In one embodiment of the application, the main power supply loop comprises a power source, a power supply conversion device, a main fuse box, a main steering system, a main braking system, a main self-driving system, a main-computer interaction system, a main vehicle body control system and a vehicle-mounted electrical appliance load, wherein the power supply conversion device directly supplies power to the load on the main fuse box; the redundant power supply loop comprises a storage battery, an auxiliary fuse box, an auxiliary steering system, an auxiliary braking system, an auxiliary self-driving system, an auxiliary human-computer interaction system, an auxiliary vehicle body control system and a storage battery monitoring unit, and the storage battery supplies power to a load on the auxiliary fuse box.
In step S220, if the first voltage or the second voltage is within a preset fault voltage range, the connection between the main power supply loop and the redundant power supply loop is disconnected through the power management module.
Illustratively, when the circuit is normal, the power management module is in a conducting state, and the power conversion device simultaneously supplies power to the storage battery and the load on the main power supply loop; when the main power supply loop is in overvoltage, negative pressure and the redundant power supply loop is in negative pressure, the power supply management module is in a disconnected state, the main power supply loop and the redundant power supply loop are not connected any more, and the main power supply loop and the redundant power supply loop are in independent working states.
Through the steps S210 to S220, compared with the prior art, only a single storage battery and a power management module are used, the cost is reduced, and the safety level of the automatic driving redundant power management can be improved by using the method in the application.
In an embodiment of the present application, a loop connection step before step S210 in the embodiment shown in fig. 2 is also described in detail. Referring to fig. 3, fig. 3 is a schematic flowchart illustrating a loop connection step before step S210 according to an exemplary embodiment of the present application, and the detailed description is as follows:
s310, responding to a power-on instruction of the power management module, and powering on the power management module through a second power supply;
s320, responding to a power management module detection instruction, and detecting whether the first relay or the second relay is available to obtain a detection result;
s330, if the detection result of the power management module is that the first relay or the second relay is available, closing the first relay and the second relay so as to connect the main power supply loop with the redundant power supply loop.
It should be noted that the power management module includes a first relay, a second relay, a first monitoring unit, and a second monitoring unit. The first monitoring unit and the second monitoring unit adopt main and redundant power supplies to supply power, and simultaneously carry out voltage and current monitoring on a main power supply loop and a redundant power supply loop. When the circuit is normal, the first relay and the second relay are simultaneously closed, and the power supply management module is in a conducting state. When any power supply circuit fails, the first relay and the second relay are simultaneously disconnected, and the power supply management module is in a disconnected state. Considering that the failure rate of a single relay cannot meet the preset functional safety requirement, when a fault occurs, the safety target of disconnecting the main power supply circuit and the redundant power supply circuit can be realized by disconnecting any one of the first relay and the second relay.
In addition, when the service life of the relay is taken into consideration during the detection instruction of the power management module, the first relay and the second relay can be alternately self-checked, namely, whether only one relay is available or not is detected at each time, and the service life of the battery management module is ensured under the condition that the function is not influenced.
In an embodiment of the present application, a detailed description is also given of a main power supply loop load power supply step after step S330 in the embodiment shown in fig. 3. Referring to fig. 4, fig. 4 is a flowchart of the main supply loop load powering step after step S330 in the embodiment shown in fig. 3 in an exemplary embodiment, which is described in detail as follows:
s410, responding to a first power supply detection instruction, detecting a first power supply, and obtaining a first power supply detection result;
and S420, if the first power supply detection result indicates that the first power supply is available, adjusting the first power supply to be in an enabling mode so as to supply power to a second power supply and the main power supply loop load.
In this embodiment, the power conversion device performs self-test after being powered on, enters an enable mode after the power conversion device is available, and stably outputs a predetermined voltage according to a requested value, so as to charge the storage battery and support normal operation of a load on the main power supply loop.
In one embodiment of the application, during normal running of a vehicle, a main steering system, a main braking system, a main self-driving system, a main host interaction system, a main body control system and a vehicle-mounted electrical appliance load on a main power supply circuit work normally; an auxiliary steering system, an auxiliary braking system, an auxiliary self-driving system, an auxiliary human-computer interaction system, an auxiliary vehicle body control system and a storage battery monitoring unit on the redundant power supply loop work normally; the vehicle now has 100% functionality.
In an embodiment of the present application, if the first voltage is within a preset fault voltage range, disconnecting the primary power supply loop and the redundant power supply loop through the power management module includes:
if the first voltage exceeds a preset overvoltage voltage threshold, the output of the first power supply is closed to cut off the power supply to the main power supply loop load;
and disconnecting the first relay and/or the second relay, and supplying power to the load in the redundant power supply loop through the second power supply.
In this embodiment, when the output voltage of the power conversion device exceeds B and lasts for C ms, the power output of the power conversion device is turned off; and the power management module opens the first relay and/or the second relay within D ms. At the moment, the main power supply loop is disconnected with the redundant power supply loop, the load of the main power supply loop loses power supply, the storage battery normally supplies power for the load in the redundant power supply loop, the vehicle can perform degraded running, the self-driving system performs automatic driving planning according to monitoring data of the storage battery monitoring unit, selects safe parking, performs fault troubleshooting and maintenance on the main power supply loop after safe parking, adjusts the power supply conversion device to be in an enabling mode after maintenance, and closes the first relay and/or the second relay to perform normal power supply.
In an embodiment of the application, if the first voltage is within a preset fault voltage range, disconnecting the primary power supply loop and the redundant power supply loop through the power management module includes:
if the first voltage is lower than a preset first undervoltage threshold, the output of the first power supply is closed to cut off the power supply to the main power supply loop load;
and disconnecting the first relay and/or the second relay, and supplying power to a load in the redundant power supply loop through the second power supply.
In this embodiment, when the output voltage of the power conversion device is lower than E and lasts for F ms, the power output of the power conversion device is turned off; and the power management module opens the first relay and/or the second relay within G ms. At the moment, the main power supply loop is disconnected with the redundant power supply loop, the load of the main power supply loop loses power supply, the storage battery normally supplies power for the load in the redundant power supply loop, the vehicle can be degraded to run, the self-driving system can automatically drive and plan according to the monitoring data of the storage battery monitoring unit, safe parking is selected, fault troubleshooting and maintenance are carried out on the main power supply loop after the safe parking, the power supply conversion device is adjusted to be in an enabling mode after the maintenance, and the first relay and/or the second relay are closed to normally supply power.
In an embodiment of the present application, if the second voltage is within a preset fault voltage range, disconnecting the primary power supply loop and the redundant power supply loop through the power management module includes:
and if the second voltage is lower than a preset second undervoltage threshold value, disconnecting the first relay and/or the second relay, and supplying power to the main power supply loop load through the first power supply.
In this embodiment, when the redundant power supply loop voltage is lower than E and lasts for F ms, the power management module opens the first relay and/or the second relay within G ms. At the moment, the main power supply loop is disconnected with the redundant power supply loop, the power supply conversion device normally supplies power to the load of the main power supply loop and does not supply power to the storage battery in the redundant power supply loop any more, the vehicle can drive in a degraded mode by means of the power supply conversion device in the main power supply loop, the self-driving system can carry out automatic driving planning, safe parking is selected, troubleshooting and maintenance are carried out on the redundant power supply loop after safe parking, and the first relay and/or the second relay are closed again after maintenance, so that safety accidents can be avoided when the follow-up main power supply loop breaks down.
In an embodiment of the present application, the method further comprises a functional safety analysis of the redundant power management method and system for the autonomous vehicle in advance, which is described in detail as follows:
according to the related requirements of functional safety, the L3 level automatic driving allows a driver to be out of hand and eye for a long time, and under the condition that the driver is not in a loop, when the system fails, the system is required not to be directly exited, and the dynamic driving capability needs to be maintained for a period of time. The system is required to be designed redundantly on key components influencing safe driving, and comprises a steering system, a braking system, a self-driving system, a man-machine interaction system, a vehicle body control system, a power supply system and a communication system.
The automatic driving puts functional safety requirements on the whole power supply system, and safety targets comprise: the unexpected undervoltage and overvoltage are avoided; the first security requirement includes: high functional safety level loads (steering, braking, self-driving, etc.) avoid unexpected undervoltage and overvoltage, and the functional safety level is ASILD; the second security requirement includes: the two-way power supply of the two-way power supply equipment is isolated (common cause failure is avoided), and the functional safety level is ASILD; the first safe state includes: detecting and reporting overvoltage and undervoltage faults in the main redundant loop; the second safety state includes: when overvoltage and undervoltage faults occur and exceed a certain time, the main power supply loop and the redundant power supply loop are cut off within a specified time.
And (3) performing functional safety analysis on the redundant power supply system:
when the failure mode is overvoltage of the power supply system, the power supply conversion device in the redundant power supply system of the automatic driving vehicle is an energy supply device of the whole power supply system, and only the power supply conversion device has overvoltage failure; the functional safety requirements for the power conversion device are as follows: the output voltage is prevented from being overhigh, and the function safety level is ASILB (D); the functional safety requirements for the power management module are as follows: when overvoltage is detected, the switch is turned off, and the functional safety level is ASILB (D).
When the failure mode is under-voltage of the power supply system, the under-voltage fault may be caused by any fault of the power supply conversion device output under-voltage, the short circuit of the main power supply loop and the short circuit of the redundant power supply loop. Carry out the analysis of functional safety demand to the undervoltage trouble that power conversion device output voltage crossed and arouses excessively, do to power conversion device's functional safety demand: the output voltage is prevented from being too low, and the functional safety level is ASILB (D); the functional safety requirements for the power management module are as follows: when undervoltage is detected, the switch is turned off, and the functional safety level is ASILB (D). Function safety demand is decomposed to the undervoltage fault that main power supply circuit short circuit arouses, and the function safety demand to power management module is: when undervoltage is detected, the switch should be turned off, and the functional safety level is ASILD (D). Function safety demand is decomposed to the undervoltage trouble that redundant power supply circuit short circuit arouses, and the function safety demand to power conversion equipment does: keeping normal voltage output, wherein the functional safety level is ASILB (D); the functional safety requirements on the power management module are as follows: when undervoltage is detected, the switch should be turned off, and the functional safety level is ASILD (D).
It should be noted that although the various steps of the methods in this application are depicted in the drawings in a particular order, this does not require or imply that these steps must be performed in this particular order, or that all of the shown steps must be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken into multiple step executions, etc.
Embodiments of the apparatus of the present application are described below that may be used to implement the redundant power management methods of autonomous vehicles in the above-described embodiments of the present application.
In one embodiment of the application, the redundant power management device for the automatic driving vehicle comprises a main power supply loop, a redundant power supply loop and a power management module, wherein the main power supply loop and the redundant power supply loop are connected through the power management module; the primary power supply loop comprises a first power supply and a primary power supply loop load, the first power supply is connected with the primary power supply loop load, and the first power supply is configured to supply power to the primary power supply loop load and a second power supply when the primary power supply loop and a redundant power supply loop are connected through the power management module; the redundant power supply loop includes a second power supply and a redundant power supply loop load, the second power supply being connected to the redundant power supply loop load, the second power supply being configured to supply power to the redundant power supply loop load when the primary and redundant power supply loops are disconnected by the power management module. In this embodiment, the first power source may be, for example, a power conversion device, and the second power source may be, for example, a battery.
In an embodiment of the present application, the power management module includes:
the first relay is used for carrying out self-checking according to the detection instruction of the power management module;
the second relay is used for carrying out self-checking according to the detection instruction of the power management module;
the first monitoring unit is used for monitoring a first voltage when the first power supply supplies power for the main circuit loop load;
and the second monitoring unit is used for monitoring the second voltage of the second power supply.
In an embodiment of the present application, the redundant power management device of the autonomous vehicle of the present application is described in detail, referring to fig. 5, fig. 5 is a block diagram of the redundant power management device of the autonomous vehicle shown in an exemplary embodiment of the present application, and the detailed description is as follows:
the redundant power management device of the automatic driving vehicle comprises a main power supply loop, a redundant power supply loop and a power management module, wherein the main power supply loop and the redundant power supply loop are connected through the power management module 3. The main power supply loop comprises a power source 1, a power conversion device 2, a main fuse box 5, a main steering system 7, a main braking system 9, a main self-driving system 11, a main host computer interaction system 13, a main vehicle body control system 15 and a vehicle-mounted electric appliance load 17; the redundant power supply loop comprises a storage battery 4, an auxiliary fuse box 6, an auxiliary steering system 8, an auxiliary braking system 10, an auxiliary self-driving system 12, an auxiliary human-computer interaction system 14, an auxiliary vehicle body control system 16 and a storage battery monitoring unit 18.
Wherein, the power source 1 can be a high voltage direct current power battery or a power generation device.
The power conversion device 2 is responsible for converting the electricity generated by the power source 1 into a 12V direct current power supply.
The power supply conversion device 2 in the main power supply loop directly supplies power to the load on the main fuse box 5, and the storage battery 4 in the redundant power supply loop supplies power to the load on the auxiliary fuse box.
When the circuit is normal, the power management module 3 is in a conducting state, and the power conversion device 2 simultaneously supplies power to the storage battery 4, the main power supply loop and the load on the redundant power supply loop.
When the circuit is abnormal, the power management module 3 is in a disconnected state, the main power supply loop and the redundant power supply loop are not connected, and the main power supply loop and the redundant power supply loop are in independent working states.
In an embodiment of the present application, the power management module 3 of the present application is described in detail, referring to fig. 6, fig. 6 is a schematic structural diagram of the power management module 3 in fig. 5 in an exemplary embodiment, and the detailed description is as follows:
the internal structure of the power management module 3 includes the following components, namely, a first relay 19, a second relay 20, a first monitoring unit 21, and a second monitoring unit 22. The first monitoring unit 21 and the second monitoring unit 22 are powered by two power supplies of a main power supply loop and a redundant power supply loop, and simultaneously perform voltage and current monitoring on the main power supply loop and the redundant power supply loop.
When the circuit is normal, the first relay 19 and the second relay 20 are simultaneously closed, and the power management module 3 is in a conduction state. When any power supply loop fails, the first relay 19 and the second relay 20 are simultaneously switched off, and the power supply management module 3 is in a switched-off state. Considering that the failure rate of a single relay cannot meet the functional safety requirement, the safety target of disconnecting the main power supply circuit and the redundant power supply circuit can be realized by disconnecting any one of the first relay 19 and the second relay 20 in the case of a fault.
It should be noted that the apparatus provided in the foregoing embodiment and the method provided in the foregoing embodiment belong to the same concept, and specific ways of performing operations by the modules and units have been described in detail in the method embodiment, and are not described again here.
An embodiment of the present application further provides an electronic device, including: one or more processors; a storage device to store one or more programs that, when executed by the one or more processors, cause the electronic device to implement the autonomous vehicle redundant power management method as described above.
FIG. 7 illustrates a schematic structural diagram of a computer system suitable for use to implement the electronic device of the embodiments of the subject application.
It should be noted that the computer system of the electronic device shown in fig. 7 is only an example, and should not bring any limitation to the functions and the application scope of the embodiments of the present application.
As shown in fig. 7, the computer system 700 includes a Central Processing Unit (CPU) 701, which can perform various appropriate actions and processes, such as executing the method in the above-described embodiment, according to a program stored in a Read-Only Memory (ROM) 702 or a program loaded from a storage portion 708 into a Random Access Memory (RAM) 703. In the RAM 703, various programs and data necessary for system operation are also stored. The CPU 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An Input/Output (I/O) interface 705 is also connected to the bus 704.
The following components are connected to the I/O interface 705: an input portion 706 including a keyboard, a mouse, and the like; an output section 707 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and a speaker; a storage section 708 including a hard disk and the like; and a communication section 709 including a Network interface card such as a LAN (Local Area Network) card, a modem, and the like. The communication section 709 performs communication processing via a network such as the internet. A drive 710 is also connected to the I/O interface 705 as needed. A removable medium 711 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 710 as necessary, so that a computer program read out therefrom is mounted into the storage section 708 as necessary.
In particular, according to embodiments of the application, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising a computer program for performing the method illustrated by the flow chart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication section 709, and/or installed from the removable medium 711. The computer program executes various functions defined in the system of the present application when executed by a Central Processing Unit (CPU) 701.
It should be noted that the computer readable media shown in the embodiments of the present application may be computer readable signal media or computer readable storage media or any combination of the two. The computer readable storage medium may be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access Memory (R AM), a Read-Only Memory (ROM), an Erasable Programmable Read-Only Memory (EPROM), a flash Memory, an optical fiber, a portable Compact Disc Read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In this application, however, a computer readable signal medium may include a propagated data signal with a computer program embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. Each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present application may be implemented by software, or may be implemented by hardware, and the described units may also be disposed in a processor. Wherein the names of the elements do not in some way constitute a limitation on the elements themselves.
Another aspect of the present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to execute the autonomous vehicle redundant power supply management method as described above.
Another aspect of the application also provides a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The computer instructions are read by a processor of the computer device from a computer-readable storage medium, and the computer instructions are executed by the processor to cause the computer device to perform the redundant power management method for the autonomous vehicle provided in the various embodiments described above.
According to an aspect of an embodiment of the present application, there is also provided a computer system including a Central Processing Unit (CPU) that can perform various appropriate actions and processes, such as performing the method in the above-described embodiment, according to a program stored in a Read-Only Memory (ROM) or a program loaded from a storage portion into a Random Access Memory (RAM). In the RAM, various programs and data necessary for system operation are also stored. The CPU, ROM, and RAM are connected to each other via a bus. An Input/Output (I/O) interface is also connected to the bus.
The following components are connected to the I/O interface: an input section including a keyboard, a mouse, and the like; an output section including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage section including a hard disk and the like; and a communication section including a Network interface card such as a LAN (Local Area Network) card, a modem, or the like. The communication section performs communication processing via a network such as the internet. The drive is also connected to the I/O interface as needed. A removable medium such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive as necessary, so that a computer program read out therefrom is mounted into the storage section as necessary.
The above description is only a preferred exemplary embodiment of the present application, and is not intended to limit the embodiments of the present application, and one of ordinary skill in the art can easily make various changes and modifications according to the main concept and spirit of the present application, so that the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A method of redundant power management for an autonomous vehicle, the method comprising:
the method comprises the steps that a first voltage when a first power supply in a main power supply loop supplies power to a load of the main power supply loop or a second voltage of a second power supply of a redundant power supply loop in the automatic driving process of a vehicle is obtained, and the main power supply loop is connected with the redundant power supply loop through a power supply management module;
and if the first voltage or the second voltage is within a preset fault voltage range, disconnecting the main power supply loop from the redundant power supply loop through the power management module so as to realize single-loop power supply of the automatic driving vehicle.
2. The redundant power management method for autonomous vehicles according to claim 1, wherein the power management module comprises a first relay and a second relay, and before obtaining a first voltage of a first power source in a main power supply loop for supplying power to a load of the main power supply loop or a second voltage of a second power source in the redundant power supply loop during autonomous driving of the vehicle, the method further comprises:
responding to a power-on instruction of a power management module, and powering on the power management module through the second power supply;
responding to a detection instruction of the power management module, and detecting whether the first relay or the second relay is available to obtain a detection result;
and if the detection result of the power management module is that the first relay or the second relay is available, closing the first relay and the second relay so as to connect the main power supply loop with the redundant power supply loop.
3. The autonomous vehicle redundant power management method of claim 2, further comprising, after closing the first relay and the second relay:
responding to a first power supply detection instruction, detecting the first power supply to obtain a first power supply detection result;
and if the first power supply detection result indicates that the first power supply is available, adjusting the first power supply to an enabling mode so as to supply power to the second power supply and the main power supply loop load.
4. The method according to claim 1 or 2, wherein disconnecting the primary power supply loop from the redundant power supply loop via the power management module if the first voltage is within a predetermined fault voltage range comprises:
if the first voltage exceeds a preset overvoltage voltage threshold, the output of the first power supply is closed to cut off the power supply to the main power supply loop load;
and disconnecting the first relay and/or the second relay, and supplying power to a load in the redundant power supply loop through the second power supply.
5. The method according to claim 1 or 2, wherein disconnecting the primary power supply loop from the redundant power supply loop via the power management module if the first voltage is within a predetermined fault voltage range comprises:
if the first voltage is lower than a preset first undervoltage threshold, the output of the first power supply is closed to cut off the power supply to the main power supply loop load;
and disconnecting the first relay and/or the second relay, and supplying power to the load in the redundant power supply loop through the second power supply.
6. The autonomous vehicle redundant power management method of claim 1 or 2, wherein disconnecting the primary power supply loop from the redundant power supply loop via the power management module if the second voltage is within a preset fault voltage range comprises:
and if the second voltage is lower than a preset second undervoltage threshold value, disconnecting the first relay and/or the second relay, and supplying power to the main power supply loop load through the first power supply.
7. A redundant power management device for an autonomous vehicle, comprising:
the device comprises a main power supply loop, a redundant power supply loop and a power management module, wherein the main power supply loop and the redundant power supply loop are connected through the power management module;
the primary power supply loop comprises a first power supply and a primary power supply loop load, the first power supply is connected with the primary power supply loop load, and the first power supply is configured to supply power to the primary power supply loop load and a second power supply when the primary power supply loop and a redundant power supply loop are connected through the power management module;
the redundant power supply loop includes a second power supply and a redundant power supply loop load, the second power supply being connected to the redundant power supply loop load, the second power supply being configured to supply power to the redundant power supply loop load when the primary and redundant power supply loops are disconnected by the power management module.
8. The autonomous-capable vehicle redundant power management apparatus of claim 7, wherein the power management module comprises:
the first relay is used for carrying out self-checking according to the detection instruction of the power management module;
the second relay is used for carrying out self-checking according to the detection instruction of the power management module;
the first monitoring unit is used for monitoring a first voltage when the first power supply supplies power to the main power supply loop load;
and the second monitoring unit is used for monitoring the second voltage of the second power supply.
9. An electronic device, characterized in that the electronic device comprises:
one or more processors;
storage means for storing one or more programs that, when executed by the one or more processors, cause the electronic device to implement the autonomous vehicle redundant power management method of any of claims 1-6.
10. A computer-readable storage medium, having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to execute the autonomous vehicle redundant power supply management method of any of claims 1 to 6.
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| CN202211058822.6A CN115296393A (en) | 2022-08-30 | 2022-08-30 | Redundant power supply management method, device, equipment and medium for automatic driving vehicle |
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| CN114583683A (en) * | 2022-01-30 | 2022-06-03 | 华为数字能源技术有限公司 | Power conversion equipment, power supply system and vehicle |
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| CN114336943A (en) * | 2021-12-31 | 2022-04-12 | 重庆长安新能源汽车科技有限公司 | Intelligent driving dual-redundancy power supply system |
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