CN115923686A - Double-machine hot backup whole vehicle control system and method and new energy vehicle - Google Patents
Double-machine hot backup whole vehicle control system and method and new energy vehicle Download PDFInfo
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Abstract
The invention provides a double-machine hot backup whole vehicle control system and method and a new energy vehicle, relating to the technical field of new energy vehicle control and comprising the following steps: the system comprises an input subsystem, a whole vehicle controlled subsystem, a whole vehicle main controller and a whole vehicle backup controller; the whole vehicle main controller is respectively connected with the input subsystem and the whole vehicle controlled subsystem, receives a control instruction input by a driver through the input subsystem, and controls equipment in the whole vehicle controlled subsystem to operate; the whole vehicle backup controller is respectively connected with the input subsystem and the whole vehicle controlled subsystem, receives a control instruction input by a driver through the input subsystem, and controls equipment in the whole vehicle controlled subsystem to operate. The invention realizes the hot backup of the whole vehicle control system through reasonable system structure design and control strategy, and improves the reliability of the system.
Description
Technical Field
The invention relates to the technical field of new energy automobile control, in particular to a double-machine hot backup whole automobile control system and method and a new energy automobile.
Background
With the continuous development of new energy technology, new energy vehicles are also rapidly developed. The new energy vehicle comprises a hybrid electric vehicle and a pure electric vehicle. In the hybrid electric vehicle, the vehicle driving system is a vehicle formed by combining two or more single driving systems capable of running simultaneously, and the running power of the vehicle is provided by the single driving systems independently or together according to the actual running state of the vehicle, so that the driving range of the vehicle is ensured, and the development requirement of new energy is met.
The hybrid electric vehicle and the pure electric vehicle mainly comprise three core technologies of a power battery, a driving motor and a whole vehicle control system, wherein the whole vehicle control system is used as a core component of the whole vehicle and is used for coordinating the work of all components of the whole vehicle, recognizing the driving intention and realizing the driving running of the whole vehicle.
In some special vehicle fields, hybrid vehicle types and pure electric vehicle types are also continuously developed due to the excellent driving performance of a new energy automobile power system. The operation of the new energy vehicle is mainly performed by a vehicle control unit, and generally, the new energy vehicle is only provided with one vehicle control unit. When the vehicle is used for a long time, or the vehicle control unit fails due to the failure and the like, or the vehicle control unit is damaged, the new energy vehicle cannot normally run and be used. This causes the vehicle reliability and stability to be affected if the vehicle control unit fails, which may affect the running of the vehicle.
Disclosure of Invention
The invention provides a double-machine hot-backup vehicle control system which is provided with a double-machine hot-backup vehicle control unit and ensures the reliability of a vehicle during operation.
The system comprises: the system comprises an input subsystem, a whole vehicle controlled subsystem, a whole vehicle main controller and a whole vehicle backup controller;
the whole vehicle main controller is respectively connected with the input subsystem and the whole vehicle controlled subsystem, receives a control instruction input by a driver through the input subsystem, and controls equipment in the whole vehicle controlled subsystem to operate;
the whole vehicle backup controller is respectively connected with the input subsystem and the whole vehicle controlled subsystem, receives a control instruction input by a driver through the input subsystem, and controls equipment in the whole vehicle controlled subsystem to operate.
It is further noted that the input subsystem includes: the system comprises an accelerator pedal, a brake pedal, a man-machine operation switch in a cab, a man-machine operation handle and a man-machine operation interface;
the whole car is controlled and is divided the system and include: the high-voltage power distribution system comprises a high-voltage power distribution system, a power battery module, a driving motor module, a high-voltage accessory module and a controlled module.
It should be further noted that fault monitoring and state transmission are performed between the entire vehicle main controller and the entire vehicle backup controller through independent CAN bus communication.
The whole vehicle main controller and the whole vehicle backup controller are connected to the input subsystem through a low-voltage cable and a CAN communication cable respectively.
It should be further noted that the whole vehicle main controller and the whole vehicle backup controller are respectively connected to the whole vehicle controlled subsystem through CAN communication.
It should be further noted that the whole vehicle main controller and the whole vehicle backup controller respectively adopt the same control instruction and different control IDs to distinguish control over the whole vehicle controlled subsystem.
The invention also provides a double-machine hot backup whole vehicle control method, which comprises a whole vehicle main controller control strategy and comprises the following steps:
s11, the main controller of the whole vehicle is powered on by low voltage, the system enters an initialization state, and meanwhile, a life frame and a state signal are sent to a backup controller of the whole vehicle;
s12, the whole vehicle main controller receives the take-over information of the whole vehicle backup controller and judges whether the whole vehicle is taken over and controlled by the whole vehicle backup controller;
s13, before the whole vehicle key is started, if the whole vehicle backup controller takes over the whole vehicle control, the whole vehicle main controller is off-line;
s14, before the whole vehicle key is started, if the whole vehicle backup controller does not take over the whole vehicle control, the take-over state of the whole vehicle backup controller is continuously judged after the whole vehicle key is started, and if the whole vehicle backup controller takes over the whole vehicle control, the whole vehicle main controller is off-line;
and if the whole vehicle backup controller does not manage the whole vehicle control, the whole vehicle main controller is responsible for controlling the whole vehicle.
The control method also comprises a control strategy of the whole vehicle backup controller, and the steps are as follows:
s21, the whole vehicle backup controller is powered on by low voltage, the system enters an initialization state, and meanwhile, a take-over signal is sent to the whole vehicle main controller;
s22, the whole vehicle backup controller judges whether the whole vehicle main controller is off-line due to failure according to the life frame signal sent by the whole vehicle main controller;
s23, if the main controller of the whole vehicle is off-line due to a fault before the key is started, activating an instruction to output by the backup controller of the whole vehicle after the key is started, taking over the control of the whole vehicle, and sending out a take-over signal;
s24, if the main controller of the whole vehicle is not off-line due to failure before the key is started, the backup controller of the whole vehicle runs programs but does not activate the output of instructions after the key is started;
s25, the whole vehicle backup controller continuously judges whether the whole vehicle main controller is off line due to a fault, and if the whole vehicle main controller is not off line due to the fault, the whole vehicle backup controller continuously executes the program but does not activate the output of the instruction;
if the main controller of the whole vehicle fails and is off-line after the key is started, whether the whole vehicle is powered on or not needs to be judged;
s26, if the whole vehicle is powered on, activating instruction output by a whole vehicle backup controller, and taking over control of the whole vehicle; and if the whole vehicle is not electrified, the whole vehicle is off-line.
The invention also provides a new energy vehicle which comprises a double-machine hot backup whole vehicle control system.
According to the technical scheme, the invention has the following advantages:
the double-locomotive hot-standby whole vehicle control system comprises a whole vehicle main controller and a whole vehicle standby controller, and the two controllers can independently realize the control work of the whole vehicle system, so that the problem that the whole vehicle system cannot work due to the failure of a single whole vehicle controller can be avoided, the accident-carrying running capability of a vehicle is improved, and the reliability of special vehicles during operation is ensured.
The single machine system of the controlled part of the whole vehicle in the system CAN realize the communication with the main controller and the backup controller through one CAN communication, thereby reducing the increase of single machine system resources and the change of software.
The whole vehicle main controller and the whole vehicle backup controller in the dual-machine hot backup system carry out fault detection of the life frame through independent CAN communication, and the software logic and the control strategy of the controllers are the same, so that the reliability of software is improved, and the workload of software development and test is reduced.
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In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description will be briefly introduced, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
Fig. 1 is a schematic diagram of a double-machine hot backup vehicle control system;
fig. 2 is a flowchart of a double-machine hot backup vehicle control method.
Detailed Description
Fig. 1 is a diagram provided in a dual-computer hot-standby vehicle control system provided by the present invention, and fig. 1 only illustrates the basic idea of the present invention in a schematic manner, and only shows the modules related to the present invention instead of the number and functions of the modules in actual implementation, and the functions, number and functions of the modules in actual implementation may be changed at will, and the functions and purposes of the modules may be more complicated.
The double-computer hot backup whole vehicle control system has both hardware level technology and software level technology. The hardware level of the system comprises technologies such as sensors, special artificial intelligence chips, cloud computing, distributed storage, big data processing technology, operation/interaction systems, electromechanical integration and the like. The software technology of the system mainly comprises a computer visual angle technology, a voice processing technology, a natural language processing technology, machine learning/deep learning and the like.
The double-machine hot backup whole vehicle control system can be configured to be applied to one or more new energy vehicles, and the new energy vehicles comprise: a main finished vehicle controller and a backup finished vehicle controller. The vehicle main controller and the vehicle backup controller include, but are not limited to, a microprocessor, an Application Specific Integrated Circuit (ASIC), a Programmable Gate Array (FPGA), a Digital Signal Processor (DSP), an embedded device, and the like.
The double-machine hot-backup whole vehicle control system of the invention is explained in detail below by combining with the accompanying drawings, the clutch double-machine hot-backup whole vehicle control system can acquire the control instruction of a driver and execute the corresponding control instruction to control the equipment such as the high-voltage power distribution system, the power battery module, the driving motor module, the high-voltage accessory module, the controlled module and the like, and because the system of the invention is provided with two controllers which can independently realize the control work of the whole vehicle system, the problem that the whole vehicle system cannot work due to the failure of a single whole vehicle controller can be avoided, and the positive effect is achieved on reducing the running risk of the vehicle.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The double-machine hot backup whole vehicle control system comprises: the system comprises an input subsystem, a whole vehicle controlled subsystem, a whole vehicle main controller and a whole vehicle backup controller; the whole vehicle main controller and the whole vehicle backup controller are mutually used as main and backup.
And fault monitoring and state transmission are carried out between the main finished automobile controller and the backup finished automobile controller through independent CAN bus communication. The data information can be safely and quickly transmitted, and the data information is used for monitoring the life frame signals and transmitting the states between the main controller and the backup controller.
That is to say, the signal inputs of the main controller and the backup controller are mutually connected in parallel and are mutually independent, so that the signals can be safely and efficiently transmitted to the two vehicle control units.
In the invention, a whole vehicle main controller and a whole vehicle backup controller of a whole vehicle control part are arranged, life frame signal monitoring and controller state sending are carried out between the two controllers through a single CAN, a backup controller monitors life frame signals of the main controller to judge whether the main controller fails, and the backup controller sends the self take-over state. The main controller and the backup controller have completely the same electrical connection of the external power supply and communication interfaces, but are independent and do not interfere with each other. Input signals are guaranteed to be transmitted to the main controller and the backup controller simultaneously.
The whole vehicle main controller is respectively connected with the input subsystem and the whole vehicle controlled subsystem, receives a control instruction input by a driver through the input subsystem, and controls equipment in the whole vehicle controlled subsystem to operate;
the whole vehicle backup controller is respectively connected with the input subsystem and the whole vehicle controlled subsystem, receives a control instruction input by a driver through the input subsystem, and controls equipment in the whole vehicle controlled subsystem to operate.
Specifically, the input subsystem includes: the system comprises an accelerator pedal, a brake pedal, a man-machine operation switch in a cab, a man-machine operation handle and a man-machine operation interface;
the whole car is controlled branch system and is included: the system comprises a high-voltage power distribution system, a power battery module, a driving motor module, a high-voltage accessory module and a controlled module.
A driver can input a control instruction to a vehicle control unit through an accelerator pedal, a brake pedal, a man-machine operation switch in a cab, a man-machine operation handle and a man-machine operation interface, wherein the vehicle control unit is a vehicle main controller or a vehicle backup controller which executes control currently. The vehicle control unit can control the operation of the high-voltage power distribution system, the power battery module, the driving motor module, the high-voltage accessory module and the controlled module, and can control the operation of other elements according to the requirement of the vehicle.
In an exemplary embodiment, a whole vehicle controlled part in the invention is connected with a whole vehicle main controller and a whole vehicle backup controller through a CAN communication cable, each controlled subsystem of the whole vehicle sends the state of the controlled subsystem of the whole vehicle to the CAN bus according to a communication protocol, and the whole vehicle main controller and the whole vehicle backup controller CAN acquire the state of each controlled subsystem of the whole vehicle on the CAN bus. The whole vehicle controlled subsystem can simultaneously receive control instructions of the main controller and the backup controller, distinguish the main controller and the backup controller through the ID, and execute the control instructions through setting of the priority.
As shown in fig. 2, the following is an embodiment of a dual-hot-backup vehicle control method provided in this disclosure, the control method and the dual-hot-backup vehicle control system in the above embodiments belong to the same inventive concept, and details not described in detail in the embodiment of the dual-hot-backup vehicle control method may refer to the embodiment of the dual-hot-backup vehicle control system.
The method comprises a control strategy of a main controller of the whole vehicle, and comprises the following steps:
s11, the main controller of the whole vehicle is powered on by low-voltage power supply, the system enters an initialization state, and meanwhile, a life frame and a state signal are sent to a backup controller of the whole vehicle;
s12, the whole vehicle main controller receives the take-over information of the whole vehicle backup controller and judges whether the whole vehicle is taken over by the whole vehicle backup controller for control;
s13, before the whole vehicle key is started, if the whole vehicle backup controller takes over the whole vehicle control, the whole vehicle main controller is off-line;
s14, before the whole vehicle key is started, if the whole vehicle backup controller does not take over the whole vehicle control, the take-over state of the whole vehicle backup controller is continuously judged after the whole vehicle key is started, and if the whole vehicle backup controller takes over the whole vehicle control, the whole vehicle main controller is off-line;
and if the whole vehicle backup controller does not manage the whole vehicle control, the whole vehicle main controller is responsible for controlling the whole vehicle.
As the method of the invention, the method also comprises a control strategy of the whole vehicle backup controller, and the steps are as follows:
s21, the whole vehicle backup controller is powered on by low voltage, the system enters an initialization state, and meanwhile, a take-over signal is sent to the whole vehicle main controller;
s22, the whole vehicle backup controller judges whether the whole vehicle main controller fails to be off-line or not according to the life frame signal sent by the whole vehicle main controller;
s23, if the main controller of the whole vehicle fails to be off-line before the key is started, activating an instruction output by the backup controller of the whole vehicle after the key is started, taking over the control of the whole vehicle and sending out a take-over signal;
s24, if the main controller of the whole vehicle is not off-line due to failure before the key is started, the backup controller of the whole vehicle runs a program but does not activate the output of the instruction after the key is started;
s25, the whole vehicle backup controller continuously judges whether the whole vehicle main controller is off line due to a fault, and if the whole vehicle main controller is not off line due to the fault, the whole vehicle backup controller continuously executes the program but does not activate the output of the instruction;
if the main controller of the whole vehicle fails and is off-line after the key is started, whether the whole vehicle is powered on or not needs to be judged;
s26, if the whole vehicle is powered on, activating instruction output by a whole vehicle backup controller, and taking over control of the whole vehicle; and if the whole vehicle is not electrified, the whole vehicle is off-line.
The method realizes the backup control of the dual-computer hot backup control system of the invention, realizes the redundancy of the system, ensures the reliability of the system,
it should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence 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 invention.
The units and algorithm steps of each example described in the embodiment disclosed in the dual-computer hot-backup vehicle control system and method provided by the present invention can be implemented by electronic hardware, computer software, or a combination of the two, and in order to clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been generally described in terms of functions in the above description. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The flowcharts and block diagrams in the figures of the dual-computer hot-backup vehicle control system and method illustrate the architecture, functionality, and operation of possible implementations of devices, methods, and computer program products according to various embodiments of the present disclosure. In this regard, 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. Illustratively, 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 and/or flowchart illustration, and combinations of blocks in the block diagrams and/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.
In the dual-computer hot-backup vehicle control system and method provided by the present invention, the computer program code for performing the operations of the present disclosure may be written in one or more programming languages, including but not limited to an object-oriented programming language such as Java, smalltalk, C + +, and conventional procedural programming languages, such as "C" or similar programming languages, or a combination thereof. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or power server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. The utility model provides a double-computer hot backup whole vehicle control system which characterized in that includes: the system comprises an input subsystem, a whole vehicle controlled subsystem, a whole vehicle main controller and a whole vehicle backup controller;
the whole vehicle main controller is respectively connected with the input subsystem and the whole vehicle controlled subsystem, receives a control instruction input by a driver through the input subsystem, and controls equipment in the whole vehicle controlled subsystem to operate;
the whole vehicle backup controller is respectively connected with the input subsystem and the whole vehicle controlled subsystem, receives a control instruction input by a driver through the input subsystem, and controls equipment in the whole vehicle controlled subsystem to operate.
2. The dual-machine hot-backup vehicle-handling control system according to claim 1,
the input subsystem includes: the system comprises an accelerator pedal, a brake pedal, a man-machine operation switch in a cab, a man-machine operation handle and a man-machine operation interface;
the whole car is controlled and is divided the system and include: the high-voltage power distribution system comprises a high-voltage power distribution system, a power battery module, a driving motor module, a high-voltage accessory module and a controlled module.
3. The dual-machine hot-backup vehicle-handling control system according to claim 1,
and fault monitoring and state transmission are carried out between the main finished automobile controller and the backup finished automobile controller through independent CAN bus communication.
4. The dual-computer hot backup vehicle control system according to claim 1,
and the whole vehicle main controller and the whole vehicle backup controller are respectively connected to the input subsystem through a low-voltage cable and a CAN communication cable.
5. The dual-machine hot-backup vehicle-handling control system according to claim 1,
and the whole vehicle main controller and the whole vehicle backup controller are respectively connected to the whole vehicle controlled subsystem through CAN communication.
6. The dual-computer hot backup vehicle control system according to claim 1,
the whole vehicle main controller and the whole vehicle backup controller respectively adopt the same control instruction and different control IDs to distinguish the control of the whole vehicle controlled subsystem.
7. A double-machine hot-backup finished automobile control method is characterized in that the method adopts the double-machine hot-backup finished automobile control system according to any one of claims 1 to 6;
the method comprises a control strategy of a main controller of the whole vehicle, and comprises the following steps:
s11, the main controller of the whole vehicle is powered on by low voltage, the system enters an initialization state, and meanwhile, a life frame and a state signal are sent to a backup controller of the whole vehicle;
s12, the whole vehicle main controller receives the take-over information of the whole vehicle backup controller and judges whether the whole vehicle is taken over and controlled by the whole vehicle backup controller;
s13, before the whole vehicle key is started, if the whole vehicle backup controller takes over the whole vehicle control, the whole vehicle main controller is off-line;
s14, before the whole vehicle key is started, if the whole vehicle backup controller does not take over the whole vehicle control, the take-over state of the whole vehicle backup controller is continuously judged after the whole vehicle key is started, and if the whole vehicle backup controller takes over the whole vehicle control, the whole vehicle main controller is off-line;
if the whole vehicle backup controller does not manage the whole vehicle control, the whole vehicle main controller is responsible for controlling the whole vehicle.
8. The dual-machine hot-backup vehicle-finishing control method according to claim 7, further comprising a vehicle-finishing backup controller control strategy, comprising the steps of:
s21, the whole vehicle backup controller is powered on by low voltage, the system enters an initialization state, and meanwhile, a take-over signal is sent to the whole vehicle main controller;
s22, the whole vehicle backup controller judges whether the whole vehicle main controller is off-line due to failure according to the life frame signal sent by the whole vehicle main controller;
s23, if the main controller of the whole vehicle fails to be off-line before the key is started, activating an instruction output by the backup controller of the whole vehicle after the key is started, taking over the control of the whole vehicle and sending out a take-over signal;
s24, if the main controller of the whole vehicle is not off-line due to failure before the key is started, the backup controller of the whole vehicle runs a program but does not activate the output of the instruction after the key is started;
s25, the whole vehicle backup controller continuously judges whether the whole vehicle main controller is off line due to a fault, and if the whole vehicle main controller is not off line due to the fault, the whole vehicle backup controller continuously executes the program but does not activate the output of the instruction;
if the main controller of the whole vehicle fails and is off-line after the key is started, whether the whole vehicle is powered on or not needs to be judged;
s26, if the whole vehicle is powered on, activating instruction output by a whole vehicle backup controller, and taking over control of the whole vehicle; and if the whole vehicle is not electrified, the whole vehicle is off-line.
9. A new energy vehicle is characterized by comprising the double-machine hot-backup whole vehicle control system according to any one of claims 1 to 6.
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