CN115923686B - Dual-engine hot standby whole vehicle control system, method and new energy vehicle - Google Patents
Dual-engine hot standby whole vehicle control system, method and new energy vehicle Download PDFInfo
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Abstract
The invention provides a double-machine hot backup whole vehicle control system, a double-machine hot backup whole vehicle control method and a new energy vehicle, and relates to the technical field of new energy vehicle control, 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 control instructions 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 control instructions 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 structural 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-engine hot standby whole automobile control system and method and a new energy automobile.
Background
With the continuous development of new energy technologies, new energy vehicles are rapidly developed. The new energy vehicle comprises a hybrid electric vehicle and a pure electric vehicle. In a hybrid electric vehicle, a 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 singly or jointly according to the actual running state of the vehicle, so that the endurance mileage of the vehicle is ensured, and the development requirement of new energy is also 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 used for coordinating the work of all components of the whole vehicle, identifying the driving intention and realizing the driving running of the whole vehicle.
In some special vehicle fields, hybrid electric vehicles and pure electric vehicles are also continuously developed due to the excellent driving performance of the power system of the new energy vehicle. The operation of the new energy vehicle is mainly carried out by the whole vehicle controller, and the new energy vehicle is usually only provided with one whole vehicle controller. The vehicle is used for a long time, or the whole vehicle controller is failed due to the reasons of failure and the like, or the whole vehicle controller is damaged, so that the new energy vehicle cannot normally run and use. This results in affecting the reliability and stability of the vehicle if the overall vehicle controller fails, which will affect the travel of the vehicle.
Disclosure of Invention
The invention provides a double-engine hot backup whole vehicle control system which is provided with a whole vehicle controller of double-engine hot backup 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 control instructions 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 control instructions input by a driver through the input subsystem, and controls equipment in the whole vehicle controlled subsystem to operate.
It should be further noted that the input subsystem includes: 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 vehicle controlled subsystem comprises: 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.
It should be further noted that, fault monitoring and state transfer are performed between the whole vehicle main controller and the whole vehicle backup controller through separate CAN bus communication.
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.
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 use the same control command and different control IDs to distinguish the control of 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 whole vehicle main controller is powered on by low-voltage power supply, the system enters an initialized state, and life frames and state signals are sent to the whole vehicle backup controller;
s12, the whole vehicle main controller receives the takeover information of the whole vehicle backup controller and judges whether the whole vehicle is takeover-controlled by the whole vehicle backup controller or not;
S13, before the whole car key is started, if the whole car backup controller already takes over the whole car control, the whole car main controller is disconnected;
S14, before the whole car key is started, if the whole car backup controller does not take over the whole car control, after the whole car key is started, continuously judging the taking over state of the whole car backup controller, and if the whole car backup controller takes over the whole car control, the whole car main controller is disconnected;
And if the whole vehicle backup controller does not take over the whole vehicle control, the whole vehicle main controller is responsible for the control of the whole vehicle.
The control method also comprises a control strategy of the whole vehicle backup controller, and comprises the following steps:
S21, the whole vehicle backup controller is powered on by low-voltage power supply, the system enters an initialized 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 offline due to faults according to the life frame signals sent by the whole vehicle main controller;
s23, if the whole vehicle main controller is disconnected after failure before the key is started, after the key is started, the whole vehicle backup controller activates instruction output, takes over control of the whole vehicle and sends out take-over signals;
S24, if the whole vehicle main controller is not in fault and is off line before the key is started, the whole vehicle backup controller runs a program and 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 in fault and is off line, if the whole vehicle main controller is not in fault, the whole vehicle backup controller continuously executes a program and does not activate the output of the instruction;
If the main controller of the whole vehicle is in fault and offline after the key is started, judging whether the whole vehicle is powered on or not;
S26, if the whole vehicle is powered on, activating instruction output by the whole vehicle backup controller to take over control of the whole vehicle; if the whole vehicle is not powered on, the whole vehicle is off line.
The invention also provides a new energy vehicle, which comprises a double-engine hot standby whole vehicle control system.
From the above technical scheme, the invention has the following advantages:
the dual-engine hot backup whole vehicle control system provided by the invention comprises the whole vehicle main controller and the whole vehicle backup 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 running capacity of the vehicle with faults is improved, and the reliability of the special vehicle during operation is ensured.
The single-machine system of the whole vehicle controlled part in the system CAN realize the communication with the main controller and the backup controller through one-path CAN communication, thereby reducing the increase of single-machine system resources and the change of software.
In the dual-engine hot backup system, the whole-vehicle main controller and the whole-vehicle backup controller carry out fault detection of life frames 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 testing is reduced.
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In order to more clearly illustrate the technical solutions of the present invention, the drawings that are needed in the description will be briefly introduced below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a dual hot standby vehicle control system;
fig. 2 is a flowchart of a dual-engine hot standby vehicle control method.
Detailed Description
Fig. 1 is a schematic diagram provided in a dual-engine hot standby vehicle control system according to the present invention, and fig. 1 is a schematic diagram illustrating only the basic concept of the present invention, and only the number and functions of the modules related to the present invention are shown in the schematic diagram, not according to the number and functions of the modules in actual implementation, and the functions, numbers and functions of the modules in actual implementation may be changed at will, and the functions and uses of the modules may be more complex.
The dual-engine hot standby whole vehicle control system has the technology of a hardware level and the technology of a software level. The hardware level of the system comprises technologies such as a sensor, a special artificial intelligent chip, cloud computing, distributed storage, big data processing technology, an operation/interaction system, 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 dual-engine hot standby whole vehicle control system can be configured to be applied to one or more new energy vehicles, wherein the new energy vehicles comprise: a whole car main controller and a whole car backup controller. The vehicle main controller and the vehicle backup controller include, but are not limited to, microprocessors, application SPECIFIC INTEGRATED Circuits (ASICs), programmable gate arrays (Field-Programmable GATE ARRAY, FPGA), digital processors (DIGITAL SIGNAL processors, DSPs), embedded devices, and the like.
The dual-engine hot standby whole vehicle control system can control equipment such as a high-voltage distribution system, a power battery module, a driving motor module, a high-voltage accessory module, a controlled module and the like by acquiring control instructions of a driver and executing corresponding control instructions, and can independently realize control work of the whole vehicle system due to the fact that the two controllers are configured by the dual-engine hot standby whole vehicle control system, so that the situation that the whole vehicle system cannot work due to the fact that a single whole vehicle controller fails can be avoided, and the dual-engine hot standby whole vehicle control system has a positive effect on reducing running risks of vehicles.
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The whole car control system for the double-machine hot backup 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 used as a main and a standby.
The whole vehicle main controller and the whole vehicle backup controller carry out fault monitoring and state transmission through independent CAN bus communication. The method can be used for carrying out safe and rapid transmission on data information and is used for life frame signal monitoring and state transmission between the main controller and the backup controller.
That is, the signal inputs of the main controller and the backup controller are mutually connected in parallel and independent, so that the signal can be safely and efficiently transmitted to the two whole vehicle controllers.
In the invention, a whole vehicle main controller and a whole vehicle backup controller of a whole vehicle control part are respectively connected with a single CAN (controller area network) to monitor a life frame signal and send a controller state, and the backup controller monitors the life frame signal of the main controller to judge whether the main controller fails or not and sends a self take-over state. The external power supply of the main controller and the electric connection of the communication interface of the backup controller are completely the same, but are mutually independent and mutually noninterfere. Ensuring that the input signals can be transferred to both the primary controller and the backup controller.
The whole vehicle main controller is respectively connected with the input subsystem and the whole vehicle controlled subsystem, receives control instructions 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 control instructions input by a driver through the input subsystem, and controls equipment in the whole vehicle controlled subsystem to operate.
Specifically, the input subsystem includes: 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 vehicle controlled subsystem comprises: 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.
The driver can input control instructions to the whole vehicle controller through an accelerator pedal, a brake pedal, a man-machine operation switch in the cab, a man-machine operation handle and a man-machine operation interface, and the whole vehicle controller is a whole vehicle main controller or a whole vehicle backup controller for executing control at present. The whole vehicle controller 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 also control the operation of other elements according to the needs of the vehicle.
In an exemplary embodiment, the whole vehicle controlled part is connected with the whole vehicle main controller and the whole vehicle backup controller through a path of CAN communication cable, each whole vehicle controlled subsystem sends the state of the whole vehicle controlled part to the path of 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 whole vehicle controlled subsystem on the path of CAN. The whole controlled subsystem can receive the control instructions of the main controller and the backup controller at the same time, the main controller and the backup controller are distinguished through the ID, and the control instructions are executed through the priority setting.
As shown in fig. 2, the following is an embodiment of a dual hot standby vehicle control method provided by the embodiment of the present disclosure, where the control method and the dual hot standby vehicle control system of the foregoing embodiments belong to the same inventive concept, and details of the dual hot standby vehicle control method embodiment are not described in detail, and reference may be made to the foregoing dual hot standby vehicle control system embodiment.
The method comprises the following steps of:
s11, the whole vehicle main controller is powered on by low-voltage power supply, the system enters an initialized state, and life frames and state signals are sent to the whole vehicle backup controller;
s12, the whole vehicle main controller receives the takeover information of the whole vehicle backup controller and judges whether the whole vehicle is takeover-controlled by the whole vehicle backup controller or not;
S13, before the whole car key is started, if the whole car backup controller already takes over the whole car control, the whole car main controller is disconnected;
S14, before the whole car key is started, if the whole car backup controller does not take over the whole car control, after the whole car key is started, continuously judging the taking over state of the whole car backup controller, and if the whole car backup controller takes over the whole car control, the whole car main controller is disconnected;
And if the whole vehicle backup controller does not take over the whole vehicle control, the whole vehicle main controller is responsible for the control of the whole vehicle.
The method of the invention also comprises a control strategy of the whole vehicle backup controller, and comprises the following steps:
S21, the whole vehicle backup controller is powered on by low-voltage power supply, the system enters an initialized 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 offline due to faults according to the life frame signals sent by the whole vehicle main controller;
s23, if the whole vehicle main controller is disconnected after failure before the key is started, after the key is started, the whole vehicle backup controller activates instruction output, takes over control of the whole vehicle and sends out take-over signals;
S24, if the whole vehicle main controller is not in fault and is off line before the key is started, the whole vehicle backup controller runs a program and 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 in fault and is off line, if the whole vehicle main controller is not in fault, the whole vehicle backup controller continuously executes a program and does not activate the output of the instruction;
If the main controller of the whole vehicle is in fault and offline after the key is started, judging whether the whole vehicle is powered on or not;
S26, if the whole vehicle is powered on, activating instruction output by the whole vehicle backup controller to take over control of the whole vehicle; if the whole vehicle is not powered on, the whole vehicle is off line.
The method realizes the backup control of the dual-machine hot backup control system, realizes the redundancy of the system, ensures the reliability of the system,
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present invention.
The units and algorithm steps of each example described in the embodiments disclosed in the dual hot standby vehicle control system and method provided in the present invention can be implemented in electronic hardware, computer software, or a combination of both, and 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 solution. 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 hot standby 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. 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 which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In the dual hot standby 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 the "C" programming language or similar programming languages. 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 kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected 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 (7)
1. The utility model provides a two hot standby whole car 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 control instructions 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 control instructions input by a driver through the input subsystem, and controls equipment in the whole vehicle controlled subsystem to operate;
The method adopted by the double-engine hot standby whole vehicle control system comprises a whole vehicle main controller control strategy, and comprises the following steps:
s11, the whole vehicle main controller is powered on by low-voltage power supply, the system enters an initialized state, and life frames and state signals are sent to the whole vehicle backup controller;
s12, the whole vehicle main controller receives the takeover information of the whole vehicle backup controller and judges whether the whole vehicle is takeover-controlled by the whole vehicle backup controller or not;
S13, before the whole car key is started, if the whole car backup controller already takes over the whole car control, the whole car main controller is disconnected;
S14, before the whole car key is started, if the whole car backup controller does not take over the whole car control, after the whole car key is started, continuously judging the taking over state of the whole car backup controller, and if the whole car backup controller takes over the whole car control, the whole car main controller is disconnected;
if the whole vehicle backup controller does not take over the whole vehicle control, the whole vehicle main controller is responsible for the control of the whole vehicle;
The method also comprises a control strategy of the whole vehicle backup controller, and comprises the following steps:
S21, the whole vehicle backup controller is powered on by low-voltage power supply, the system enters an initialized 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 offline due to faults according to the life frame signals sent by the whole vehicle main controller;
s23, if the whole vehicle main controller is disconnected after failure before the key is started, after the key is started, the whole vehicle backup controller activates instruction output, takes over control of the whole vehicle and sends out take-over signals;
S24, if the whole vehicle main controller is not in fault and is off line before the key is started, the whole vehicle backup controller runs a program and 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 in fault and is off line, if the whole vehicle main controller is not in fault, the whole vehicle backup controller continuously executes a program and does not activate the output of the instruction;
If the main controller of the whole vehicle is in fault and offline after the key is started, judging whether the whole vehicle is powered on or not;
S26, if the whole vehicle is powered on, activating instruction output by the whole vehicle backup controller to take over control of the whole vehicle; if the whole vehicle is not powered on, the whole vehicle is off line.
2. The dual-engine hot standby vehicle control system according to claim 1, wherein,
The input subsystem includes: 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 vehicle controlled subsystem comprises: 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.
3. The dual-engine hot standby vehicle control system according to claim 1, wherein,
The whole vehicle main controller and the whole vehicle backup controller carry out fault monitoring and state transmission through independent CAN bus communication.
4. The dual-engine hot standby vehicle control system according to claim 1, wherein,
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-engine hot standby vehicle control system according to claim 1, wherein,
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-engine hot standby vehicle control system according to claim 1, wherein,
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 new energy vehicle, characterized by comprising a dual-engine hot standby whole vehicle control system as claimed in any one of claims 1 to 6.
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| CN113173178B (en) * | 2021-06-08 | 2022-10-18 | 浙江吉利控股集团有限公司 | Automatic driving control method and system for vehicle |
| CN113359572A (en) * | 2021-06-30 | 2021-09-07 | 中船重工海为郑州高科技有限公司 | Dual-mode hot backup unmanned control system and method |
| CN113267992B (en) * | 2021-07-19 | 2021-09-28 | 北京踏歌智行科技有限公司 | Mine card unmanned control system based on redundancy design |
| CN113835337B (en) * | 2021-10-19 | 2023-07-11 | 中车株洲电力机车有限公司 | Train network redundancy control method and system |
| CN114516283B (en) * | 2022-03-18 | 2023-10-10 | 中国重汽集团济南动力有限公司 | Multi-redundancy vehicle-mounted power battery system and control method |
| CN115366903A (en) * | 2022-08-19 | 2022-11-22 | 重庆长安汽车股份有限公司 | Automatic driving redundancy control method, system, equipment and readable storage medium |
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