CN206848802U - A kind of controller of vehicle - Google Patents
A kind of controller of vehicle Download PDFInfo
- Publication number
- CN206848802U CN206848802U CN201720194673.4U CN201720194673U CN206848802U CN 206848802 U CN206848802 U CN 206848802U CN 201720194673 U CN201720194673 U CN 201720194673U CN 206848802 U CN206848802 U CN 206848802U
- Authority
- CN
- China
- Prior art keywords
- controller
- vehicle
- utility
- top level
- model
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Traffic Control Systems (AREA)
Abstract
The utility model discloses a kind of controller of vehicle, to solve the problems, such as to realize that Vehicular automatic driving control needs significantly to rectify and improve the original hardware configuration of vehicle and controller in house software in the prior art.The device includes：Top level control device, for being communicatively coupled to by CAN in vehicle CAN bus communication network, and it is connected to by CAN communication network control the first controller in CAN；And for controlling the second controller in non-CAN by rigid line connected mode.Using technical solutions of the utility model, software and hardware structure that vehicle need not be destroyed while automatic Pilot control is being realized, will not increase vehicle potential safety hazard, it is simple to operate, be easily achieved, be versatile.
Description
Technical field
Vehicle Engineering technical field is the utility model is related to, more particularly to a kind of controller of vehicle.
Background technology
At present, as the development of traffic intelligence, increasing orthodox car manufacturer, high-tech company input are driven automatically
Among the research sailed, the automatic Pilot of vehicle, the mainly throttle of control vehicle, brake, steering wheel, gearshift, car light etc. are realized
Deng.
In order to realize that the automatic Pilot of vehicle controls, current most way is that hardware, the software of vehicle are carried out greatly
The rectification of amplitude.Such as steering wheel, throttle, brake of vehicle etc. are all controlled by additional external auxiliary motor physical operations；
Further for example, part controls a part of work(such as the steering wheel, throttle, brake of vehicle by additional external auxiliary motor physical operations
Can, other are controlled by CAN；Also for example controlled completely by CAN, it is necessary to rewrite ECU (Electronic Control
Unit, electronic control unit) or VCU (Vehicle Control Unit, entire car controller) internal processes logic.
Due to vehicle software and hardware structure in itself, the technology being related to is complex, it is necessary to professional personnel are rectified and improved, whole
Changing not only needs to expend substantial amounts of manpower, powerless, and if the once operational error during rectification, it would be possible to buried to vehicle
Lower potential safety hazard, or even can also result in whole vehicle and can not drive.
For how preferably to realize the control of Vehicular automatic driving, there is presently no propose a kind of preferably to solve
Scheme.
Utility model content
In view of aforementioned technical problem, the utility model embodiment provides a kind of controller of vehicle, is realizing that vehicle is automatic
While Driving control, without the software and hardware structure of original vehicle is done significantly rectify and improve, be easily achieved, versatility it is stronger.
A kind of controller of vehicle, including：
Top level control device, for being communicatively coupled to by CAN in vehicle CAN bus communication network, and pass through
CAN communication network control is connected to the first controller on vehicle CAN bus；And for passing through rigid line connected mode
Control the second controller in non-vehicle CAN.
Technical solutions of the utility model, increase top level control device on vehicle, on the one hand, top level control device access vehicle is former
In some CAN communication networks, and it has been connected to originally on vehicle CAN bus by CAN communication network control
First controller, original software and hardware structure without destroying vehicle can be achieved to existing support CAN communication on vehicle
First controller of mode；On the other hand, top level control device is realized to not supporting CAN communication on vehicle by rigid line connected mode
The second controller of mode, and rigid line connected mode is typically just done some tiny structural changes and can be achieved, without destroying
The hardware configuration of vehicle.Therefore, using technical solutions of the utility model, car need not be destroyed while automatic Pilot control is realized
Hardware configuration, potential safety hazard will not be increased vehicle, it is simple to operate, be easily achieved, be versatile.
Other features and advantages of the utility model will illustrate in the following description, also, partly from specification
In become apparent, or understood by implementing the utility model.The purpose of this utility model and other advantages can pass through
Specifically noted structure is realized and obtained in the specification, claims and accompanying drawing write.
Below by drawings and examples, the technical solution of the utility model is described in further detail.
Brief description of the drawings
Accompanying drawing is used for providing further understanding to of the present utility model, and a part for constitution instruction, with this practicality
New embodiment is used to explain the utility model together, does not form to limitation of the present utility model.In the accompanying drawings：
Fig. 1 is one of structural representation of controller of vehicle in the utility model embodiment；
Fig. 2 is two of the structural representation of controller of vehicle in the utility model embodiment；
Fig. 3 is three of the structural representation of controller of vehicle in the utility model embodiment；
Fig. 4 is four of the structural representation of controller of vehicle in the utility model embodiment；
Fig. 5 is five of the structural representation of controller of vehicle in the utility model embodiment；
Fig. 6 is six of the structural representation of controller of vehicle in the utility model embodiment；
Fig. 7 be the utility model embodiment at the middle and upper levels controller access vehicle CAN bus structural representation；
Fig. 8 is the utility model embodiment structural representation that controller is connected with accelerator pedal sensor at the middle and upper levels.
Embodiment
In order that those skilled in the art more fully understand the technical scheme in the utility model, below in conjunction with this reality
With the accompanying drawing in new embodiment, the technical scheme in the embodiment of the utility model is clearly and completely described, it is clear that
Described embodiment is only the utility model part of the embodiment, rather than whole embodiments.Based on the utility model
In embodiment, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, it should all belong to the scope of the utility model protection.
Above is core concept of the present utility model, in order that those skilled in the art more fully understand the utility model
Technical scheme, the utility model is described in further detail below in conjunction with the accompanying drawings.
In order that those skilled in the art more fully understand the technical scheme in the embodiment of the utility model, and make this reality
Can be more obvious understandable with the above-mentioned purpose of new embodiment, feature and advantage, it is real to the utility model below in conjunction with the accompanying drawings
Technical scheme in example is applied to be described in further detail.
Fig. 1 is a kind of structural representation for controller of vehicle that the utility model embodiment provides, and the device includes：
Top level control device 1, for being communicatively coupled to by CAN in vehicle CAN bus communication network, and pass through
CAN communication network control is connected to the first controller 3 on vehicle CAN bus 2；And for passing through rigid line connection side
Second controller 4 in formula control non-vehicle CAN.
Preferably, in the device shown in Fig. 1, foregoing first controller 3 refers on vehicle in the utility model embodiment
The controller of support CAN communication mode through having, for example, the first controller 3 can include one or more of：It is longitudinally controlled
Device 31, Lateral Controller 32 and engine controller 33.As shown in Fig. 2 first controller 3 includes longitudinal controller 31, horizontal stroke
To controller 32 and engine controller 33.
Preferably, in the utility model embodiment, in the device shown in earlier figures 1, Fig. 2, foregoing longitudinal controller 31 can
Including one or more of：Throttle control 311, brake monitor 312 and gear controller 313.It is illustrated in figure 3 and is scheming
In 2 device, foregoing longitudinal controller 31 includes throttle control 311, brake monitor 312 and gear controller 313.It is foregoing
Lateral Controller 32 may include but be not limited only to steering controller 321.
Preferably, in the device shown in 1~Fig. 3 of earlier figures, second controller 4 refers to existing in vehicle not support
The controller of CAN communication mode.The second controller 4 includes controller actuator 41 and/or onboard sensor 42, such as Fig. 4
Shown, in Fig. 3 device, second controller 4 includes controller actuator 41 and onboard sensor 42.
Preferably, the controller actuator 41 includes one or more of：Forward direction headlight, steering indicating light, rain brush, loudspeaker
, vehicle window, door lock, in-car multimedia and seat etc..As shown in figure 5, in the device shown in earlier figures 4, controller performs
Device 41 includes preceding to headlight 411, steering indicating light 412 and rain brush 413.
Preferably, in the device shown in earlier figures 4 or Fig. 5, the onboard sensor 42 may include following a kind of or more
Kind：Accelerator pedal sensor 421, brake pedal sensor 422 and steering wheel sensor 423.As shown in fig. 6, in the institute of earlier figures 5
In the device shown, onboard sensor 42 steps on sensor 421, brake pedal sensor 422 and steering wheel sensor including throttle
423。
Preferably, whole vehicle is transformed further to reduce, realized in the utility model embodiment by hardware switch
Top level control device is with the connection of vehicle with separating, the fast original whole vehicle state of quick-recovery.
Preferably, top level control device 1 can be connected to vehicle by double-pole single throw (i.e. DPST) as shown in Figure 7
In CAN.
Preferably, top level control device 1 can be connected by more double-pole double throw switches with each second controller 4 respectively, such as upper strata
Controller 1 is connected with accelerator pedal sensor by double-point double-throw switch, the rain brush of top level control device more than 1 passes through five double-pole double throw switches
Connection etc..As shown in figure 8, top level control device is connected with accelerator pedal sensor by double-point double-throw switch (i.e. DPDT).
Preferably, in an example, top level control device 1 has Decision Control function, can be according to the vehicle phase of vehicle
Pass information (such as gas pedal aperture, brake pedal aperture, speed, engine speed, gear, steering wheel angle/moment of torsion letter
Number, controller actuator fault diagnosis information, tire pressure, mailbox oil mass, battery voltage etc.) generate for control the first controller,
The control instruction of second controller, to realize the control to the first controller and second controller.Therefore, the utility model is implemented
In example, top level control device 1, it can be further used for：Gathered from first controller 3 and second controller 4 unmanned
Required vehicle relevant information, and generated according to the vehicle relevant information for controlling first controller 3, second to control
The control instruction of device 4.The example is applied to the less demanding application scenarios of automatic Pilot degree, such as american car engineer
Learn the L2 levels of definition and the automatic Pilot of following rank.
Preferably, in another example, it is further raising speed of decision and accuracy, in the utility model embodiment
Top level control device does not possess Decision Control function, realizes Decision Control by the upper strata calculation server pre-set, is controlled by upper strata
Device processed is responsible for gathering the vehicle relevant information for carrying out decision-making from the controller of vehicle, and the whole vehicle information is uploaded to
Layer calculation server；And by top level control device by upper strata calculation server decision-making obtain be used for control each controller
Computer instruction is converted into control instruction that each controller can identify (for example, can be by being stored with each computer instruction
With the corresponding relation of control instruction, control instruction corresponding to computer instruction is determined from the corresponding relation), to realize to vehicle
Each controller control.Therefore, in the utility model embodiment, the top level control device 1, can be further used for：From institute
State and unmanned required vehicle relevant information is gathered in the first controller, second controller, and by the vehicle relevant information
It is sent to upper strata calculation server；And receive being given birth to according to the vehicle relevant information for the upper strata calculation server transmission
Into be used for control the computer instruction of first controller, second controller；And the computer instruction is converted to
The control instruction of first controller and the second controller identification.The example is applied to require higher to automatic Pilot degree
Application scenarios, such as the automatic Pilot of the L3 levels that define of SAE and above rank.
Preferably, the top level control device 1 can be DSP (Digital Signal Processing, at data signal
Manage device), FPGA (Field-Programmable Gate Array, field programmable gate array) controller, industrial computer, OK
Car computer, ECU (Electronic Control Unit, electronic control unit) or VCU (Vehicle Control Unit,
Entire car controller).
Technical solutions of the utility model, increase top level control device on vehicle, on the one hand, top level control device access vehicle is former
In some CAN communication networks, and it has been connected to originally on vehicle CAN bus by CAN communication network control
First controller, original software and hardware structure without destroying vehicle can be achieved to existing support CAN communication on vehicle
First controller of mode；On the other hand, top level control device is realized to not supporting CAN communication on vehicle by rigid line connected mode
The second controller of mode, and rigid line connected mode is typically just done some tiny structural changes and can be achieved, without destroying
The hardware configuration of vehicle.Therefore, using technical solutions of the utility model, car need not be destroyed while automatic Pilot control is realized
Hardware configuration, potential safety hazard will not be increased vehicle, it is simple to operate, be easily achieved, be versatile.
Obviously, those skilled in the art can carry out various changes and modification without departing from this practicality to the utility model
New spirit and scope.So, if these modifications and variations of the present utility model belong to the utility model claims and
Within the scope of its equivalent technologies, then the utility model is also intended to comprising including these changes and modification.
Claims (10)
- A kind of 1. controller of vehicle, it is characterised in that including：Top level control device, for being communicatively coupled to by CAN in vehicle CAN bus communication network, and it is total by CAN Line communication network control is connected to the first controller on vehicle CAN bus；It is and non-for being controlled by rigid line connected mode Second controller on vehicle CAN bus.
- 2. device according to claim 1, it is characterised in that first controller includes one or more of：It is vertical To controller, Lateral Controller and engine controller.
- 3. device according to claim 2, it is characterised in that the longitudinal controller includes one or more of：Oil Door controller, brake monitor and gear controller.
- 4. device according to claim 2, it is characterised in that the Lateral Controller includes steering controller.
- 5. device according to claim 1, it is characterised in that the second controller include controller actuator and/or Onboard sensor.
- 6. device according to claim 5, it is characterised in that the controller actuator includes one or more of： Forward direction headlight, steering indicating light, rain brush, loudspeaker, vehicle window, door lock, in-car multimedia and seat.
- 7. device according to claim 5, it is characterised in that the onboard sensor includes one or more of：Oil Door pedal sensor, brake pedal sensor, steering wheel sensor.
- 8. device according to claim 1, it is characterised in that the top level control device respectively by more double-pole double throw switches with Second controller connects.
- 9. according to the device described in claim 1, it is characterised in that the top level control device is connected to by double-pole single throw CAN.
- 10. according to the device described in any one of claim 1~9, it is characterised in that the top level control device is at data signal Manage device DSP, on-site programmable gate array FPGA controller, industrial computer, car running computer, electronic control unit ECU or vehicle Controller VCU.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720194673.4U CN206848802U (en) | 2017-03-01 | 2017-03-01 | A kind of controller of vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720194673.4U CN206848802U (en) | 2017-03-01 | 2017-03-01 | A kind of controller of vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206848802U true CN206848802U (en) | 2018-01-05 |
Family
ID=60789808
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720194673.4U Active CN206848802U (en) | 2017-03-01 | 2017-03-01 | A kind of controller of vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206848802U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108427417A (en) * | 2018-03-30 | 2018-08-21 | 北京图森未来科技有限公司 | Automatic driving control system and method, computer server and automatic driving vehicle |
| CN108919797A (en) * | 2018-06-06 | 2018-11-30 | 上海国际汽车城（集团）有限公司 | A kind of automated driving system of electronic minibus |
| CN110809537A (en) * | 2018-12-29 | 2020-02-18 | 深圳市大疆创新科技有限公司 | Information processing method and device |
-
2017
- 2017-03-01 CN CN201720194673.4U patent/CN206848802U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108427417A (en) * | 2018-03-30 | 2018-08-21 | 北京图森未来科技有限公司 | Automatic driving control system and method, computer server and automatic driving vehicle |
| CN108919797A (en) * | 2018-06-06 | 2018-11-30 | 上海国际汽车城（集团）有限公司 | A kind of automated driving system of electronic minibus |
| CN110809537A (en) * | 2018-12-29 | 2020-02-18 | 深圳市大疆创新科技有限公司 | Information processing method and device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108536114A (en) | A kind of controller of vehicle | |
| CN104079669B (en) | Double drive dual control intelligent vehicle bus system | |
| CN206848802U (en) | A kind of controller of vehicle | |
| CN103587526B (en) | The cruise control method of electric automobile | |
| CN105083266B (en) | A kind of automobile autocontrol method and automobile is man-machine double drives system | |
| DE102019104969A1 (en) | SOFTWARE UPDATE SYSTEM, SOFTWARE UPDATE PROCEDURE, AND SOFTWARE UPDATE SERVER | |
| US20150323928A1 (en) | System and method for diagnosing failure of smart sensor or smart actuator of vehicle | |
| JP7226048B2 (en) | Vehicle control interface and vehicle system | |
| CN109878557A (en) | Wriggling driving mode realization method and system in a kind of fully automatic operation system | |
| CN107895501A (en) | Unmanned car steering decision-making technique based on the training of magnanimity driving video data | |
| CN106799975A (en) | A kind of control method of operator demand's moment of torsion, device and electric automobile | |
| CN115284893A (en) | Electric vehicle torque distribution method, system, computer and readable storage medium | |
| CN110316194A (en) | A kind of pilotless automobile drive system, drive control method and development approach | |
| CN107894768A (en) | A kind of automatic vehicle control system and method | |
| CN104890531A (en) | Double-channel accelerator pedal signal control method | |
| CN102705085B (en) | A kind of accelerator control device and engineering machinery | |
| CN208291323U (en) | It is a kind of pervasive actively to drive refitted car | |
| WO2021103903A1 (en) | Vehicle data communication interaction system and method for construction thereof | |
| CN115516539A (en) | Crowdsourcing road conditions from abnormal vehicle events | |
| CN204915669U (en) | Car automatic control system | |
| CN102606318B (en) | Intelligent remote accelerator switching controller based on CAN (controller area network) bus and control method | |
| CN109859563A (en) | A kind of driving simulation system in rail traffic | |
| CN109781128A (en) | A kind of method and device for planning travel route | |
| CN105197102B (en) | Rotating direction control method and device | |
| CN104963779B (en) | Vehicle drive control apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |