CN209426576U - A kind of system for halting autocar with redundant backup function - Google Patents
A kind of system for halting autocar with redundant backup function Download PDFInfo
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- CN209426576U CN209426576U CN201920038618.5U CN201920038618U CN209426576U CN 209426576 U CN209426576 U CN 209426576U CN 201920038618 U CN201920038618 U CN 201920038618U CN 209426576 U CN209426576 U CN 209426576U
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Abstract
The utility model relates to a kind of system for halting autocar with redundant backup function, and wherein system includes: speed data collection module；Gradient acquisition module；P grades of modules；Parking execution module, including mutually independent first parking actuator and the second parking actuator；Parking control module, including mutually independent first control module and the second control module, first control module is electrically connected with vehicle CAN bus, speed data collection module, gradient acquisition module, P grades of modules and the first parking actuator, second control module is electrically connected with vehicle CAN bus, speed data collection module, gradient acquisition module, P grades of modules and the second parking actuator, and the first control module is communicated with the second control module.So as to realize the redundancy backup of system level, when system any point is failed, it can guarantee that vehicle normal parking or can release parking, meet laws and regulations requirement.
Description
Technical field
The utility model relates to vehicle parking technical fields, stay more particularly to a kind of automobile with redundant backup function
Vehicle system.
Background technique
In conventional truck, usually having P grades of lockable mechanisms, (structure can guarantee that driver will become when being linked into P grades
Fast case locks, to realize parking) and parking system, the parking of vehicle is realized by this two systems, but is based on vehicle cloth
It sets and the consideration of cost etc., current numerous new-energy automobiles eliminates P grades of lockable mechanisms, such vehicle is left with a set of parking system
Parking may be implemented in system, is unable to satisfy the requirement of 4.2.19.2 in regulation GB21670, there are security risks.
From the point of view of the development trend of current parking system, one of approach to solve the above problems is exactly to set for parking controller
A set of standby system is counted, to improve the security performance of parking controller.But original P grades of lockable mechanism and parking system have been
Complete independent two systems, have entirely different external input, only insufficient from the internal security performance for improving parking controller
To be fully solved security risk existing for system.
Utility model content
Based on this, it is necessary to be deposited for being only not enough to be fully solved system from the internal security performance for improving parking controller
Security risk the problem of, a kind of system for halting autocar with redundant backup function is provided.
A kind of system for halting autocar with redundant backup function, comprising:
Speed data collection module；
Gradient acquisition module；
P grades of modules；
Parking execution module, including mutually independent first parking actuator and the second parking actuator；
Parking control module, including mutually independent first control module and the second control module, the first control module with
Vehicle CAN bus, speed data collection module, gradient acquisition module, P grades of modules and the first parking actuator are electrically connected, and second
Control module and vehicle CAN bus, speed data collection module, gradient acquisition module, P grades of modules and the second parking actuator are electric respectively
Connection, and the first control module is communicated with the second control module.
The above-mentioned system for halting autocar with redundant backup function, may be implemented the redundancy backup of system level, in system
When any point is failed, it can guarantee that vehicle normal parking or can release parking, meet laws and regulations requirement.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the system for halting autocar in one embodiment with redundant backup function；
Fig. 2 is the structural schematic diagram of the system for halting autocar in another embodiment with redundant backup function；
Fig. 3 is the structural schematic diagram of the system for halting autocar in another embodiment with redundant backup function.
Specific embodiment
To keep the above objects, features, and advantages of the utility model more obvious and easy to understand, with reference to the accompanying drawing to this
The specific embodiment of utility model is described in detail.Many details are explained in the following description in order to abundant
Understand the utility model.But the utility model can be implemented with being much different from other way described herein, this field
Technical staff can do similar improvement without prejudice to the utility model connotation, therefore the utility model is not by following public affairs
The limitation for the specific implementation opened.
Unless otherwise defined, all technical and scientific terms used herein are led with the technology for belonging to the utility model
The normally understood meaning of the technical staff in domain is identical.Terminology used in the description of the utility model herein only be
The purpose of description specific embodiment, it is not intended that in limitation the utility model.Each technical characteristic of above embodiments can be with
Arbitrarily combined, for simplicity of description, it is not all possible to each technical characteristic in above-described embodiment combination all into
Row description, as long as all should be considered as described in this specification however, there is no contradiction in the combination of these technical features.
Fig. 1 is the structural schematic diagram of the system for halting autocar in one embodiment with redundant backup function.Such as Fig. 1 institute
Show, the system for halting autocar with redundant backup function includes: speed data collection module 10, gradient acquisition module 20, P grades of modules
30, parking execution module 40 and parking control module 50.Wherein, parking execution module 40 includes that mutually independent first parking is held
Row device 41 and the second parking actuator 42.Parking control module 50 includes mutually independent first control module 51 and the second control
Module 52, the first control module 51 and vehicle CAN bus 60, speed data collection module 10, gradient acquisition module 20, P grades of modules 30
It is electrically connected with the first parking actuator 41, the second control module 52 and vehicle CAN bus 60, speed data collection module 10, slope
Degree acquisition module 20, P grades of modules 30 and the second parking actuator 42 are electrically connected, and the first control module 51 and the second control
Module 52 is communicated.
In vehicle travel process, speed data collection module 10 acquires the vehicle speed information of vehicle in real time and sends it to first
Control module 51 and the second control module 52, gradient acquisition module 20 in real time acquisition vehicle locating for road grade information and by its
It is sent to the first control module 51 and the second control module 52, P grades of modules 30 receive the P shelves signal of driver and send it to
First control module 51 and the second control module 52.First control module 51 and the second control module 52 receive speed letter respectively
Breath, grade information, P grade signal and the CAN bus signal (information) for coming from vehicle CAN bus 60 (i.e. vehicle CAN network), and
According to vehicle speed information, grade information, P grades of signals and CAN bus signal, executed by the first parking actuator 41 and the second parking
Device 42 carries out parking to vehicle or releases parking, while the first control module 51 also carries out two-way with the second control module 52
Letter, to carry out parking by another control module or release parking when a control module fails wherein, thus real
The redundancy backup of existing system level.
Specifically, vehicle CAN bus 60 is that parking control module 50 provides other controller (e.g., gearbox controls on vehicle
Device processed, body stabilization system controller etc.) information that sends, according to different control strategies, parking control module 50 can lead to
It crosses the information realization parking received on vehicle CAN bus 60 or releases parking.For example, under normal circumstances, parking control module 50
The grade information and gear information that road locating for the vehicle speed information of vehicle, vehicle can be obtained from vehicle CAN bus 60, according to
Vehicle speed information judges the operating status of vehicle, judges whether vehicle remains static according to grade information, and according to gear
Information judges the parking request of driver, and then determines whether to execute parking or release parking.But when vehicle CAN bus 60
When failure, the operating status of accurate judgement vehicle will be unable to, whether vehicle remains static and the parking of driver is asked
It asks, can not occur so as to cause false triggering parking or the case where parking.
And in the application, increase external input unit such as speed data collection module 10, gradient acquisition module 20 and P grades of modules
30, it acquires the vehicle speed information of vehicle in real time by speed data collection module 10, and send it to parking control module 50, passes through slope
It spends acquisition module 20 and acquires the grade information of road locating for vehicle in real time, and send it to parking control module 50, Yi Jitong
It crosses the P grades of reception drivers of modules 30 and is linked into P grades of signal, and send it to parking control module 50, parking at this time controls mould
Block 50 can judge the operating status of vehicle according to the vehicle speed information of acquisition, whether judge vehicle according to the grade information of acquisition
It remains static, and judges that the parking of driver is requested according to P grades of signals, and then determine whether to execute parking or releasing
Parking still can realize parking by P grades of modules 30, to realize from outside accordingly even when there is the paralysis of vehicle CAN network
The redundancy backup of system.
In practical applications, speed data collection module 10 may include speed probe 11.P grades of modules 30 may include P grades of keys
31 and electric gear change mechanism 32, P grades of keys 31 are arranged in electric gear change mechanism 32, can when driver presses P grades of keys 31
To be linked into P grades (or park positions), for automobile that parking is realized for being practically without P grades of lockable mechanisms, when pressing P grades of keys
When, parking can be realized by parking control module 50.It is understood that P grades of modules 30 are that a kind of driver is manipulable
For vehicle to be linked into P grades (or park position) of mechanical handling mechanism, structure composition is not limited to electric gear change mechanism 32 and P grades
Key 31 can be the trigger switch of arbitrary structures, shape, as long as vehicle can be made to be linked into the function of P grades (or park position)
Module is construed as P grades of modules 30.
Further, parking control module 50 includes signal processing module 53, and signal processing module 53 may include that revolving speed passes
Sensor signal processing unit 531 and P grades of push button signalling processing units 532, wherein signals of rotational speed sensor processing unit 531 with
Speed probe 11 is connected by physical hardwired, for receiving and handling the signal from speed probe 11, and is passed to and is stayed
Vehicle control module 50.P grades of push button signalling processing units 532 are connect with P grades of keys 31 by physical hardwired, for receiving and handling
Signal from P grades of keys 31, and pass to parking control module 50.Wherein, when signal processing module 53 fails, parking control
Molding block 50 can realize parking by receiving CAN bus signal or release parking, to realize that externally input bidirectional redundancy is standby
Part.
Further, parking control module 50 includes the first control module 51 and the second control module 52, two control moulds
Block is mutually indepedent, controls corresponding parking actuator respectively by two control modules and realizes parking or releasing parking.For example, just
In normal situation, the first control module 51 can pass through according to above-mentioned vehicle speed information, grade information, P grades of signals and CAN bus signal
First parking actuator 41 carries out parking or releases parking, while the second control module 52 can be according to above-mentioned vehicle speed information, the gradient
Information, P grade signal and CAN bus signal carry out parking by the second parking actuator 42 or release parking.
And when the first control module 51 fails, the second control module 52 can be believed according to above-mentioned vehicle speed information, the gradient
Breath, P grade signals and CAN bus signal, by the first parking actuator 41 of control and the progress parking of the second parking actuator 42 or
Release parking；When the second control module 52 fails, the first control module 51 can be believed according to above-mentioned vehicle speed information, the gradient
Breath, P grade signals and CAN bus signal, by the first parking actuator 41 of control and the progress parking of the second parking actuator 42 or
Parking is released, to realize the redundancy backup of system from inside.
In the present embodiment, the redundancy backup of system level may be implemented, redundancy backup and system including internal system
External redundancy backup can guarantee that vehicle normal parking or can release parking, meet when system any point is failed
Laws and regulations requirement.
In one embodiment, as shown in Fig. 2, the first control module 51 includes: the first processor being sequentially connected electrically
511, first control signal switch unit 512 and first motor control unit 513；Second control module 52 includes: successively to be electrically connected
Second processor 521, second control signal switch unit 522 and the second motor control unit 523 connect, and second processor
521 are also communicated with first processor 511, and second control signal switch unit 522 is electrically connected with first motor control unit 513
It connects and first control signal switch unit 512 is electrically connected with the second motor control unit 523.Wherein, first motor control is single
Member 513 and the second motor control unit 523 are mutually indepedent.
Specifically, first processor 511 and speed data collection module 10, gradient acquisition module 20, P grades of modules 30 and vehicle
The directly electrical connection of CAN bus 60 is electrically connected by corresponding signal processing module, according to vehicle speed information, grade information, P grades
Signal and CAN bus signal output control signal, first control signal switch unit 512 determine that first processor 511 exports
Control signal trend, i.e., first control signal switch unit 512 can with switching working mode, allow signal only transmit
To first motor control unit 513, first motor control unit 513 and the second motor control unit can also be passed to simultaneously
523, it specifically can be according to the failure state automatic switchover mode of system.Meanwhile second processor 521 and speed data collection module 10,
Gradient acquisition module 20, P grade module 30 and vehicle CAN bus 60 are directly electrically connected or by corresponding signal processing module electricity
Connection, to export control signal according to vehicle speed information, grade information, P grades of signals and CAN bus signal, second control signal is cut
The trend for the control signal that unit 522 determines that second processor 521 exports is changed, second control signal switch unit 522 can be with
Switching working mode allows signal only to pass to the second motor control unit 523, can also pass to first motor simultaneously
Control unit 513 and the second motor control unit 523, specifically can be according to the failure state automatic switchover mode of system.
For example, when the first control module 51 and the second control module 52 do not fail, 511 basis of first processor
The information received outputs control signals to first control signal switch unit 512, and first control signal switch unit 512 will be controlled
Signal processed passes to first motor control unit 513, and first motor control unit 513 controls the first parking according to control signal and holds
Row device 41 executes parking or releases parking, meanwhile, second processor 521 outputs control signals to second according to the information received
Signal switch unit 522 is controlled, second control signal switch unit 522 passes to the second motor control unit for signal is controlled
523, the second motor control unit 523 controls the second parking actuator 42 according to control signal and executes parking or releasing parking.
And when the communication line between first processor 511, first processor 511 and first motor control unit 513 is appointed
One or more anticipate when failing, second control signal switch unit 522 can switching working mode, second processing will be come from
The control signal of device 521 passes to first motor control unit 513 and the second motor control unit 523, first motor control simultaneously
Unit 513 processed and the second motor control unit 523 respectively drive the first parking actuator 41 and the work of the second parking actuator 42,
To carry out parking or release parking.Meanwhile all communications of 512 automatic cut-off of first control signal switch unit.
Likewise, when the communication line between second processor 521, second processor 521 and the second motor control unit 523
Road it is any one or more when failing, first control signal switch unit 512 understands switching working mode, will come from first
The control signal of processor 511 passes to first motor control unit 513 and the second motor control unit 523, the first electricity simultaneously
Machine control unit 513 and the second motor control unit 523 respectively drive the first parking actuator 41 and the second parking actuator 42
Work, to carry out parking or release parking.Meanwhile all communications of 522 automatic cut-off of second control signal switch unit.
It should be noted that first processor 511 can be executed to from first processor 511s to the first parking in real time
Control route until device 41 carries out self-test, if there are failures detected immediately for above-mentioned route, first processor 511
Fault message is passed into second processor 521 by CAN bus 541, is believed at this time by second control of the control of second processor 521
Control signal from second processor 521 is passed to first motor control by number 522 switching working mode of switch unit simultaneously
Unit 513 processed and the second motor control unit 523.Likewise, second processor 521 can be in real time to from second processor 521
The control route to set out until the second parking actuator 42 carries out self-test, if there are failures to detect immediately for above-mentioned route
Out, fault message is passed to first processor 511 by CAN bus 541 by second processor 521, at this time by the first processing
Device 511 controls 512 switching working mode of first control signal switch unit, will be from the control signal of first processor 511
First motor control unit 513 and the second motor control unit 523 are passed to simultaneously.
In the present embodiment, the first control module and the second control module are mutually backups, and supervise mutually, and are controlled with one wherein
When Module Fail processed, by another control module adapter tube work, the redundancy backup of system is realized.
In one embodiment, the second control module 52 and the first control module 51 carry out the communication of diversified forms, for example,
Second processor 521 in second control module 52 passes through a variety of and the first control in CAN bus, universal serial bus and parallel bus
First processor 511 in molding block 51 is communicated.As shown in Fig. 2, second processor 521 can pass through CAN bus 541 and string
Row bus 542 is communicated with first processor 511, to realize the interaction of information, to can not only guarantee the control of system
It does not get muddled, and compared to single transmission line, reduces security risk, improve the control reliability of system.
In one embodiment, as shown in Fig. 2, the first control module 51 further include: the first CAN network unit 514, first
Processor 511 is electrically connected by the first CAN network unit 514 with vehicle CAN bus 60；Second control module 52 further include: the
Two CAN network units 524, second processor 521 are electrically connected by the second CAN network unit 524 with vehicle CAN bus 60.That is,
First control module 51 and the second control module 52 have CAN network independent, can independent sending and receiving CAN bus signal.
Specifically, when the first CAN network unit 514 and the second CAN network unit 524 do not fail, the first CAN
Network unit 514 and the second CAN network unit 524 receive the information on vehicle CAN bus 60 simultaneously, and are delivered separately to first
Processor 511 and second processor 521.Meanwhile the relevant information of the second control module 52 is passed through CAN by second processor 521
Bus 541 passes to first processor 511, after first processor 511 integrates information, will be stayed by the first CAN network unit 514
The information of vehicle control module 50 is fed back on vehicle CAN bus 60.When the failure of the first CAN network unit 514, first processor
Disablement signal is sent to second processor 521 by 511, and second processor 521 is received according to the second CAN network unit 524
Information exports control signal to first processor 511 and second control signal switch unit 522, to cut by first control signal
It changes unit 512 and second control signal switch unit 522 realizes parking or releases parking.Meanwhile first processor 511 is by first
The relevant information of control module 51 is sent to second processor 521, after second processor 521 integrates information, passes through the 2nd CAN net
Network unit 524 feeds back to the information of parking control module 50 on vehicle CAN bus 60.Likewise, when the second CAN network unit
It is identical when processing mode fails with the first CAN network unit 514 when 524 failure, it just repeats no more here.
In the present embodiment, the first control module and the second control module pass through two independent CAN network units progress CAN
The sending and receiving of bus signals, to, by another CAN network unit adapter tube work, be realized in a CAN network element failure
The redundancy backup of system.
In one embodiment, as shown in Fig. 2, the first control module 51 further include: the first storage unit 515, first deposits
Storage unit 515 is electrically connected with first processor 511；Second control module 52 further include: the second storage unit 525, the second storage
Unit 525 is electrically connected with second processor 521.That is, the first control module 51 and the second control module 52 are with independent
Information memory cell, to realize the separate storage of information.
Specifically, when the first storage unit 515 does not fail, the first storage unit 515 and first processor 511 are logical in real time
Letter, with storing system information；When the second storage unit 525 does not fail, the second storage unit 525 and second processor 521 are real
Shi Tongxin, with storing system information.
In one embodiment, as shown in figure 3, the system for halting autocar with redundant backup function further include: parking is opened
70 are closed, parking switch 70 is electrically connected with first processor 511 and second processor 521.Further, signal processing module
53 may include parking switch signal processing unit 533, and parking switch signal processing unit 533 is hard by physics with parking switch 70
Line connection, for receiving and handling the signal from parking switch 70, and passes to first processor 511 and second processor
521, first processor 511 and second processor 521 may determine that the parking of driver is requested according to parking switch signal, in turn
Determine whether to execute parking or releases parking.
Specifically, parking switch 70 is the control switch of parking, and parking or solution may be implemented by actuating parking switch 70
Except parking.Such as, it is generally the case that being pulled upwardly parking switch 70 may be implemented parking, and pressing parking switch 70 downwards can be with
Release parking.Wherein, if parking switch signal processing unit 533 fails, parking control module 50 can be by receiving vehicle
Information realization parking or releasing parking in CAN bus 60, to realize the redundancy backup of system.
In one embodiment, as shown in figure 3, the system for halting autocar with redundant backup function further include: igniting is opened
80 are closed, ignition switch 80 is electrically connected with vehicle power supply 90, first processor 511 and second processor 521.Wherein, vehicle-mounted
Power supply 90 is power supply component, provides low-voltage DC (such as 12V, 24V) for parking control module 50, parking execution module 40,
Vehicle power supply 90 is connect with ignition switch 80 by physical hardwired.Further, according to the design conditions of actual vehicle, vehicle mounted electric
The quantity in source 90 is not limited to 1, and for the reliability for guaranteeing system power supply, preferred plan is using independent two vehicle power supplies 90
Respectively system power supply.
In one embodiment, as shown in figure 3, the first control module 51 further include: the first power supply unit 516, first supplies
Electric unit 516 and vehicle power supply 90, ignition switch 70, first processor 511, the first CAN network unit 514, first storage list
Member 515 and gradient acquisition module 20 are electrically connected；Second control module 52 further include: the second power supply unit 526, the second power supply
Unit 526 and vehicle power supply 90, ignition switch 70, second processor 521, the second CAN network unit 524, the second storage unit
525 and gradient acquisition module 20 be electrically connected.Vehicle power supply 90 is also electrically connected with first motor control unit 513, meanwhile, vehicle
Power supply 90 is carried also to be electrically connected with the second motor control unit 523.
Specifically, the first control module 51 and the second control module 52 have power supply unit independent, two confessions
Electric unit is powered by vehicle power supply 90 respectively, is inputted by independent two-way power supply line.Wherein, the first power supply unit 516 is used for
It powers to gradient acquisition module 20, first processor 511, the first CAN network unit 514 and the first storage unit 515；Second supplies
Electric unit 526 is used for gradient acquisition module 20, second processor 521, the second CAN network unit 524 and the second storage unit
525 power supplies.First motor control unit 513 and the second motor control unit 523 are independently-powered by vehicle power supply 90 respectively, have
Independent two-way power supply line input.
Ignition switch 80 and the first power supply unit 516, first processor 511, the second power supply unit 526 and second processor
521 are connected by physical hardwired, are powered in normal situation in vehicle power supply 90, and when vehicle igniting, ignition switch 80 is closed,
First power supply unit 516 and the second power supply unit 526 receive the voltage signal from vehicle power supply 90, the first power supply unit
516 start to power to first processor 511, and the second power supply unit 526 starts to power to second processor 521, while at first
Reason device 511 and second processor 521 receive the voltage signal from vehicle power supply 90, first processor 511 and second processing
Device 521 is in running order, i.e., parking control module 50 is in running order；When vehicle stall, ignition switch 80 is disconnected, the
One power supply unit 516, first processor 511, the second power supply unit 526 and second processor 521 do not receive from vehicle-mounted
The voltage signal of power supply 90, the first power supply unit 516 will be delayed at this time stops powering to first processor 511 for a period of time, together
When the second power supply unit 526 identical time that is delayed stop powering to second processor 521, parking control module 50 is in suspend mode
State.
In addition to the above examples, parking control module 50 in a dormant state when, can also be by actuating parking switch 70
Parking switch signal is generated, and then parking control module 50 is waken up according to parking switch signal.Specifically, in 70 quilt of parking switch
After actuating, parking switch signal processing unit 533 will receive and signal of the processing from parking switch 70, and passes to the first confession
Electric unit 516, first processor 511, the second power supply unit 526 and second processor 521, the first power supply unit 516 is opened at this time
Begin to power to first processor 511, the second power supply unit 526 starts to power to second processor 521,511 He of first processor
Second processor 521 is in running order, i.e., parking control module 50 is in running order.
In addition, since the first control module 51 and the second control module 52 have power supply unit independent, so working as
One control module power supply when something goes wrong, can pass through another control module adapter tube work.Specifically, when the first power supply is single
When member 516 fails, the meeting switching working mode of second control signal switch unit 522 will be from second processor 521
Control signal passes to first motor control unit 513 and the second motor control unit 523, first motor control unit simultaneously
513 and second motor control unit 523 respectively drive the first parking actuator 41 and the second parking actuator 42 work, with carry out
Parking releases parking；When the second power supply unit 526 fails, first control signal switch unit 512 can switch operating
Control signal from first processor 511 is passed to first motor control unit 513 and the second motor control by mode simultaneously
Unit 523 processed, first motor control unit 513 and the second motor control unit 523 respectively drive 41 He of the first parking actuator
Second parking actuator 42 work, to carry out parking or release parking.Hereby it is achieved that the redundancy backup of system.
To make those skilled in the art more clearly understand the utility model, it is described in detail below with reference to Fig. 3 with superfluous
The system for halting autocar of remaining backup functionality is how to realize normal parking or releasing parking.
Refering to what is shown in Fig. 3, when the CAN bus signal in failure and vehicle CAN bus 60 does not occur for parking control module 50
When normal, trigger signal of the reception of first processor 511 from signal processing module 53 and the first CAN network unit 514, and
After first processor 511 judges that trigger signal meets preset condition, exports control signal and give first control signal switch unit
512, first control signal switch unit 512 will control signal and pass to first motor control unit 513, and first motor control is single
Member 513 controls the work of the first parking actuator 41 according to the control signal；Meanwhile second processor 521 receives at signal
The trigger signal of module 53 and the second CAN network unit 524 is managed, and it is pre- in second processor 521 to judge that trigger signal meets
If after condition, exporting control signal to second control signal switch unit 522, second control signal switch unit 522 will control
Signal passes to the second motor control unit 523, and the second motor control unit 523 controls the second parking according to the control signal and holds
Row device 42 works.Wherein, the triggering letter of signal processing module 53 can be generated by actuating parking switch 70 and P grades of keys 31
Number.
When first processor 511, the first storage unit 515, the first power supply unit 516 and first processor 511 and first
Communication line between motor control unit 513 it is any one or more when failing, second control signal switch unit 522
Control signal from second processor 521 is passed to 513 He of first motor control unit by meeting switching working mode simultaneously
Second motor control unit 523, first motor control unit 513 and the second motor control unit 523 respectively drive the first parking
Actuator 41 and the work of the second parking actuator 42, while first control signal switch unit 512 can all communications of automatic cut-off.
When second processor 521, the second storage unit 525, the second power supply unit 526 and second processor 521 and second
Communication line between motor control unit 523 it is any one or more when failing, first control signal switch unit 512
Control signal from first processor 511 is passed to 513 He of first motor control unit by meeting switching working mode simultaneously
Second motor control unit 523, first motor control unit 513 and the second motor control unit 523 respectively drive the first parking
Actuator 41 and the work of the second parking actuator 42, while second control signal switch unit 522 can all communications of automatic cut-off.
When first processor 511 can not receive the CAN signal from the first CAN network unit 514, and second processor
521 when can not receive from the CAN signal of the second CAN network unit 524,521 meeting of first processor 511 and second processor
Vehicle speed information and grade information from signals of rotational speed sensor processing unit 531 and gradient acquisition module 20 are received respectively, and
The operating status of vehicle is judged according to vehicle speed information and grade information, at this time by actuating parking switch 70 or P grades of keys 31
The normal parking of vehicle can be made or release parking.Wherein, if judging, vehicle remains static, and passes through vehicle stall
(disconnection of ignition switch 80) can also make vehicle parking.
When first processor 511 and second processor 521 and signals of rotational speed sensor processing unit 531, the gradient acquire mould
When communication failure occurs in one or more in block 20 and P grades of keys 31, first processor 511 and second processor 521 can be with
The CAN bus signal from vehicle CAN bus 60 is received, vehicle parking or solution can be made by actuating parking switch 70 at this time
Except parking.
When communication failure occur in first processor 511 and second processor 521 and parking switch signal processing unit 533
When, vehicle parking or releasing parking can be made by actuating P grades of keys 31, or vehicle parking is made by vehicle stall.
When first processor 511 and second processor 521 and vehicle CAN bus 60, parking switch signal processing unit 533
When there is communication failure simultaneously with P grades of push button signalling processing units 53, vehicle parking may make by vehicle stall.
The above-mentioned system for halting autocar with redundant backup function, control module component units are mutually backups, when appoint
When meaning single point failure, still ensure that system operates normally, while increasing external input such as speed probe and P grade key, in this way
Even if occur vehicle CAN network paralysis the case where, can also by be linked into P grade, actuate parking switch and vehicle stall realize stay
Vehicle, the Safety Redundancy with system level back up, and vehicle, which need to only install the system, can meet relevant laws and regulations requirement.
In addition, whole system design from the operating habit of driver, when system any point is failed, drives
Member can still realize parking according to normal operating habit or release parking.For example, when stationary vehicle is on level land, driver
Normal operation is the about 1s of pull-up parking switch 70, to realize parking, if vehicle CAN bus 60 fails at this time, if staying
Vehicle system does not have speed probe 11, then parking control module 50 will be unable to determine the motion state of vehicle, examines for safety
Consider, driver must long-time pull-up parking switch 70 parking just may be implemented, in order to stayed to one confirmation of driver
The time of vehicle.If parking system has speed probe 11, then parking control module 50 can be determined that the motion state of vehicle, make
Obtaining driver still can realize parking with the about 1s of pull-up parking switch 70.As a result, the case where not changing driver's operating habit
Under, parking still may be implemented, for other situations, equally may be implemented, specifically just no longer illustrate here.
In one embodiment, a kind of crash handling side of system for halting autocar with redundant backup function is additionally provided
Method, wherein there is the system for halting autocar of redundant backup function can refer to aforementioned, just repeat no more here, crash handling method
Include:
When first processor, the first power supply unit, the first storage unit and first processor and first motor control unit
Between communication line in it is any one or more when failing, second control signal switch unit will be according to second processing
The control signal of device output carries out parking or releases to stay by first motor control unit and the second motor control unit to vehicle
Vehicle；
When second processor, the second power supply unit, the second storage unit and second processor and the second motor control unit
Between communication line in it is any one or more when failing, first control signal switch unit will be according to the first processing
The control signal of device output carries out parking or releases to stay by first motor control unit and the second motor control unit to vehicle
Vehicle；
When first processor and second processor do not receive the CAN bus signal from vehicle CAN network, first
Processor and second processor are respectively according to from speed data collection module, gradient acquisition module, P grades of modules, parking switch and point
Rotary speed information, grade information, P grades of signals, parking switch signal and the ignition switch signal of fire switch are output control signals to pair
The first control signal switch unit and second control signal switch unit answered, first control signal switch unit and the second control
Signal switch unit according to control signal, carries out vehicle by first motor control unit and the second motor control unit respectively
Parking releases parking；
When first processor and second processor with it is any in speed data collection module, gradient acquisition module and P grades of modules
When communication failure occurs for one or more, first processor and second processor are respectively according to CAN bus signal and parking switch
Signal outputs control signals to corresponding first control signal switch unit and second control signal switch unit, the first control letter
Number switch unit and second control signal switch unit pass through first motor control unit and the second electricity respectively according to control signal
Machine control unit carries out parking to vehicle or releases parking；
When communication failure occurs for first processor and second processor and parking switch, first processor and second processing
Device outputs control signals to corresponding first control signal according to CAN bus signal, P grades of signals and ignition switch signal respectively and cuts
Unit and second control signal switch unit are changed, first control signal switch unit and second control signal switch unit distinguish root
According to control signal, parking is carried out to vehicle by first motor control unit and the second motor control unit or releases parking；
When communication failure occurs for first processor and second processor and vehicle CAN bus, P grades of modules and parking switch
When, first processor and second processor output control signals to corresponding first control signal according to ignition switch signal respectively
Switch unit and second control signal switch unit, first control signal switch unit and second control signal switch unit difference
According to control signal, parking is carried out to vehicle by first motor control unit and the second motor control unit or releases parking.
Crash handling method about the system for halting autocar with redundant backup function can also be with reference to aforementioned, here
It repeats no more.
The crash handling method of the system for halting autocar with redundant backup function of the present embodiment, can be realized system-level
Other redundancy backup can guarantee that vehicle normal parking or can release parking, meet method when system any point is failed
Rule require.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed,
But it cannot be understood as the limitations to utility model patent range.It should be pointed out that for the common skill of this field
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
The protection scope of the utility model.Therefore, the scope of protection shall be subject to the appended claims for the utility model patent.
Claims (8)
1. a kind of system for halting autocar with redundant backup function characterized by comprising
Speed data collection module；
Gradient acquisition module；
P grades of modules；
Parking execution module, including mutually independent first parking actuator and the second parking actuator；
Parking control module, including mutually independent first control module and the second control module, first control module with
Vehicle CAN bus, the speed data collection module, the gradient acquisition module, the P grades of module and first parking actuator
It is electrically connected, second control module and the vehicle CAN bus, the speed data collection module, the gradient acquire mould
Block, the P grades of module and second parking actuator are electrically connected, and first control module and second control
Module is communicated.
2. system according to claim 1, which is characterized in that the P grades of module includes P grades of keys and electric gear change machine
Structure, the P grades of key are arranged in the electric gear change mechanism.
3. system according to claim 1 or 2, which is characterized in that first control module includes: to be sequentially connected electrically
First processor, first control signal switch unit and first motor control unit；
Second control module includes: the second processor being sequentially connected electrically, second control signal switch unit and the second electricity
Machine control unit, and the second processor is also communicated with the first processor, the second control signal switching is single
It is first to be electrically connected with the first motor control unit and the first control signal switch unit and second motor control
Unit electrical connection.
4. system according to claim 3, which is characterized in that the second processor by CAN bus, universal serial bus and
A variety of in parallel bus are communicated with the first processor.
5. system according to claim 3, which is characterized in that first control module further include: the first CAN network list
Member, the first processor are electrically connected by the first CAN network unit with the vehicle CAN bus；
Second control module further include: the second CAN network unit, the second processor pass through second CAN network
Unit is electrically connected with the vehicle CAN bus.
6. system according to claim 3, which is characterized in that first control module further include: the first storage unit,
First storage unit is electrically connected with the first processor；
Second control module further include: the second storage unit, second storage unit are electrically connected with the second processor
It connects.
7. system according to claim 5, which is characterized in that the system also includes:
Parking switch, the parking switch are electrically connected with the first processor and the second processor；
Ignition switch, the ignition switch are electrically connected with vehicle power supply, the first processor and the second processor.
8. system according to claim 7, which is characterized in that first control module further include: the first power supply unit,
First power supply unit and the vehicle power supply, the ignition switch, the first processor, the first CAN network list
The first and described gradient acquisition module is electrically connected, and the vehicle power supply is also electrically connected with the first motor control unit；
Second control module further include: the second power supply unit, second power supply unit and the vehicle power supply, the point
Fiery switch, the second processor, the second CAN network unit and the gradient acquisition module are electrically connected, and described
Vehicle power supply is also electrically connected with second motor control unit.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920038618.5U CN209426576U (en) | 2019-01-10 | 2019-01-10 | A kind of system for halting autocar with redundant backup function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920038618.5U CN209426576U (en) | 2019-01-10 | 2019-01-10 | A kind of system for halting autocar with redundant backup function |
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| CN209426576U true CN209426576U (en) | 2019-09-24 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113459832A (en) * | 2021-08-13 | 2021-10-01 | 爱思盟汽车科技(重庆)有限公司 | Circuit system of vehicle power chassis |
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2019
- 2019-01-10 CN CN201920038618.5U patent/CN209426576U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113459832A (en) * | 2021-08-13 | 2021-10-01 | 爱思盟汽车科技(重庆)有限公司 | Circuit system of vehicle power chassis |
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