CN211280990U - Whole vehicle energy management system of unmanned pure electric vehicle - Google Patents
Whole vehicle energy management system of unmanned pure electric vehicle Download PDFInfo
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- CN211280990U CN211280990U CN201922157112.9U CN201922157112U CN211280990U CN 211280990 U CN211280990 U CN 211280990U CN 201922157112 U CN201922157112 U CN 201922157112U CN 211280990 U CN211280990 U CN 211280990U
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Abstract
The utility model discloses an unmanned pure electric vehicles entire car energy management system, including unmanned controller, entire car controller and vehicle information, unmanned controller includes barrier detection module, vehicle position detection module, traffic information module and vehicle control decision module; the obstacle detection module determines whether obstacles such as vehicles and pedestrians exist in front of the vehicle and information such as positions and speeds of the obstacles; the vehicle position detection module determines the current real-time position of the vehicle; the traffic information module determines whether the road section of the current vehicle is provided with the intersection, the traffic light signal state of the intersection in a period of time, the speed limit value of the current road and the like. By the mode, the information of the unmanned controller and the vehicle controller is effectively transmitted, so that the road condition information and the vehicle information are effectively fused, the vehicle running condition in a future period is judged in advance, the system efficiency of a vehicle system is improved, and the power consumption of the vehicle is reduced.
Description
Technical Field
The utility model relates to a whole car control system field of unmanned car and new energy automobile especially relates to a whole car energy management system of unmanned pure electric vehicles.
Background
The new energy automobile has become a national strategy, and the unmanned vehicle has become a current research heating point, so the system of the unmanned vehicle based on the pure electric architecture is also becoming a trend. The current unmanned pure electric vehicles generally adopt a form of individual control, namely: the unmanned controller only focuses on realizing the unmanned function of the vehicle, the vehicle controller only focuses on realizing the function of controlling the whole vehicle, and no effective information communication exists between the unmanned controller and the vehicle controller, so that the power consumption of the unmanned pure electric vehicle is basically consistent with that of the traditional pure electric vehicle, and the road condition information sensed by the sensor resource of the unmanned vehicle cannot be effectively utilized.
Patent CN103502073A proposes an energy management method for a hybrid electric vehicle based on road condition information, which only uses limited GPS information to sense whether there is an uphill or a downhill in the future road condition of the vehicle to decide the energy distribution of the power system of the vehicle, thereby improving the system efficiency of the entire vehicle and reducing the fuel consumption of the entire vehicle.
DE102006033930a1 also discloses an energy management method for a hybrid electric vehicle based on road condition information, which predicts the driving condition in a future period of time based on the existing driving condition, thereby optimally controlling the components of the hybrid electric system and improving the efficiency of the system.
Both of the above two patents are directed to the application of hybrid electric vehicles, the above methods cannot be effectively applied to pure electric vehicles because of only a single power source, and the speed of the unmanned vehicle is determined by the unmanned controller rather than from the operation of the driver, and the unmanned vehicle has more sensors, which can more effectively utilize the information of the vehicle end, so the methods mentioned in the above patents cannot be effectively applied to the unmanned vehicle.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the main technical problem who solves provides a whole car energy management system of pure electric automobile of unmanned, effective transmission based on unmanned controller and whole car controller information, realize road conditions information and the effective integration of vehicle information, the vehicle operating mode of going in the future a period of prejudgement, the quick crossing that passes through, promote the average speed of a motor vehicle of vehicle, realize the drive of vehicle, brake function, under the prerequisite that satisfies vehicle demand speed of a motor vehicle, formulate reasonable mode, improve vehicle system's system efficiency, reduce the power consumption of vehicle.
In order to solve the technical problem, the utility model discloses a technical scheme be: the system comprises an unmanned controller, wherein the unmanned controller comprises an obstacle detection module, a vehicle position detection module, a traffic information module and a vehicle control decision module;
the obstacle detection module determines whether obstacles such as vehicles and pedestrians exist in front of the vehicle and information such as positions and speeds of the obstacles;
the vehicle position detection module determines the current real-time position of the vehicle;
the traffic information module determines whether the road section of the current vehicle is provided with an intersection, the traffic light signal state of the intersection in a period of time, the speed limit value of the current road and the like;
the vehicle control decision module calculates a control mode of the vehicle through obstacle information acquired by the obstacle detection module, the current real-time position of the vehicle acquired by the vehicle position module, road state information acquired by the traffic information module and acceleration and braking capabilities which can be provided by the vehicle within a period of time and acquired by the vehicle control unit;
and the vehicle control unit controls the requirement of the rotating speed of the motor.
Further, the obstacle detection module acquires data of the millimeter wave radar, the camera and the laser radar to determine whether obstacles such as vehicles and pedestrians exist in front of the vehicle and information such as positions and speeds of the obstacles.
Further, the vehicle position detection module determines the current real-time position of the vehicle by collecting information of the GPS/IMU and the MAP.
Further, the traffic information module acquires the information of the V2I and combines the real-time vehicle position information of the vehicle position detection module to determine whether the current vehicle is located at an intersection, the traffic light signal state of the intersection within a period of time and the vehicle speed limit value of the current road.
The utility model has the advantages that: the utility model relates to a whole car energy management system of unmanned pure electric vehicles and working method, based on the effective transmission of unmanned controller and whole car controller information, realize the effective integration of road conditions information and vehicle information, judge the vehicle operating mode of going in a period of time in future in advance, quick crossing of passing through, promote the average speed of a motor vehicle, realize the drive of vehicle, braking function, under the prerequisite that satisfies vehicle demand speed of a motor vehicle, formulate reasonable mode, improve vehicle system's system efficiency, reduce the power consumption of vehicle.
Drawings
FIG. 1 is a block diagram of a whole energy management system of an unmanned pure electric vehicle according to the present invention;
FIG. 2 is a block diagram of the working method of the entire energy management system of the unmanned pure electric vehicle of the present invention;
fig. 3 is a block diagram of the vehicle current maximum speed capability limit value calculation of the unmanned pure electric vehicle whole vehicle energy management system of the utility model.
Detailed Description
The following detailed description of the preferred embodiments of the present invention will be provided to enable those skilled in the art to more easily understand the advantages and features of the present invention, and to make clear and definite definitions of the protection scope of the present invention.
Referring to fig. 1, an embodiment of the present invention includes: when a vehicle works, an obstacle detection module of an unmanned controller acquires data of a millimeter wave radar, a camera and a laser radar to determine whether obstacles such as vehicles, pedestrians and the like exist in front of the vehicle and information such as positions and speeds of the obstacles; a vehicle position detection module of the unmanned controller acquires information of the GPS/IMU and the MAP to determine the current real-time position of the vehicle; the traffic information module of the unmanned controller acquires the information of V2I and combines the vehicle real-time position information of the vehicle position detection module to determine whether the current vehicle is positioned at an intersection, the traffic light signal state of the intersection within a period of time, the speed limit value of the current road and the like; a vehicle control decision module of the unmanned controller calculates a control mode of the vehicle through obstacle information acquired by the obstacle detection module, the current real-time position of the vehicle acquired by the vehicle position module, road state information acquired by the traffic information module and acceleration and braking capabilities which can be provided by the vehicle within a period of time and acquired by the vehicle control unit.
Referring to fig. 2 and 3, an embodiment of the invention includes: a working method of a whole energy management system of an unmanned pure electric vehicle is characterized in that whether obstacles such as vehicles, pedestrians and the like exist is determined according to information of an obstacle detection module, if the obstacles exist, the distance of the obstacles is calculated, if the distance is smaller than a value1, emergency braking is carried out to ensure safety, namely, mechanical braking is adopted to effectively ensure the braking effect of the vehicle, and the vehicle enters an emergency braking mode;
if the distance is between the value1 and the value2, the obstacle is considered to be in front of the vehicle, but the distance is larger than the emergency braking distance, in order to ensure the comfort of the vehicle and effectively recover braking energy, the motor is used for braking and following, and the vehicle enters a braking and following mode; if the distance is greater than value2, the obstacle is considered to be farther away from the vehicle, so that the road intersection information of the traffic information module is utilized to judge whether the distance from the position of the current vehicle to the intersection is smaller than value3, and if the distance is smaller than value3, the vehicle is considered to need to pass through the intersection currently; calculating the speed of the vehicle required by the vehicle to smoothly pass through the intersection by combining the traffic light signal information of the traffic information module, namely the time length of the current green light, and if the speed of the vehicle required by the vehicle to pass through the intersection is less than the allowable speed value of the vehicle, considering that the vehicle can smoothly pass through the intersection, and enabling the vehicle to enter a mode of driving the vehicle to pass through the intersection; if the vehicle speed required by the vehicle to pass through the intersection is greater than the vehicle allowable vehicle speed value, the vehicle is considered to be impossible to pass through the intersection within the allowable time, and the vehicle enters a mode of braking to the intersection; if the distance from the intersection of the current position of the vehicle is greater than value3, the vehicle is considered not to need to pass through the intersection and the vehicle enters a normal driving mode.
The method for calculating the current maximum vehicle speed capability limit of the vehicle comprises the following steps:
a 10s acceleration capacity calculation module in the vehicle controller calculates the 10s acceleration capacity of the vehicle by acquiring the 10s power and the torque capacity of the motor and the 10s power capacity of the power battery and combining the vehicle weight information in the vehicle weight estimation module; a 60s acceleration capacity calculation module in the vehicle controller calculates the 60s acceleration capacity of the vehicle by acquiring the 60s power and the torque capacity of the motor and the 60s power capacity of the power battery and combining the vehicle weight information in the vehicle weight estimation module; the vehicle acceleration capacity calculation module calculates different time periods by an interpolation method: vehicle acceleration capability limit within 10s,20s,30s … 60 s. The unmanned controller calculates the highest vehicle speed information of the vehicle within the time T0 through the signal lamp state time T0 acquired by the V2I, and the vehicle speed capability limit module can calculate the highest vehicle speed capability of the vehicle by combining the highest allowable vehicle speed information in the current road section acquired in the V2I.
The utility model relates to a whole car energy management system of unmanned pure electric vehicles, based on the effective transmission of unmanned controller and vehicle control unit information, realize the effective integration of road conditions information and vehicle information, judge the vehicle operating mode that traveles in a period of time in future in advance, quick crossing of passing through promotes the average speed of a motor vehicle, realize the drive of vehicle, the brake function, under the prerequisite that satisfies vehicle demand speed of a motor vehicle, formulate reasonable mode, improve vehicle system's system efficiency, reduce the power consumption of vehicle.
The above only is the embodiment of the present invention, not limiting the patent scope of the present invention, all the equivalent structures or equivalent processes that are used in the specification and the attached drawings or directly or indirectly applied to other related technical fields are included in the patent protection scope of the present invention.
Claims (4)
1. The utility model provides a whole car energy management system of pure electric automobile of unmanned, its characterized in that: the system comprises an unmanned controller, a vehicle controller and vehicle information, wherein the unmanned controller comprises an obstacle detection module, a vehicle position detection module, a traffic information module and a vehicle control decision module;
the obstacle detection module determines whether obstacles such as vehicles and pedestrians exist in front of the vehicle and information such as positions and speeds of the obstacles;
the vehicle position detection module determines the current real-time position of the vehicle;
the traffic information module determines whether the road section of the current vehicle is provided with an intersection, the traffic light signal state of the intersection in a period of time, the speed limit value of the current road and the like;
the vehicle control decision module calculates a control mode of the vehicle through obstacle information acquired by the obstacle detection module, the current real-time position of the vehicle acquired by the vehicle position module, road state information acquired by the traffic information module and acceleration and braking capabilities which can be provided by the vehicle within a period of time and acquired by the vehicle control unit;
and the vehicle control unit controls the requirement of the rotating speed of the motor.
2. The vehicle energy management system of the unmanned pure electric vehicle of claim 1, characterized in that: the obstacle detection module acquires data of the millimeter wave radar, the camera and the laser radar to determine whether obstacles such as vehicles, pedestrians and the like exist in front of the vehicles and information such as positions and speeds of the obstacles.
3. The vehicle energy management system of the unmanned pure electric vehicle of claim 1, characterized in that: the vehicle position detection module is used for determining the current real-time position of the vehicle by collecting the information of the GPS/IMU and the MAP.
4. The vehicle energy management system of the unmanned pure electric vehicle of claim 1, characterized in that: the traffic information module is used for determining whether the road section of the current vehicle has the intersection, the traffic light signal state of the intersection within a period of time and the vehicle speed limit value of the current road by collecting the information of the V2I and combining the real-time vehicle position information of the vehicle position detection module.
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| CN201922157112.9U CN211280990U (en) | 2019-12-05 | 2019-12-05 | Whole vehicle energy management system of unmanned pure electric vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112373487A (en) * | 2020-11-20 | 2021-02-19 | 苏州智加科技有限公司 | Autonomous vehicle, control method, device, equipment and storage medium |
| CN112874512A (en) * | 2021-02-25 | 2021-06-01 | 北京经纬恒润科技股份有限公司 | Parking method and system for port unmanned collection card |
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2019
- 2019-12-05 CN CN201922157112.9U patent/CN211280990U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112373487A (en) * | 2020-11-20 | 2021-02-19 | 苏州智加科技有限公司 | Autonomous vehicle, control method, device, equipment and storage medium |
| CN112373487B (en) * | 2020-11-20 | 2022-04-19 | 苏州智加科技有限公司 | Autonomous vehicle, control method, device, equipment and storage medium |
| CN112874512A (en) * | 2021-02-25 | 2021-06-01 | 北京经纬恒润科技股份有限公司 | Parking method and system for port unmanned collection card |
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