CN212220125U - Redundant line control system for electric vehicle - Google Patents

Redundant line control system for electric vehicle Download PDF

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Publication number
CN212220125U
CN212220125U CN201922069474.2U CN201922069474U CN212220125U CN 212220125 U CN212220125 U CN 212220125U CN 201922069474 U CN201922069474 U CN 201922069474U CN 212220125 U CN212220125 U CN 212220125U
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controller
control unit
sub
power
main control
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李敏
卢贤票
戴一凡
苟祖涛
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Suzhou Automotive Research Institute of Tsinghua University
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Suzhou Automotive Research Institute of Tsinghua University
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Abstract

The utility model discloses an electric automobile redundant line control system sets up two electrical power generating system, and two electrical power generating system provide the power for on-vehicle controller and sensor through the feeder respectively, set up main control unit and sub-controller, and main control unit and sub-controller link to each other, and the sub-controller backs up main control unit's software and hardware, and main control unit and sub-controller connect perception system and actuating system respectively, and turn to among the line control system and braking system has carried out partial redundancy. The reasonable and reliable redundancy backup is carried out on each component of the line control system, the reliability of the automatic driving system is improved, and the safety of the automobile in the driving process is improved.

Description

Redundant line control system for electric vehicle
Technical Field
The utility model relates to an electric automobile technical field specifically relates to an electric automobile redundant line control system.
Background
With the development of automobile electronics, the automatic driving technology gradually matures. The key in the driving process of the automobile is the safety and the reliability of the automobile, which reflects the level of automatic driving development to a certain extent. However, the chassis drive-by-wire system inevitably faces failures or malfunctions, which greatly limits the safety of the autonomous vehicle and affects the application of the autonomous driving technology.
At present, redundancy backup is widely applied in the industrial field, such as 101510481B, which shows a redundancy switch design applied on a vehicle; CN 106598017a presents a redundant control system applied to a vehicle, the system comprising: the system comprises a main processor, a standby processor and a redundancy controller; the redundancy controller is electrically connected with the main processor and the standby processor respectively; the redundancy controller is used for controlling the switching between the main processor and the standby processor according to the running states of the main processor and the standby processor, so that the reliability of a redundancy control system is improved; CN 102150339B provides a design method of redundant power supply, which is used to improve the reliability of the product.
At present, various related enterprises in the field of intelligent automobiles are continuously perfecting the redundancy backup of electronic systems, and the systems are constructed into an integrated unit with high safety and reliability, so that the performance of automatically driving automobiles is improved. However, currently, all enterprises consider less comprehensively, and complete safety redundancy architecture design is not performed on the aspect of an online control system of an automatic driving automobile.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem that above-mentioned exists, the utility model provides an electric automobile redundant line accuse system has carried out reasonable reliable redundancy backup to each component of line accuse system, has improved the reliability of autopilot system, has promoted the security of car in the driving process.
The technical scheme of the utility model is that:
the utility model provides an electric automobile redundant line accuse system, sets up two electrical power generating system, two electrical power generating system provide the power for on-vehicle controller and sensor through the feeder respectively, set up main control unit and sub-controller, main control unit and sub-controller link to each other, the sub-controller backs up the software and hardware of main control unit, main control unit and sub-controller connect perception system and actuating system respectively, turn to in the line accuse system and braking system has carried out reasonable reliable redundant backup, ensure actuating system's reliability.
In a preferred technical scheme, the power supply system comprises a power supply and an auxiliary battery, wherein the power supply charges the auxiliary battery through a DC/DC module and provides power for the vehicle-mounted controller and the sensor through a feeder line.
In a preferred technical scheme, the execution system comprises a driving system, a braking system and a steering system, the braking system comprises an electronic power-assisted braking system, and the electronic power-assisted braking system is connected with two controllers.
In a preferred technical scheme, the steering system comprises two controllers, two motor-driven steering mechanisms and two steering control units, wherein each steering control unit is connected with the controller, and the controller is connected with the motor-driven steering mechanisms.
Compared with the prior art, the utility model has the advantages that:
the redundant backup of each component in the line control system is perfected from the architectural design, and comprises power/power supply redundancy, software and hardware backup of a controller and line control actuator redundancy. The perception performance of the system can be improved, the safe parking of the vehicle under the unexpected condition is ensured, and the safety and the reliability of the vehicle are effectively improved.
Drawings
The invention will be further described with reference to the following drawings and examples:
FIG. 1 is a schematic diagram of a redundant line control system of an electric vehicle according to the present invention;
FIG. 2 is a schematic diagram of the principle of the redundant design of the braking system of the present invention;
fig. 3 is a schematic diagram of the principle of the redundant design of the steering system of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings. It should be understood that the description is intended to be illustrative only and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
Example (b):
the following describes the preferred embodiments of the present invention with reference to the accompanying drawings.
The invention provides an electric vehicle redundant line control system, which comprises power/power supply redundancy, software and hardware backup of a controller and a line control actuator redundancy design.
As shown in fig. 1, the redundant line control system for the electric vehicle is provided with two power systems, the two power systems respectively provide power for the vehicle-mounted controller and the sensor through feeders, a main controller and a sub controller are arranged, the main controller is connected with the sub controller, the sub controller backs up software and hardware of the main controller, and the main controller and the sub controller are respectively connected with a sensing system and an execution system.
1. Power/supply redundancy
In order to ensure that the automatic driving vehicle can work normally, the redundancy backup is carried out on the power supply system of the electric vehicle. When the power supply or the auxiliary battery of the automobile fails to provide power, the other power supply can be used as a redundant power supply to supply power for the vehicle-mounted controller and the sensor, and the vehicle can run normally or can timely handle emergency.
The power supply system comprises a power supply and an auxiliary battery, wherein the power supply charges the auxiliary battery through the DC/DC module and provides power for the vehicle-mounted controller and the sensor through the feeder line.
Assuming that the power supply of the electric vehicle is 72V, and the vehicle-mounted controller and the sensor are powered by a 12V power supply, the power supply needs to be provided through a DC/DC conversion module. When the vehicle is started, a 12V auxiliary battery is needed to provide power to complete vehicle starting, and the power supply of the electric vehicle charges the auxiliary power supply through the DC/DC module and provides 12V power for the controller and the sensor through the feeder line. In the running process of the vehicle, the power supply of the electric vehicle and the auxiliary battery are a redundant backup system of power supplies of each other.
2. Software and hardware backup of controller
In terms of the controller, the system only has a main controller adc (automated navigation controller) which cannot meet the safety requirement (the automatic driving system and the main controller communicate preferentially), and a secondary controller is also needed to backup part of important functions of the main controller. The sub-controller monitors the working state of the main controller constantly, and when the main controller breaks down, the sub-controller takes over vehicle control (only basic functions of braking, speed reduction, parking close to the side and the like for ensuring vehicle safety are needed), so that the vehicle is ensured to be parked safely.
In this embodiment, the ADC controller assumes the role of the primary controller and the VCU of the vehicle assumes the role of the secondary controller.
And the main controller and the auxiliary controller simultaneously monitor the working state of the other controllers in real time. When the main controller works, the main controller receives information (including vehicle-mounted information and an automatic driving sensor) of all sensing systems, and normal running of the vehicle is guaranteed. When the main controller breaks down, the auxiliary controller takes over the work of part of the main sensors, and can control the steering and braking deceleration of the vehicle, so that the safe stop of the system is ensured.
3. Actuator redundancy design
In this embodiment, the execution system includes a driving system, a braking system, and a steering system, and the redundancy design of the execution system mainly performs braking and steering redundancy, and drive is not considered at all.
In consideration of the reliability of the mechanical structure of the braking system, the braking system adopts an E-Boost (electronic power-assisted braking system), and the design of two sets of controllers is shown in figure 2, the braking system comprises the electronic power-assisted braking system E-Boost, and the electronic power-assisted braking system is connected with the two controllers. The redundancy of the brake system can ensure that when one controller fails, the vehicle can also use the other controller to control the safe braking of the vehicle.
The steering system is backed up by using a dual controller and a dual motor driven steering mechanism, as shown in fig. 3, the steering system includes two controllers, two motor driven steering mechanisms and two steering control units, each steering control unit is connected with the controller, and the controller is connected with the motor driven steering mechanisms. In the event of a failure of the steering system 1, the steering system 2 ensures proper operation of the system. If the provider supports the EPS, the EPS with the backup system is selected as the best scheme.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.

Claims (4)

1. The utility model provides an electric automobile redundant line accuse system which characterized in that sets up two electrical power generating system, and two electrical power generating system provide the power for on-vehicle controller and sensor through the feeder respectively, set up main control unit and sub-controller, and main control unit and sub-controller link to each other, and the sub-controller backs up the software and hardware of main control unit, and main control unit and sub-controller connect perception system and actuating system respectively.
2. The system of claim 1 wherein the power system comprises a power source and an auxiliary battery, the power source charging the auxiliary battery via the DC/DC module and providing power to the onboard controllers and sensors via the feeder.
3. The system according to claim 1, wherein the actuating system comprises a driving system, a braking system and a steering system, the braking system comprises an electric power-assisted braking system, and the electric power-assisted braking system is connected with the two controllers.
4. The electric vehicle redundancy line control system of claim 3, wherein the steering system comprises two controllers, two motor-driven steering mechanisms and two steering control units, each steering control unit is connected with a controller, and the controller is connected with a motor-driven steering mechanism.
CN201922069474.2U 2019-11-27 2019-11-27 Redundant line control system for electric vehicle Active CN212220125U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201922069474.2U CN212220125U (en) 2019-11-27 2019-11-27 Redundant line control system for electric vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201922069474.2U CN212220125U (en) 2019-11-27 2019-11-27 Redundant line control system for electric vehicle

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113848950A (en) * 2021-10-21 2021-12-28 广州文远知行科技有限公司 Controller control method and device, vehicle and storage medium
CN113911137A (en) * 2021-11-10 2022-01-11 清华大学苏州汽车研究院(吴江) Vehicle sudden stop system and vehicle control method

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113848950A (en) * 2021-10-21 2021-12-28 广州文远知行科技有限公司 Controller control method and device, vehicle and storage medium
CN113911137A (en) * 2021-11-10 2022-01-11 清华大学苏州汽车研究院(吴江) Vehicle sudden stop system and vehicle control method

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