CN217022419U - Autonomous vehicle redundancy architecture and autonomous vehicle - Google Patents
Autonomous vehicle redundancy architecture and autonomous vehicle Download PDFInfo
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- CN217022419U CN217022419U CN202220851699.2U CN202220851699U CN217022419U CN 217022419 U CN217022419 U CN 217022419U CN 202220851699 U CN202220851699 U CN 202220851699U CN 217022419 U CN217022419 U CN 217022419U
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Abstract
The utility model discloses an automatic driving vehicle redundancy architecture and an automatic driving vehicle, wherein the automatic driving vehicle redundancy architecture comprises the following components: an automatic driving system and an auxiliary driving system; the main battery is connected with the automatic driving system; the first power supply device is respectively connected with the main battery and the automatic driving system; the second power supply device is connected with the auxiliary driving system; the isolation component is respectively connected with the first power supply device and the second power supply device and is used for controlling the connection or disconnection of the second power supply device with the main battery and the automatic driving system and controlling the connection or disconnection of the first power supply device with the auxiliary driving system; when the isolation component is conducted, the first power supply device and the second power supply device jointly supply power for the main battery, the automatic driving system and the auxiliary driving system. By adopting the framework, the problem that the autonomous driving control component of the automatic driving vehicle cannot work normally due to the fault of the low-voltage power grid system can be effectively solved, and the driving safety is improved.
Description
Technical Field
The utility model relates to the technical field of automatic driving vehicles, in particular to a redundant framework of an automatic driving vehicle and the automatic driving vehicle.
Background
With the application of automatic driving of the whole vehicle in the global market, vehicles with automatic driving functions are developed in all host factories. The automatic driving vehicle aims at freeing the hands and eyes of a driver, improving driving comfort and safety, reminding the driver to take over the vehicle in time when the automatic driving system fails, and simultaneously controlling the vehicle to automatically park on the road or close to the side by the redundant system.
In the related technology, a 12V low-voltage power grid is a basic power supply guarantee for functional components of the whole vehicle, but when the low-voltage power grid system fails to work due to short circuit, open circuit and the like, the autonomous driving control component of the vehicle cannot work normally, so that the risk of out-of-control exists, and the safety of drivers and passengers is damaged.
SUMMERY OF THE UTILITY MODEL
The present invention is directed to solving at least one of the problems of the prior art. Therefore, one objective of the present invention is to provide a redundant architecture of an autonomous driving vehicle, which can effectively solve the problem that an autonomous driving control component of the autonomous driving vehicle cannot work normally due to a low-voltage power grid system failure, and improve driving safety.
The second purpose of the utility model is to provide an automatic driving vehicle.
In order to solve the above problem, an embodiment of the first aspect of the present invention provides an autonomous vehicle redundancy architecture, including: an automatic driving system and an auxiliary driving system; a main battery connected with the autonomous driving system; the first power supply device is respectively connected with the main battery and the automatic driving system; the second power supply device is connected with the driving assistance system; the isolation component is respectively connected with the first power supply device and the second power supply device and is used for controlling the connection or disconnection of the second power supply device with the main battery and the automatic driving system and controlling the connection or disconnection of the first power supply device with the auxiliary driving system; when the isolation component is turned on, the first power supply device and the second power supply device jointly supply power to the main battery, the automatic driving system and the auxiliary driving system.
According to the redundancy architecture of the automatic driving vehicle, by arranging the first power supply device and the second power supply device, and the first power supply device and the second power supply device are both connected with the isolation component, namely two main power supply loops are designed, therefore, when the isolation component is conducted, the first power supply device and the second power supply device can jointly supply power for the main battery, the automatic driving system and the auxiliary driving system, the power supply redundancy requirements of the control, steering, braking and lighting functions of the automatic driving vehicle are met, meanwhile, the isolation component is used for diagnosing the two main power supply loops, when any main power supply loop has a fault, the fault loop can be quickly cut off, therefore, normal power supply still exists in the low-voltage power grid of the vehicle, the purpose that the vehicle automatically parks close to the side or parks in the lane is achieved, and the safety of drivers and passengers is effectively guaranteed.
In some embodiments, the isolation component is coupled to the main battery, the autonomous driving system, and the secondary driving system, respectively.
In some embodiments, the first power supply means comprises: the first power supply unit is used for outputting a first voltage signal; an input end of the first direct current converter is connected with the first power supply unit, and an output end of the first direct current converter is respectively connected with the main battery and the automatic driving system and is used for performing direct current conversion on the first voltage signal.
In some embodiments, the second power supply device includes: the second power supply unit is used for outputting a second voltage signal; and the input end of the second direct-current converter is connected with the second power supply unit, and the output end of the second direct-current converter is connected with the driving assistance system and used for performing direct-current conversion on the second voltage signal.
In some embodiments, the second power generation device is a battery.
In some embodiments, the autonomous vehicle redundancy architecture further comprises: the battery monitoring device is connected with the main battery and used for monitoring whether the voltage value of the main battery, the main battery and the connection loop of the first power supply device are conducted or not and whether the main battery and the connection loop of the automatic driving system are conducted or not.
In some embodiments, the autonomous driving system includes a regular load, an autonomous driving controller, an autonomous driving system sensor set, a braking system, and a steering system; the auxiliary driving system comprises an auxiliary driving controller, an auxiliary driving system sensor group, a redundant braking system and a redundant steering system.
In some embodiments, the isolation component comprises: the first end of the isolating switch is connected with the first power supply device, and the second end of the isolating switch is connected with the second power supply device; and the control unit is connected with the isolating switch and is used for controlling the on or off of the isolating switch.
In some embodiments, the isolation member further includes a fault self-diagnosis unit connected to the control unit for outputting a fault self-diagnosis signal; the control unit is also used for controlling the on or off of the isolating switch according to the fault self-diagnosis signal.
In a second aspect, an embodiment of the present invention provides an autonomous vehicle, including the redundant architecture of the autonomous vehicle described in the above embodiments.
According to the automatic driving vehicle provided by the embodiment of the utility model, by adopting the redundancy architecture of the automatic driving vehicle provided by the embodiment, based on the arrangement of the first power supply device and the second power supply device which are both connected with the isolation component to form two main power supply loops, when the isolation component is conducted, the first power supply device and the second power supply device can jointly supply power to the main battery, the automatic driving system and the auxiliary driving system, so that the power supply redundancy requirements of the control, steering, braking and lighting functions of the automatic driving vehicle are met, meanwhile, the two main power supply loops are diagnosed by the isolation component, when any main power supply loop fails, the failure loop can be quickly cut off, thereby effectively ensuring that one normal power supply still exists in a low-voltage power grid of the vehicle, and effectively solving the problem that the automatic driving vehicle control component of the automatic driving vehicle cannot normally work due to the failure of the low-voltage power grid system, the purpose that the vehicle automatically parks close to the side or on the lane is achieved, the safety of drivers and passengers is effectively guaranteed, and the driving safety is improved.
Additional aspects and advantages of the utility model will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the utility model.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a prior art power system architecture diagram;
FIG. 2 is a schematic block diagram of an autonomous vehicle redundancy architecture, according to an embodiment of the utility model;
FIG. 3 is a schematic diagram of a configuration of an isolation device when conducting according to one embodiment of the present invention;
FIG. 4 is a schematic view of the isolation member shown broken away in accordance with one embodiment of the present invention;
fig. 5 is a block diagram of the structure of an autonomous vehicle according to one embodiment of the present invention.
Reference numerals:
an autonomous vehicle 20; autonomous vehicle redundancy architecture 10;
an automatic driving system 1; a driving assistance system 2; a main battery 3; a first power supply device 4; a second power supply device 5; a spacer member 6; a battery monitoring device 7;
a conventional load 11; an automatic driving controller 12; an automatic driving system sensor group 13; a braking system 14; a steering system 15; a driving assistance controller 21; the driving assistance system sensor group 22; a redundant braking system 23; a redundant steering system 24.
Detailed Description
Embodiments of the present invention are described in detail below, and the embodiments described with reference to the drawings are exemplary.
In the related art, as shown in fig. 1, a power supply system architecture in the prior art is shown, and it can be seen from the diagram that when a low-voltage power grid system fails to work due to short circuit, open circuit, or the like, an autonomous control component of a vehicle cannot work normally, so that a risk of runaway exists, and personal safety of a driver and a passenger is endangered.
In order to solve the problems, the utility model provides a redundant architecture of an automatic driving vehicle, which can effectively solve the problem that an automatic driving control component of the automatic driving vehicle cannot work normally due to the fault of a low-voltage power grid system and improve the driving safety.
Referring to fig. 1, the autonomous vehicle redundancy architecture 10 according to the present invention is described below, and as shown in fig. 2, includes an autonomous driving system 1, a driving assistance system 2, a main battery 3, a first power supply device 4, a second power supply device 5, and an isolation member 6.
Wherein the main battery 3 is connected with the automatic driving system 1; the first power supply device 4 is respectively connected with the main battery 3 and the automatic driving system 1; the second power supply device 5 is connected with the driving assistance system 2; the isolation component 6 is connected to the first power supply device 4 and the second power supply device 5 respectively, and is used for controlling the connection or disconnection of the second power supply device 5 with the main battery 3 and the automatic driving system 1, and controlling the connection or disconnection of the first power supply device 4 with the auxiliary driving system 2.
In an embodiment, the main battery 3 is used to power the entire vehicle load before the vehicle is started, to ensure that the high voltage system can be powered up reliably under various conditions, and to ensure that some or all of the electrical energy required for other important systems can be supplied for a certain period of time when the vehicle is idling or stopped. In some embodiments, the main battery 3 is a battery.
And, the first and second power supply devices 4 and 5 may be power generation devices of a vehicle, such as an engine or a power battery.
And, when the isolation member 6 is in a normal state such as the power mode of the vehicle is OFF or the power mode is ON or the vehicle is in a high voltage state and the system is not faulty, the isolation members 6 are all in a closed state, i.e., the isolation member 6 is conductive. And the isolation component 6 has the function of detecting the voltage and current abnormity of the power supply loop, when the power grid system has overvoltage, undervoltage or short-circuit faults, the isolation component 6 can quickly respond to cut off the fault loop, so that the power grid systems on the two sides of the first power supply device 4 and the second power supply device 5 are relatively independent and do not influence each other, and the normal supply of the low-voltage power supply system is ensured.
Specifically, based on the above framework, referring to fig. 3, two power supply devices, namely, a first power supply device 4 and a second power supply device 5, are provided in the present application, that is, two independent power supplies are designed, so that redundancy of low-voltage power distribution is realized, and power supply redundancy requirements of control, steering, braking and lighting functions of an autonomous vehicle are met. After the vehicle is started, the isolation component 6 is turned on, and the first power supply device 4 and the second power supply device 5 can supply power to the electric equipment of the whole vehicle through the isolation component 6, that is, the main battery 3, the automatic driving system 1 and the auxiliary driving system 2 are supplied with power together. Meanwhile, the isolation component 6 diagnoses the two main power supply loops, when any main power supply loop fails, the isolation component 6 quickly responds to cut off the failed loop and switches to a driving system which does not fail to control the vehicle, so that one path of normal power supply still exists in the low-voltage power grid of the vehicle, the stability of the low-voltage power grid of the vehicle is guaranteed, the condition that the vehicle is out of control due to the fact that the autonomous driving control component of the vehicle fails to work normally in the low-voltage power grid system is avoided, and the safety of drivers and passengers is effectively guaranteed.
For example, referring to fig. 4, when the power mode of the vehicle is ON and the circuit ON the first power supply device 4 side fails, the isolation component 6 is in an off state, so as to disconnect the first power supply device 4 from the assistant driving system 2, cut off the power supply of the first power supply device 4 to the assistant driving system 2, and supply power to the assistant driving system 2 only by the second power supply device 5, so that the assistant driving system 2 performs autonomous driving control, and the vehicle automatically stops in the own lane or at the side, thereby avoiding a runaway risk and ensuring the safety of drivers and passengers. Or, when the power mode of the vehicle is ON and the second power supply device 5 side circuit fails, the isolation component 6 is in the off state, thereby disconnecting the second power supply device 5 from the autonomous driving system 1, cutting off the power supply of the second power supply device 5 to the autonomous driving system 1 and the main battery 3, and only supplying power to the autonomous driving system 1 by the first power supply device 4, thereby performing autonomous driving control by the autonomous driving system 1, realizing that the vehicle automatically stops in the own lane or at the side, avoiding the risk of runaway, and ensuring the safety of the driver and passengers. Therefore, the redundancy of low-voltage power distribution can be realized by adding one path of main power supply loop and the isolation component 6, the cost is low, the two paths of main power supply loops are diagnosed by the isolation component 6, and when any main power supply loop breaks down, the fault loop can be cut off quickly, so that one path of normal power supply still exists in a low-voltage power grid of the vehicle is effectively ensured, the power supply redundancy requirements of the control, steering, braking and lighting functions of the automatic driving vehicle are met, and the safety of drivers and passengers is effectively ensured.
In addition, based on the above structural design, the isolation component 6 performs the disconnection operation accurately when the power supply loop is abnormal, and the isolation component 6 of the present embodiment is connected to the first power supply device 4 and the second power supply device 5, so that the isolation component 6 is powered by two power supplies, and when one power supply fails, the other power supply can supply power, so as to ensure that the isolation component 6 can still work normally, and avoid the failure of the isolation component due to the power supply failure.
According to the redundant architecture 10 of the automatic driving vehicle of the present invention, by providing the first power supply device 4 and the second power supply device 5, and both the first power supply device 4 and the second power supply device 5 are connected to the isolation component 6, that is, by designing two main power supply loops, when the isolation component 6 is turned on, the main battery 3, the automatic driving system 1 and the auxiliary driving system 2 can be supplied with power by the first power supply device 4 and the second power supply device 5 together, so as to satisfy the power supply redundancy requirements of the control, steering, braking and lighting functions of the automatic driving vehicle, and simultaneously, by diagnosing the two main power supply loops through the isolation component 6, when any one main power supply loop fails, the failure loop can be cut off quickly, thereby effectively ensuring that one normal power supply still exists in the low voltage power grid of the vehicle, and achieving the purpose of automatic side parking or vehicle lane parking, effectively ensuring the safety of drivers and passengers.
In some embodiments, as shown in fig. 3, the isolation member 6 is connected to the main battery 3, the autonomous driving system 1, and the assisted driving system 2, respectively. Thus, when the power mode of the vehicle is OFF, the isolation unit 6 is turned on, and the main battery 4 can simultaneously distribute power to the loads in the two main power supply circuits.
In some embodiments, the first power supply device 4 comprises a first power supply unit 41 and a first dc-to-dc converter DCDC 1.
The first power supply unit 41 is configured to output a first voltage signal; an input terminal of the first dc converter DCDC1 is connected to the first power supply unit 41, and an output terminal of the first dc converter DCDC1 is connected to the main battery 3 and the autonomous driving system 1, respectively, for dc-converting the first voltage signal.
In some embodiments, the second power supply device 5 includes a second power supply unit 51 and a second direct current converter DCDC 2.
The second power supply unit 51 is configured to output a second voltage signal; an input of the second dc converter DCDC2 is connected to the second power supply unit 51, and an output of the second dc converter DCDC2 is connected to the driver assistance system 2, for dc converting the second voltage signal.
Therefore, based on the above-mentioned structures of the first power supply device 4 and the second power supply device 5, the first dc converter DCDC1 and the second dc converter DCDC2 perform high-low voltage conversion, so that the first power supply device 4 or the second power supply device 5 reasonably outputs a voltage signal required by a rear-end load, thereby achieving the purposes of commonly supplying power to the main battery 3, the automatic driving system 1 and the auxiliary driving system 2 in a normal state and ensuring normal power supply in a low-voltage power grid in a fault state.
In some embodiments, the second power generation device 5 may be a battery to meet the power redundancy requirements of the control, steering, braking, lighting functions of the autonomous vehicle.
In some embodiments, as shown in fig. 3, the autonomous vehicle redundant architecture 10 further includes a battery monitoring device 7, wherein the battery monitoring device 7 is connected to the main battery 3 for monitoring a voltage value of the main battery 3, whether a connection loop of the main battery 3 and the first power supply device 4 is conducted, and whether a connection loop of the main battery 3 and the autonomous system 1 is conducted. Therefore, the health state of the main battery 3 is monitored in real time by arranging the battery monitoring device 7, for example, parameters such as the current, the voltage, the temperature and the residual capacity of the battery of the main battery 3 are monitored, whether a loop connected with the main battery 3 is connected is monitored, and monitored data are transmitted to the automatic driving system 1 or the auxiliary driving system 2 in real time, so that when the data are abnormal, the automatic driving system 1 or the auxiliary driving system 2 can prompt alarm information according to the monitored data to remind a user, and the user can conveniently and timely handle the alarm information.
In some embodiments, as shown in fig. 3, the autopilot system 1 includes a conventional load 11, an autopilot controller 12, an autopilot system sensor group 13, a brake system 14, and a steering system 15; the driving assist system 2 includes a driving assist controller 21, a driving assist system sensor group 22, a redundant brake system 23, and a redundant steering system 24.
Specifically, the conventional loads 11 are electrical loads connected to the normal operation of the vehicle, and include, for example, vehicle electrical devices such as a power system, a lighting system, and a comfort entertainment system.
The automatic driving controller 12 is used as a main controller of the automatic driving system 1, interacts with other controller modules of the whole vehicle by acquiring sensor signals, performs automatic driving logic judgment, realizes automatic driving control of the vehicle, prompts a driver to take over when detecting a fault influencing the realization of the automatic driving function, and automatically controls the vehicle to realize side parking or emergency braking of the vehicle lane if the driver does not take over.
The sensor group 13 of the automatic driving system is used for providing the automatic driving controller 12 with sensors, cameras and the like of accurate vehicle and road condition information.
The driving assistant controller 21 is used as an assistant controller for automatic driving, interacts with other controller modules of the whole vehicle by collecting sensor signals, and when the automatic driving controller 12 is abnormal, the driving assistant controller 21 of the vehicle automatically controls the vehicle to realize the side parking or the emergency braking of the vehicle lane.
The driving assistance system sensor group 22 is used for providing accurate vehicle and road condition information to the driving assistance controller 21, such as a sensor and a camera.
The brake system 14 is a main brake system, includes a brake system sensor, a controller, and an actuator, and receives a working instruction of the automatic driving controller 12 or the driving assistance controller 21 in an automatic driving function scenario to implement automatic braking and parking functions.
The redundant braking system 23 is an auxiliary braking system, and includes an auxiliary braking system sensor, a controller and an actuator, and in an automatic driving function scene, when the braking system 12 and a main power supply loop where the braking system is located have a fault, the redundant braking system 23 receives a working instruction of the automatic driving controller 12 or the auxiliary driving controller 21, so as to implement automatic braking and parking functions.
The steering system 15 is a main steering control system, and includes a steering system sensor, a controller, and an actuator. In the scenario of the automatic driving function, when the automatic driving controller 12 or the driving assistance controller 21 sends a steering operation instruction, the steering system 15 is reached to realize the automatic steering function of the vehicle.
The redundant steering system 24 is an auxiliary steering control system, and comprises a backup steering system sensor, a controller and an actuator; a steering motor with double windings is used and connected to a second dc converter DCDC 2. In the scenario of the automatic driving function, when the automatic driving controller 12 or the auxiliary driving controller 21 sends a steering operation command, the dual-winding motor participates in the operation to realize the steering of the vehicle, and when any one of the steering motors fails, the other steering controller controls the steering motor to perform degradation operation, so that the automatic steering function of the vehicle is realized.
In some embodiments, as shown in fig. 3, the isolation component 6 includes an isolation switch K and a control unit 60.
The first end of the isolating switch K is connected with the first power supply device 4, and the second end of the isolating switch K is connected with the second power supply device 5; the control unit 60 is connected to the disconnecting switch K and is configured to control the disconnecting switch K to be turned on or off.
In some embodiments, the isolation member 6 further includes a fault self-diagnosis unit 61, and the fault self-diagnosis unit 61 is connected to the control unit 60 for outputting a fault self-diagnosis signal; the control unit 60 is also configured to control the closing or opening of the disconnecting switch K according to the fault self-diagnosis signal. That is, the isolating means 6 has a self-diagnosis function, and when the entire vehicle network is waken up, the fault self-diagnosis unit 61 of the isolating means 6 performs self-diagnosis, and if there is no fault, the isolating switch K is in a closed state, whereas if there is a fault, the isolating switch K is opened, and the fault self-diagnosis unit 61 records the fault state while transmitting a fault self-diagnosis signal to the entire vehicle network.
In some embodiments, the isolation component 6 may be a charging fuse, and the response time of the charging fuse is millisecond, so that a quick response can be realized, and the problem that the automatic driving function of the automatic driving vehicle fails due to abnormal voltage fluctuation is avoided.
In summary, according to the redundant architecture 10 of the autonomous vehicle of the present invention, the backup low-voltage power supply system is used to provide power supply for the autonomous driving control system, the redundant steering system, the redundant braking system, etc. of the vehicle, so as to meet the power redundancy requirement of the control, steering, braking, and lighting functions of the autonomous vehicle, and when any one main loop power supply of the vehicle fails, the isolation component 6 quickly responds to disconnect the failed loop, thereby ensuring that there is one normal power supply in the system loop, realizing the automatic side-by-side parking of the vehicle or the emergency parking of the vehicle lane, and ensuring the safety of the driver and passengers. Meanwhile, by adopting the power distribution scheme of the double-power-supply device, the isolation part 6 and the main battery 3, the double-power-supply device can coexist with the existing framework, cannot conflict with the existing framework, can be applied to the existing framework platform with lower cost, shorter period and smaller change amount, and meets the redundancy requirement of the automatic driving of the whole vehicle on a low-voltage power grid system.
In a second aspect, an embodiment of the present invention provides an autonomous vehicle, as shown in fig. 5, the autonomous vehicle 20 includes the redundant architecture 10 of the autonomous vehicle provided in the above embodiment.
In an embodiment, the autonomous vehicle 20 may be a pure electric vehicle or a hybrid vehicle with autonomous driving functionality.
According to the autonomous driving vehicle 20 of the present invention, by adopting the redundant architecture 10 of the autonomous driving vehicle provided in the above embodiment, based on the arrangement of the first power supply device 4 and the second power supply device 5, and the first power supply device 4 and the second power supply device 5 are both connected to the isolation component 6 to form two main power supply loops, when the isolation component 6 is turned on, the first power supply device 4 and the second power supply device 5 can jointly supply power to the main battery 3, the autonomous driving system 1, and the assistant driving system 2, so as to satisfy the power supply redundancy requirements of the control, steering, braking, and lighting functions of the autonomous driving vehicle 220, and meanwhile, the isolation component 6 diagnoses the two main power supply loops, so as to quickly cut off a fault loop when any main power supply loop fails, thereby effectively ensuring that one normal power supply still exists in the low-voltage power grid of the vehicle, and effectively solving the problem that the autonomous driving control component of the autonomous driving vehicle cannot work normally due to the fault of the low-voltage power grid system The aim of parking the vehicle automatically close to the side or on the lane is fulfilled, the safety of drivers and passengers is effectively guaranteed, and the driving safety is improved.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the utility model, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. An autonomous vehicle redundancy architecture, comprising:
the system comprises an automatic driving system, an auxiliary driving system, a main battery, a first power supply device, a second power supply device and an isolation component;
wherein the main battery is connected with the autopilot system;
the first power supply device is respectively connected with the main battery and the automatic driving system;
the second power supply device is connected with the auxiliary driving system;
the isolation component is respectively connected with the first power supply device and the second power supply device and is used for controlling the connection or disconnection of the second power supply device with the main battery and the automatic driving system and controlling the connection or disconnection of the first power supply device with the auxiliary driving system;
when the isolation component is turned on, the first power supply device and the second power supply device jointly supply power to the main battery, the automatic driving system and the auxiliary driving system.
2. The autonomous-capable vehicle redundancy architecture of claim 1, wherein the isolation components are connected to the main battery, the autonomous system, and the driver-assist system, respectively.
3. The autonomous-capable vehicle redundancy architecture of claim 1, wherein the first power supply comprises:
the first power supply unit is used for outputting a first voltage signal;
the input end of the first direct current converter is connected with the first power supply unit, and the output end of the first direct current converter is respectively connected with the main battery and the automatic driving system and used for performing direct current conversion on the first voltage signal.
4. The autonomous-vehicle redundancy architecture of claim 1, wherein the second power supply comprises:
the second power supply unit is used for outputting a second voltage signal;
and the input end of the second direct-current converter is connected with the second power supply unit, and the output end of the second direct-current converter is connected with the driving assistance system and used for performing direct-current conversion on the second voltage signal.
5. The autonomous-capable vehicle redundancy architecture of claim 1, wherein the second power supply is a battery.
6. The autonomous-vehicle redundancy architecture of claim 1, further comprising:
and the battery monitoring device is connected with the main battery and is used for monitoring the voltage value of the main battery, whether a connection loop of the main battery and the first power supply device is conducted or not and whether a connection loop of the main battery and the automatic driving system is conducted or not.
7. The autonomous-capable vehicle redundancy architecture of claim 1,
the automatic driving system comprises a conventional load, an automatic driving controller, an automatic driving system sensor group, a braking system and a steering system;
the auxiliary driving system comprises an auxiliary driving controller, an auxiliary driving system sensor group, a redundant braking system and a redundant steering system.
8. The autonomous-vehicle redundancy architecture of claim 1, wherein the isolation component comprises:
a first end of the isolating switch is connected with the first power supply device, and a second end of the isolating switch is connected with the second power supply device;
and the control unit is connected with the isolating switch and used for controlling the closing or opening of the isolating switch.
9. The autonomous vehicle redundancy architecture of claim 8,
the isolation component further comprises a fault self-diagnosis unit which is connected with the control unit and is used for outputting a fault self-diagnosis signal;
the control unit is also used for controlling the disconnecting switch to be switched on or switched off according to the fault self-diagnosis signal.
10. An autonomous vehicle comprising the autonomous vehicle redundancy architecture of any of claims 1-9.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115366833A (en) * | 2022-09-09 | 2022-11-22 | 北京路凯智行科技有限公司 | Redundant power supply controller of mine unmanned vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115366833A (en) * | 2022-09-09 | 2022-11-22 | 北京路凯智行科技有限公司 | Redundant power supply controller of mine unmanned vehicle |
| CN115366833B (en) * | 2022-09-09 | 2023-04-11 | 北京路凯智行科技有限公司 | Redundant power supply controller of mine unmanned vehicle |
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