CN217484744U

CN217484744U - Intelligent driving mine card redundant CAN bus system

Info

Publication number: CN217484744U
Application number: CN202221639670.4U
Authority: CN
Inventors: 温江; 田斌; 武向阳; 倪学杰
Original assignee: Weichai Yangzhou Special Vehicle Co Ltd
Current assignee: Weichai Yangzhou Special Vehicle Co Ltd
Priority date: 2022-06-27
Filing date: 2022-06-27
Publication date: 2022-09-23
Anticipated expiration: 2032-06-27

Abstract

The utility model discloses a redundant CAN bus system of intelligent driving mine card, include: the IPC industrial personal computer is connected with the PDC chassis line controller through the whole vehicle CAN, and is connected with the BCM vehicle body controller through the PDC chassis line controller and the industrial personal computer CAN, and the IPC industrial personal computer is connected with the BCM vehicle body controller through the industrial personal computer CAN. The utility model discloses a redundant CAN bus system of intelligent driving mine card, BCM controller CAN be the redundant steering system of direct hard-line control and redundant braking system; when the PDC of the controller of the chassis area is down, the industrial personal computer directly intervenes in the chassis, so that the vehicle can be safely stopped, the robustness of the system is enhanced, and the safety of the vehicle is improved.

Description

Intelligent driving mine card redundant CAN bus system

Technical Field

The utility model relates to an off-highway broad body mining dump truck technical field.

Background

The drive-by-wire chassis of the intelligent driving mine card generally comprises a drive-by-wire, a brake-by-wire, a parking-by-wire, a steering-by-wire and a series of sensors, and if the safety of automatic driving is to be improved, a plurality of redundant systems are very necessary to be added. In addition, the intelligent driving mine card can gradually cancel a safety operator and a cockpit along with the rise of the automatic driving grade, and after the safety operator is removed, a corresponding redundancy mechanism must be added to deal with the out-of-control state of the vehicle caused by faults. The unmanned control of the intelligent driving mine card controls the chassis domain controller through the industrial personal computer and then controls each chassis part without a redundancy mechanism.

Disclosure of Invention

To the defect among the prior art, the utility model provides a redundant CAN bus system of intelligent driving mine card, after chassis domain controller PDC is gone down, directly intervene the chassis by the industrial computer, control redundant steering system and redundant braking system for the vehicle safety parks, prevents the occurence of failure.

A smart driving mine card redundant CAN bus system, comprising: the IPC industrial personal computer is connected with the PDC chassis line controller through the whole vehicle CAN, and is connected with the BCM vehicle body controller through the PDC chassis line controller and the industrial personal computer CAN, and the IPC industrial personal computer is connected with the BCM vehicle body controller through the industrial personal computer CAN.

Optionally, the system further comprises an electric control pneumatic proportional valve, an electric control hydraulic proportional valve, light and a wiper, wherein the electric control pneumatic proportional valve and the electric control hydraulic proportional valve are connected with the BCM vehicle body controller through PWM signal lines, and the light and the wiper are connected with the BCM vehicle body controller through conducting wires.

Optionally, the system further comprises a TCU gearbox, an ECU engine, an EBS electronic brake, an EPB electronic control steering and an EPS electronic control steering, and the IPC industrial personal computer is connected with the industrial personal computer through an industrial personal computer CAN.

Optionally, the system also comprises a data acquisition instrument CANDTU, which is used for acquiring CAN vehicle data in asc format, is connected with an IPC industrial personal computer through an industrial personal computer CAN, and is connected with a BCM vehicle body controller through a whole vehicle CAN.

Optionally, the system also comprises a combined navigation and perception system which is connected with an IPC industrial personal computer through an industrial personal computer CAN.

Optionally, the system also comprises a TCU, a TBOX, a combination instrument, a wire control air conditioner, a gradient sensor, a tire pressure detector, a central control screen and a camera, and the IPC industrial personal computer is connected with the industrial personal computer through an industrial personal computer CAN.

Has the beneficial effects that: according to the intelligent driving mine card redundant CAN bus system, a CAN bus is reserved at an industrial personal computer to a BCM controller, and the BCM controller directly controls a redundant steering system and a redundant braking system in a hard line manner; the robustness of the system is enhanced, the safety of the vehicle is improved, and a foundation is laid for canceling safety personnel for unmanned vehicles.

Drawings

FIG. 1 is a diagram of an unmanned redundant control architecture;

fig. 2 is a CAN network topology with redundant buses.

Detailed Description

Embodiments of the present invention will be described in detail with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only used as examples, and the protection scope of the present invention is not limited thereby.

Optionally, the system also comprises a TCU gearbox, an ECU engine, an EBS electronic brake, EPB electronic control steering and EPS electronic control steering, and the IPC industrial personal computer is connected through an industrial personal computer CAN.

Optionally, the vehicle-mounted intelligent control system further comprises a TEU, a TBOX, a combination instrument, a wire control air conditioner, a gradient sensor, a tire pressure detector, a central control screen and a camera, and is connected with an IPC industrial personal computer through an industrial personal computer CAN.

IPC industrial personal computer: analyzing and processing data, including millimeter wave radar data, visual camera data, laser radar data, vehicle body horizontal angle data, high-precision map data, trajectory planning data and the like; and sending a control command according to system requirements and vehicle states, and analyzing and processing the states of all parts of the chassis and sensor information. Each part comprises a driving system, a steering system, a braking system and vehicle body accessories such as lamplight, a wiper, a horn and an electromagnetic valve; the sensor information comprises a container lifting angle sensor and is used for judging the lifting angle of the container; a tire pressure detecting sensor that detects a tire pressure; the air pressure sensor is used for detecting the pressure of the air chamber; and a steering angle sensor that detects a rotation angle of the steering wheel.

The PDC chassis domain controller is a connection center of the IPC and each part of the chassis, and is used for transmitting an instruction of the IPC to the chassis and feeding back state information of the chassis to the IPC, wherein the state information of the chassis comprises the rotating speed, the torque and the fault information of a driving system, the angular speed, the angle and the fault information of a steering system, the brake pressure and the fault information of a brake system, and the state of a vehicle body accessory, such as whether light is turned on or not; and meanwhile, the command sent by the IPC is analyzed, if the command is unreasonable, the IPC does not respond, if the command for lifting the vehicle is sent by the IPC in the driving process of the vehicle, the IPC does not respond, the fault of the chassis parts is reported in time, and the command of the IPC does not need to be directly intervened if necessary, if an emergency stop button is pressed down, the PDC directly controls the vehicle to brake and stop, the IPC does not respond to other requests of the IPC, some data required by a chassis controller is directly forwarded, and the industrial personal computer does not need to intervene.

TCU gearbox controller: and responding to a power request of the system, and controlling the vehicle to move forwards and backwards.

An ECU: in response to a power request from the system, the request is simultaneously transmitted to the transmission.

EBS electronic braking: the vehicle is controlled to decelerate at a deceleration rate in response to a braking request from the system.

EPB electronic parking: and controlling the vehicle to park in response to a parking request of the system.

EPS electronic steering: and controlling the steering wheel to rotate by a certain angle at a certain angular speed in response to a steering request of the system.

BCM automobile body controller: the response system controls the switch of the light, the windscreen wiper and the horn, controls the lifting of the container and controls the opening of the electric control pneumatic proportional valve and the electric control hydraulic proportional valve according to the requests of the light, the windscreen wiper, the horn, the lifting, the redundant braking and the redundant steering.

TBOX: the vehicle networking system provides remote fault diagnosis, vehicle locking and unlocking functions for the vehicle.

When the unmanned system needs to move (turn left and right, advance and retreat) the vehicle, the IPC industrial personal computer sends corresponding instructions to the PDC chassis domain controller after complex operation, and all parts of the chassis feed the states back to the industrial personal computer for processing through the PDC in real time.

Example (c): when the vehicle needs to run forwards in a straight line, the IPC judges that no obstacles in front can pass through according to the radar signal and the vehicle has running conditions which comprise that an automatic driving mode is adopted and the vehicle is started, and the following actions are sequentially executed.

1. Releasing parking: the IPC issues a parking releasing instruction to the PDC, the time is 10ms, the PDC sends the instruction to the EPB, the EPB executes the parking releasing action after 100ms, the state is fed back to the PDC for 1-2s after the execution is completed, the execution time depends on the air pressure of an air chamber of the vehicle, and the PDC feeds back the state to the IPC again, and the time is 10 ms.

2. Straight-ahead driving: the IPC issues a vehicle steering angle instruction and an accelerator instruction to the PDC, the time is 10ms, the angle of 0 degrees is straight line driving, the accelerator instruction is a numerical value in 0-100%, a certain calculation is carried out according to a target vehicle speed to obtain the accelerator instruction, the PDC forwards the steering angle instruction to the EPS, the time is 10ms, the accelerator instruction is forwarded to the ECU and the TCU, the time is 10ms, the ECU sends information such as the vehicle speed, the engine rotating speed and the torque to the PDC in real time, the time is 100ms, and the PDC feeds the information back to the IPC and the time is 10 ms.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.

Claims

1. The utility model provides a redundant CAN bus system of intelligent driving mine card which characterized in that includes: the IPC industrial personal computer is connected with the PDC chassis line controller through the whole vehicle CAN, and is connected with the BCM vehicle body controller through the PDC chassis line controller, and the IPC industrial personal computer is connected with the BCM vehicle body controller through the industrial personal computer CAN.

2. The intelligent driverless CAN bus system of claim 1, further comprising an electronically controlled pneumatic proportional valve, an electronically controlled hydraulic proportional valve, lights, and wipers, wherein the electronically controlled pneumatic proportional valve and the electronically controlled hydraulic proportional valve are connected to the BCM body controller via PWM signal lines, and the lights and the wipers are connected to the BCM body controller via wires.

3. The intelligent driving mine card redundant CAN bus system according to claim 1, further comprising a TCU gearbox, an ECU engine, an EBS electronic brake, EPB electronic control steering and EPS electronic control steering, wherein the IPC industrial personal computer is connected with the industrial personal computer CAN.

4. The intelligent driving mine card redundant CAN bus system of claim 1, further comprising a data acquisition instrument CANDTU, wherein the IPC industrial personal computer is connected through the industrial personal computer CAN, and the BCM vehicle body controller is connected through the whole vehicle CAN.

5. The intelligent driving mine card redundant CAN bus system of claim 1, further comprising a combined navigation and sensing system, wherein the IPC industrial personal computer is connected through the industrial personal computer CAN.

6. The intelligent driving mine card redundant CAN bus system according to claim 1, further comprising a TCU, a TBOX, a combination instrument, a wire-controlled air conditioner, a gradient sensor, a tire pressure detector, a central control screen and a camera, wherein the IPC industrial personal computer is connected with the industrial personal computer through the CAN.