WO2021012474A1

WO2021012474A1 - Vehicle control system and control method for electric airline catering truck

Info

Publication number: WO2021012474A1
Application number: PCT/CN2019/116211
Authority: WO
Inventors: 单萍; 马列
Original assignee: 江苏天一机场专用设备股份有限公司
Priority date: 2019-07-23
Filing date: 2019-11-07
Publication date: 2021-01-28
Also published as: CN110371313B; CN110371313A

Abstract

A vehicle control system and control method for an electric airline catering truck. The system comprises a CAN bus network, a charging control module, a driving control module, a brake control module, a power-on/power-off mode control module, a vehicle energy optimization management module, and a vehicle monitoring module. The system achieves reasonable control of the power system, increases mileage, and provides an energy-saving and efficient power output mode. Moreover, the system monitors driving safety and vehicle statuses in real time, and transmits instructions to various modules and components by means of internal calculation, thereby guaranteeing the safety performance of the vehicle, reducing hazards, and providing effective hazard prevention.

Description

Vehicle control system and control method for electric catering vehicle

Technical field

The invention relates to the technical field of aviation food transport vehicles, in particular to a vehicle control strategy of an electric aviation food vehicle.

Background technique

At present, most of the catering vehicles are conventional power control systems, and pure electric drives are relatively rare. As pure electric-driven vehicles use vehicle controllers to interconnect with battery management systems, motor drive systems, etc. through the network, the power source has undergone a fundamental change compared to conventional power-driven vehicles, while the existing entire vehicle control strategy for aviation food vehicles is no longer possible. Adapt to the control needs of electric catering vehicles. At the same time, the entire vehicle control strategy of the electric catering vehicle should also be used as the control center of special function systems such as food refrigeration. Therefore, in order to make the operation coordination between the various functional systems more reasonable and efficient, it can not only ensure the safe driving of the vehicle, but also make the food For the good realization of tasks such as storage and transportation and docking and transfer with aircraft, it is urgent to provide suitable vehicle control strategies for this new type of aviation food transportation.

Summary of the invention

In order to solve the above-mentioned technical problems in the field, the present invention provides a vehicle control system for an electric catering vehicle, the system includes:

CAN bus network, charging control module, driving control module, brake control module, power-on/power-off mode control module, vehicle energy optimization management module, and vehicle monitoring module;

Wherein, the CAN bus network includes a power CAN network, a comprehensive information CAN network, and a power battery CAN network; the power CAN network is connected with a motor controller, an anti-lock brake system, an automatic locking anti-skid differential, and a communication interface, It is used to realize driving control; the comprehensive information CAN network is used to communicate with cargo compartment lifting devices such as top-mounted oil pumps, refrigeration systems such as top-mounted air conditioners, on-board instruments, air conditioners, battery management systems and remote terminals; the power battery CAN The network is used to realize the communication between the battery management system and the off-board external charging device.

It is possible to set the transmission rate of the power CAN network>the transmission rate of the integrated information CAN network≥the transmission rate of the power battery CAN network.

Further, the charging control module is used to control the electric catering vehicle to be triggered when the charging gun is inserted and the charger starts working in the charging mode; the module in the charging module determines whether to activate the battery management system according to the current vehicle state ; If it is allowed to start, the battery management system will communicate with the charger, start the charging process and continuously monitor the charging process and battery status, and cut off the charging process in time to prevent dangerous accidents.

Further, the driving control module is used to collect the driver's control signals in real time. The control signals include gear signals, accelerator pedal signals, etc., and output to the motor controller through internal calculations according to system constraints Drive torque to control vehicle operation.

Further, the brake control module is used to calculate the required braking torque according to the received brake pedal signal when the vehicle is in the braking state. At this time, the drive motor is converted from the working mode to the power generation mode and transferred to the power battery Charging to achieve energy recovery.

Further, the power-on/power-off mode control module is used to wake up each node on the CAN bus network to start working in the power-on mode by receiving the driver's control signal, and after the vehicle self-inspection ends and all devices are In the normal state, the system enters the ready state and indicates that it can enter the driving state; in the power-off mode, when it is monitored that the driver normally turns off the key, the power-off instruction is sent to the motor controller and the battery controller, and then each device is controlled Shut down to realize safe power off.

Further, the vehicle energy optimization management module communicates with the battery management system through the CAN bus network, and controls the closing or disconnecting function of the battery management system on the high voltage loop according to the power information and battery status reported by the battery management system in real time, thereby Realize the optimization of vehicle energy, and relatively increase the driving range of the vehicle.

Further, the vehicle monitoring module is used to monitor the vehicle control system failures, driver, driving failures, and other operating failures; wherein, the vehicle control system failure monitoring includes monitoring each node component through a CAN bus network Signal abnormality monitoring, when it is detected that a certain node component has a signal abnormality, it will be processed by the fault level, which will cause the vehicle to enter an emergency stop state; driver monitoring includes judging the driver based on the driver’s facial features, eye signals, etc. The fatigue state of the vehicle is identified and recorded. When the driver is found to be out of the post, the alarm function can be realized; the monitoring of driving faults and other operating faults includes monitoring and early warning of the frequent faulty parts information of the vehicle to prevent problems Before it happens, the early warning is also applicable to the monitoring of vehicle non-fault parameters to realize the rule early warning of the vehicle operation business. Customers can define the vehicle early warning rules according to actual business needs, and realize data analysis, advance prevention, and real-time control through closed-loop management.

The present invention also provides a vehicle control method for an electric catering vehicle, the method including:

CAN bus network control strategy, charging control strategy, driving control strategy, braking control strategy, power-on/power-off mode control strategy, vehicle energy optimization management strategy, and vehicle monitoring strategy;

Wherein, the CAN bus network control strategy includes the control of the power CAN network, the comprehensive information CAN network and the power battery CAN network; the power CAN network and the motor controller, the brake anti-lock braking system, and the automatic locking and anti-skid The differential and the communication interface are connected to realize driving control; the comprehensive information CAN network is used to connect with cargo lift devices such as upper oil pumps, refrigeration systems such as upper air conditioners, vehicle instruments, air conditioners, battery management systems and remote terminals Communication; the power battery CAN network is used to realize the communication between the battery management system and the off-board external charging device.

Further, the charging control strategy includes: controlling the electric catering vehicle to be triggered when the charging gun is inserted and the charger starts working in the charging mode; judging whether to start the battery management system according to the current vehicle status; The battery management system will communicate with the charger, start the charging process and continuously monitor the charging process and the state of the motor, and cut off the charging process in time to prevent dangerous accidents.

Further, the driving control strategy includes: real-time acquisition of the driver's control signal, the control signal includes: gear signal, accelerator pedal signal, etc., according to the restriction conditions of the system, through internal calculations, output drive to the motor controller Torque controls the operation of the vehicle.

Further, the braking control strategy includes: when the vehicle is in a braking state, according to the received brake pedal signal, calculate the required braking torque, at this time the drive motor is converted from the working mode to the power generation mode and transferred to the power battery Charging to achieve energy recovery.

Further, the power-on/power-off mode control strategy includes: in the power-on mode, by receiving the driver's control signal, waking up each node on the CAN bus network to start working, after the vehicle self-inspection ends and all devices are In the normal state, the system enters the ready state and indicates that it can enter the driving state; in the power-off mode, when it is monitored that the driver normally turns off the key, the power-off instruction is sent to the motor controller and the battery controller, and then each device is controlled Shut down to realize safe power off.

Further, the vehicle energy optimization management strategy includes: communicating with the battery management system through the CAN bus network, and controlling the closing or disconnecting function of the battery management system to the high voltage loop according to the power information and battery status reported by the battery management system in real time, In this way, the energy optimization of the whole vehicle is realized, and the driving range of the vehicle is relatively increased.

Further, the vehicle monitoring strategy includes: monitoring the vehicle control system failures, drivers, driving failures, and other operating failures; wherein, the vehicle control system failure monitoring includes monitoring each node component through a CAN bus network Signal abnormality monitoring, when it is detected that a certain node component has a signal abnormality, it will be processed by the fault level, which will cause the vehicle to enter an emergency stop state; driver monitoring includes judging the driver based on the driver’s facial features, eye signals, etc. The fatigue state of the vehicle is identified and recorded. When the driver is found to be out of the post, the alarm function can be realized; the monitoring of driving faults and other operating faults includes monitoring and early warning of the frequent faulty parts information of the vehicle to prevent problems Before it happens, the early warning is also applicable to the monitoring of vehicle non-fault parameters to realize the rule early warning of the vehicle operation business. Customers can define the vehicle early warning rules according to actual business needs, and realize data analysis, advance prevention, and real-time control through closed-loop management.

The above-mentioned system and method provided by the present invention formulate a suitable and effective vehicle control strategy for a new type of airport transportation vehicle such as an electric catering vehicle, which can not only achieve reasonable control of the power system, significantly increase the driving range, but also satisfy Energy-saving and efficient power output mode, while real-time monitoring of driving safety and vehicle status, internal calculations will transmit instructions to various modules and components, thereby further ensuring the safety performance of the vehicle, reducing the source of danger, and effectively controlling the dangerous state prevention. The power battery CAN network is used to transmit the relevant information of the vehicle power system, including the communication between the motor controller, ABS, ASD and other power system components and the vehicle controller. Since the power system involves safety issues, the required transmission frequency is high, so the power The CAN network requires the highest transmission rate.

The highest transmission rate is Power CAN. Because this CAN line is connected to the power controller of the whole vehicle and the safety controller of the whole vehicle, etc., in order to ensure the safe operation of the vehicle, the speed of the power CAN is the highest; Instrument controllers, bodywork controllers, etc., have little impact on the safe operation of the vehicle, so the rate is low. The third CAN is for charging. CAN is the information exchange between the vehicle and the external charging device, and has no effect on the safe operation of the vehicle. lowest.

The mechanical device and control device for the lifting and lowering of the box are called the top loading device. The top loading oil pump is the oil pump in the control system of the top loading device, and the top loading air conditioner refers to the air conditioner in the box.

Description of the drawings

Figure 1 shows the CAN bus network architecture diagram of the present invention.

Figure 2 shows a schematic diagram of the interaction of the charging control module in the system

Figure 3 shows a schematic diagram of the interaction of the driving control module in the system.

Figure 4 shows a schematic diagram of the interaction of the brake control module in the system.

Detailed ways:

The entire vehicle control system and strategy of the electric catering vehicle provided by the present invention will be described in detail below with reference to the accompanying drawings.

The present invention provides a vehicle control system for an electric catering vehicle, the system includes:

Among them, as shown in Figure 1, the CAN bus network includes a power CAN network, a comprehensive information CAN network, and a power battery CAN network; the power CAN network and the motor controller, the brake anti-lock brake system, and automatically lock the anti-skid differential The integrated information CAN network is used to communicate with the cargo compartment lifting device, the refrigeration system, the on-board instrumentation, the air conditioner, the battery management system and the remote terminal; the power battery CAN The network is used to realize the communication between the battery management system and the off-board external charging device.

In a preferred embodiment of the present application, as shown in FIG. 2, the charging control module is used to control the electric catering vehicle to be triggered when the charging gun is inserted and the charger starts to work in the charging mode; the charging The module in the module judges whether to start the battery management system according to the current vehicle status; if it is allowed to start, the battery management system will communicate with the charger, start the charging process and continuously monitor the charging process and motor status, and cut off the charging process in time to prevent A dangerous accident occurred.

In a preferred embodiment of the present application, as shown in FIG. 3, the driving control module is used to collect the driver's control signal in real time. The control signal includes: gear signal, accelerator pedal signal, etc., and according to the system Through internal calculation, the driving torque is output to the motor controller to control the operation of the vehicle.

In a preferred embodiment of the present application, as shown in FIG. 4, the brake control module is used to calculate the required braking torque according to the received brake pedal signal when the vehicle is in the braking state. The drive motor is converted from the working mode to the power generation mode and charges the power battery to realize energy recovery.

In a preferred embodiment of the present application, the power-on/power-off mode control module is used to wake up each node on the CAN bus network to start working in the power-on mode by receiving the driver's control signal. When the self-inspection is over and all equipment is in normal state, the system enters the ready state and indicates that it can enter the driving state; in the power-off mode, when the driver is monitored to turn off the key normally, the power-off instruction is sent to the motor controller and battery The controller then controls each device to shut down to realize safe power-off.

In a preferred embodiment of the present application, the vehicle energy optimization management module communicates with the battery management system through the CAN bus network, and controls the battery management system's response to the high voltage loop based on the power information and battery status reported by the battery management system in real time. Close or open function, so as to optimize the energy of the whole vehicle, and relatively increase the driving range of the vehicle.

In a preferred embodiment of the present application, the vehicle monitoring module is used to monitor the vehicle control system failures, driver, driving failures and other operating failures; wherein, the vehicle control system failure monitoring includes CAN The bus network monitors the signal abnormalities of each node component. When it detects that a certain node component has a signal abnormality, it will be processed by the fault level, which will cause the vehicle to enter an emergency stop state; driver monitoring includes the driver’s facial features, eye To judge the fatigue state of the driver, and to identify and record the identity information of each person, when the driver is found to be out of the post, the alarm function can be realized; the monitoring of driving faults and other operating faults includes frequent faulty parts information of the vehicle The monitoring and early warning can prevent problems before they happen. The early warning is also applicable to the monitoring of vehicle non-fault parameters, realizing the rule warning of vehicle operation business. Customers can define the vehicle early warning rules according to actual business needs, and realize data analysis through closed-loop management ,Pre-prevention, real-time control.

In a preferred embodiment of the present application, the charging control strategy includes: controlling the electric catering vehicle to be triggered when the charging gun is inserted and the charger starts working in the charging mode; judging whether to start battery management according to the current vehicle state System; if it is allowed to start, the battery management system will communicate with the charger, start the charging process and continuously monitor the charging process and motor status, and cut off the charging process in time to prevent dangerous accidents.

In a preferred embodiment of the present application, the driving control strategy includes: real-time acquisition of control signals from the driver, the control signals including: gear signals, accelerator pedal signals, etc., according to system constraints, through internal calculations , Output driving torque to the motor controller to control the operation of the vehicle.

In a preferred embodiment of the present application, the braking control strategy includes: when the vehicle is in a braking state, according to the received brake pedal signal, calculate the required braking torque, at this time the drive motor is switched from the working mode For the power generation mode and charge the power battery to achieve energy recovery.

In a preferred embodiment of the present application, the power-on/power-off mode control strategy includes: in the power-on mode, by receiving the driver's control signal, wake up each node on the CAN bus network to start working, When the self-inspection is over and all equipment is in normal state, the system enters the ready state and indicates that it can enter the driving state; in the power-off mode, when the driver is monitored to turn off the key normally, the power-off instruction is sent to the motor controller and battery The controller then controls each device to shut down to realize safe power-off.

In a preferred embodiment of the present application, the vehicle energy optimization management strategy includes: communicating with the battery management system through the CAN bus network, and controlling the battery management system to control the high-voltage circuit based on the power information and battery status reported by the battery management system in real time. The closing or opening function of the vehicle can optimize the energy of the vehicle and increase the driving range of the vehicle.

In a preferred embodiment of the present application, the vehicle monitoring strategy includes: monitoring the vehicle control system failures, drivers, driving failures, and other operating failures; wherein, the vehicle control system failure monitoring includes monitoring through CAN The bus network monitors the signal abnormalities of each node component. When it detects that a certain node component has a signal abnormality, it will be processed by the fault level, which will cause the vehicle to enter an emergency stop state; driver monitoring includes the driver’s facial features, eye To judge the fatigue state of the driver, and to identify and record the identity information of each person, when the driver is found to be out of the post, the alarm function can be realized; the monitoring of driving faults and other operating faults includes frequent faulty parts information of the vehicle The monitoring and early warning can prevent problems before they happen. The early warning is also applicable to the monitoring of vehicle non-fault parameters, realizing the rule warning of vehicle operation business. Customers can define the vehicle early warning rules according to actual business needs, and realize data analysis through closed-loop management ,Pre-prevention, real-time control.

Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, and substitutions can be made to these embodiments without departing from the principle and spirit of the present invention. And variations, the scope of the present invention is defined by the appended claims and their equivalents.

Claims

A vehicle control system for electric catering vehicles, characterized in that: the system includes:

CAN bus network, charging control module, driving control module, brake control module, power-on/power-off mode control module, vehicle energy optimization management module, and vehicle monitoring module;

Wherein, the CAN bus network includes a power CAN network, a comprehensive information CAN network, and a power battery CAN network; the power CAN network is connected with a motor controller, an anti-lock brake system, an automatic locking anti-skid differential, and a communication interface, It is used to realize driving control; the comprehensive information CAN network is used to communicate with the cargo compartment lifting device, refrigeration system, on-board instruments, air conditioners, battery management systems and remote terminals; the power battery CAN network is used to realize battery management Communication between the system and off-board external charging devices.
The system according to claim 1, wherein the charging control module is used to control the electric catering vehicle to be triggered when the charging gun is inserted and the charger starts working in the charging mode; the charging control module is triggered according to The current vehicle status judges whether to start the battery management system; if it is allowed to start, the battery management system communicates with the charger, starts the charging process and continuously monitors the charging process and battery status, and cuts off the charging process in time when a fault occurs.
The system according to claim 1, characterized in that: the driving control module is used to collect the driver's control signal in real time, and the control signal includes: gear signal, accelerator pedal signal, and output drive to the motor controller after calculation Torque controls the operation of the vehicle.
The system according to claim 1, wherein the brake control module is used to calculate the required braking torque according to the received brake pedal signal when the vehicle is in the braking state, and the driving motor is from The working mode is converted to the power generation mode and the power battery is charged to realize energy recovery.
The system according to claim 1, wherein the power-on/power-off mode control module is used to wake up each node on the CAN bus network to start working in the power-on mode by receiving the driver's control signal, When the vehicle self-inspection is over and all equipment is in normal state, the system enters the ready state and indicates that it can enter the driving state; in the power-down mode, when the driver is monitored to turn off the key normally, the power-off instruction is sent to the motor control And the battery controller, and then control each device to shut down to realize safe power off.
The system of any one of claims 1 to 5, wherein the vehicle energy optimization management module communicates with the battery management system through the CAN bus network, and according to the power information and battery status reported by the battery management system in real time Control the battery management system to close or disconnect the high-voltage circuit.
The system according to any one of claims 1 to 5, wherein the vehicle monitoring module is used to monitor the vehicle control system failure, driver, driving failure, and other operation failures.
A vehicle control method for an electric catering vehicle, characterized in that: the method includes:

CAN bus network control strategy, charging control strategy, driving control strategy, braking control strategy, power-on/power-off mode control strategy, vehicle energy optimization management strategy, and vehicle monitoring strategy;

Wherein, the CAN bus network control strategy includes the control of the power CAN network, the comprehensive information CAN network and the power battery CAN network; the power CAN network and the motor controller, the brake anti-lock braking system, and the automatic locking and anti-skid The differential and the communication interface are connected to realize driving control; the comprehensive information CAN network is used to communicate with the cargo compartment lifting device, refrigeration system, on-board instrumentation, air conditioning, battery management system and remote terminals; the power The battery CAN network is used to realize the communication between the battery management system and the off-board external charging device.
The method of claim 8, wherein the charging control strategy comprises: controlling the electric catering vehicle to be triggered when the charging gun is inserted and the charger starts to work in the charging mode; and judging whether or not according to the current vehicle state Start the battery management system; if it is allowed to start, the battery management system will communicate with the charger, start the charging process and continuously monitor the charging process and battery status, and cut off the charging process in time when a fault occurs.
The method according to claim 8, characterized in that: the driving control strategy comprises: real-time collection of control signals from the driver, the control signals including: gear signals, accelerator pedal signals, and passing through The calculation outputs the driving torque to the motor controller to control the operation of the vehicle.
The method of claim 8, wherein the braking control strategy comprises: when the vehicle is in a braking state, calculating the required braking torque according to the received brake pedal signal, and the driving motor is The working mode is converted to the power generation mode and the power battery is charged to realize energy recovery.
The method according to claim 8, wherein the power-on/power-off mode control strategy comprises: in the power-on mode, by receiving the driver's control signal, waking up each node on the CAN bus network to start working, When the vehicle self-inspection is over and all equipment is in normal state, the system enters the ready state and indicates that it can enter the driving state; in the power-down mode, when the driver is monitored to turn off the key normally, the power-off instruction is sent to the motor control And the battery controller, and then control each device to shut down to realize safe power off.
The method according to any one of claims 8 to 12, wherein the vehicle energy optimization management strategy comprises: communicating with a battery management system through a CAN bus network, and according to the power information and battery information reported by the battery management system in real time. The state control battery management system realizes the closing or opening of the high-voltage circuit.
The method according to any one of claims 8 to 12, wherein the vehicle monitoring strategy includes: monitoring the vehicle control system failure, driver, and driving failure.