CN105857102A - Electrical system of electric intelligent vehicle, for centralized architecture controller and electricity supply redundancy - Google Patents
Electrical system of electric intelligent vehicle, for centralized architecture controller and electricity supply redundancy Download PDFInfo
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- CN105857102A CN105857102A CN201610216526.2A CN201610216526A CN105857102A CN 105857102 A CN105857102 A CN 105857102A CN 201610216526 A CN201610216526 A CN 201610216526A CN 105857102 A CN105857102 A CN 105857102A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L1/00—Supplying electric power to auxiliary equipment of vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0046—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electric energy storage systems, e.g. batteries or capacitors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0084—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to control modules
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The invention relates to an electrical system of an electric intelligent vehicle, for a centralized architecture controller and electricity supply redundancy. The electrical system comprises a high-voltage battery, a battery management system (1), a key switch (16), an electricity supply unit, an intelligent decision-making and control unit, a sensor unit and an actuator unit, wherein the high-voltage battery is connected with the battery management system (1) through an electrical circuit; the key switch (16) is provided with an OFF gear, an ACC gear, an ON gear and a START gear; the electricity supply unit comprises a main accumulator (12) and an auxiliary accumulator (11); the electrical circuit comprises a main ACC circuit, an auxiliary ACC circuit, an ON circuit, a START circuit and a constant electric circuit which is connected with a positive pole output terminal of the main accumulator (12). Compared with the prior art, the electrical system disclosed by the invention has the advantages that requirements of a control unit and a wire-controlled system of the electric intelligent vehicle for redundancy are met, hardware redundancy and electricity supply redundancy are designed for critical components including a steering unit, a braking unit, a central control unit and the like in the driving of vehicles, and the safety of autonomous vehicles is improved.
Description
Technical field
The present invention relates to a kind of intelligent automobile electrical system, especially relate to a kind of centralized architecture controller and confession
The electric intelligent automotive electrical system of electricity redundancy.
Background technology
The research and development of existing electric intelligent automobile are generally based on what pure electric automobile was carried out, and corresponding electrical system is also
Develop based on electrical system for pure electric vehicle.But the development trend following due to electric intelligent automobile is that line traffic control turns
To, brake-by-wire and ethernet communication, rather than the most universal mechanical steering, hydraulic braking and CAN
Communication, it is therefore desirable to ensure hardware, power and communicate on redundancy.
A kind of electrical system for pure electric vehicle is described by Chinese patent CN102501770A, and this is electrically
Unite to electrical system for pure electric vehicle working method describe in greater detail, but be not electric intelligent vehicle control system and
Line control system does the design of redundancy.If being still based on original electrical system for pure electric vehicle to develop, then in key
When controller, critical component or power supply go wrong, it will bring potential safety hazard for car load and passenger.
Summary of the invention
Defect that the purpose of the present invention is contemplated to overcome above-mentioned prior art to exist and a kind of centralized architecture is provided
Controller and the electric intelligent automotive electrical system of power supply redundancy.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of centralized architecture controller and the electric intelligent automotive electrical system of power supply redundancy, including each other by electricity
The high-tension battery of gas connection and battery management system, key switch, power supply unit, intelligent decision and control list
Unit, sensor unit and actuator unit, described high-tension battery and battery management system include battery bag and battery
Management system, described key switch arranges OFF shelves, ACC shelves, ON shelves and START shelves,
It is characterized in that, described power supply unit includes main storage battery and booster battery, described main storage battery and
Booster battery cathode output end bonding, described electric wiring includes high-tension line and low-voltage circuit, low-voltage circuit
Including main ACC circuit, auxiliary ACC circuit, ON circuit, START circuit and with main storage battery positive pole
The normal electric line that output connects, described main ACC circuit and auxiliary ACC circuit connect intelligent sensing respectively
Device unit, and connect actuator unit respectively；
Described intelligent decision and control unit include the respective main ECU with relay and redundancy ECU, described
Relay coil and the main ACC connection of main ECU, relay normally open contact and main ACC circuit or often
Electric line connect, the coil of the relay of described redundancy ECU and normally opened contact respectively with auxiliary ACC circuit
Connect, between main ECU and redundancy ECU, be provided with signal transmission passage, the ratio of signal when the two works simultaneously
Right；
When described key switch is in OFF shelves, in electric wiring each circuit in addition to normal electric line all with supply
Electric unit disconnects, and when key switch is in ACC shelves, main ACC circuit connects with normal electric line, assists ACC
Circuit connects with booster battery cathode output end, when key switch is in ON shelves, and main ACC circuit, ON
Circuit connects with normal electric line, and auxiliary ACC circuit connects with booster battery cathode output end, at key switch
When START shelves, main ACC circuit, ON circuit, START circuit connect with normal electric line, assist ACC
Circuit connects with booster battery cathode output end, during automobile normal running, and main ECU and redundancy ECU work simultaneously
Making, when main storage battery fault, main ECU exits, and redundancy ECU works.
Described steering wheel sensor is connected with steering wheel sensor single-pole double-throw relay, and described electronic pedal passes
Sensor is connected with electronic pedal sensor single-pole double-throw relay, described steering wheel sensor single-pole double-throw relay
The most often it is connected to main ACC circuit with electronic pedal sensor single-pole double-throw relay and is controlled by main ACC circuit,
When main ACC line voltage distribution is abnormal, automatically switch to assist ACC circuit to ensure steering wheel sensor and electricity
The power supply of sub-pedal sensor.
Described actuator unit includes left rear wheel brake actuator, off hind wheel brake actuator, steer motor, stops
The antitheft ciphering unit of car, the near front wheel brake actuator, off-front wheel brake actuator and redundancy steer motor；
Wherein steer motor and redundancy steer motor are respectively by respective relay and main ACC circuit and auxiliary
ACC circuit connects one to one, and left rear wheel brake actuator and off hind wheel brake actuator are respectively by respective
Relay and main ACC connection and the near front wheel brake actuator and off-front wheel brake actuator are respectively by each
Relay and auxiliary ACC connection, or left rear wheel brake actuator and off hind wheel brake actuator are respectively
By respective relay and auxiliary ACC connection and the near front wheel brake actuator and off-front wheel brake actuator
Respectively by respective relay and main ACC connection, each relay power break-make respectively by intelligent decision with
Control unit controls；The antitheft ciphering unit that stops by the antitheft ciphering unit normally closed relay of parking and often electrically connects,
After main ACC circuit powers on, the normally-closed contact of the antitheft ciphering unit normally closed relay that stops disconnects.
Described system also includes that automatic Pilot unit, described automatic Pilot unit include respectively by automatic Pilot list
Unit relay and the camera of main ACC connection, vehicle and infrastructure-based communication, GPS and inertial navigation,
Short distance radar, length are away from radar and ultrasonic sensor, and described automatic Pilot unit relay powers break-make by intelligence
Decision-making controls with control unit.
It is remote that described automatic Pilot unit also includes by automatic Pilot unit relay and main ACC connection
Range monitoring device.
Described system also includes that Vehicular charger, described Vehicular charger are provided with charging pile interface, low pressure output
End and high-voltage output end, described low-voltage output is high-tension battery and the battery management system of battery management system carries
For electric energy, described high-voltage output end is to the battery bag charging of high-tension battery with battery management system, and passes through
DC-DC converter is charged to booster battery and main storage battery.
Described system also includes that man-machine interaction electronic instrument, described man-machine interaction electronic instrument pass through man-machine interaction
Electronic instrument relay is connected to normal electric line, the coil of described man-machine interaction electronic instrument relay and master
ACC connection.
Described electric wiring also includes high voltage dc bus, described high-tension battery and battery management system output
Connect with high voltage safety switch, pre-charge-relay, pre-charge resistance, anode bus direct current by high voltage dc bus
Tentaculum, compressor of air conditioner, DC-DC converter and drive motor controller connect.
Described high-tension battery is connected with high voltage safety switch input anode with battery management system output head anode,
High-tension battery and battery management system negative pole of output end are defeated with high voltage safety switch by negative terminal bus D.C. contactor
Enter and hold negative pole to connect.
The positive pole output point two-way of described high voltage safety switch, a road is connected to pre-charge-relay and precharge electricity
Resistance, another road is connected to compressor of air conditioner, the input anode of DC-DC converter and the contact of anode bus direct current
The input of device, the High voltage output of anode bus D.C. contactor is connected to the positive pole input of drive motor controller
End；The cathode output end of high voltage safety switch connects the negative pole of compressor of air conditioner, DC-DC, drive motor controller
Input；DC-DC converter is provided with two groups of outputs, is connected on the input of main storage battery and booster battery respectively
End.
Electrical system working method of the present invention is as follows:
[1] the stopping for charging course of work
External charging staking is to Vehicular charger, and the low-voltage supply line of Vehicular charger is high-tension battery and cell tube
The battery management system of reason system provides electric energy, after high-tension battery and battery management system self-inspection complete, controls negative terminal
Bus D.C. contactor connects, and the enable message of transmission charging simultaneously is to Vehicular charger, and the high pressure of Vehicular charger is defeated
Go out to begin through the high voltage dc bus battery bag charging to high-tension battery with battery management system, and pass through
DC-DC converter is to booster battery, main storage battery charging.DC-DC converter is at booster battery and main storage
Automatically cut off after battery charging complete and the connection of two batteries, after battery bag charging complete, high-tension battery and battery
Management system sends charging complete message to Vehicular charger, simultaneously switches off negative terminal bus D.C. contactor, vehicle-mounted fills
Motor stops High voltage output.
The antitheft ciphering unit that stops is powered by the normal electric line powered by main storage battery in docking process, service truck
Safety.
[2] key starts the course of work
Key switch is when OFF shelves are beaten to ACC shelves, and under the antitheft ciphering unit that stops, electricity quits work, main ECU,
Whole modules in automatic Pilot unit, steering wheel sensor, man-machine interaction electronic instrument, electronic pedal sensor
Started working by main ACC line powering；Redundancy ECU is started working by auxiliary ACC line powering.
Key switch is when ACC shelves to ON shelves, high-tension battery and battery management system relay, air conditioner compressed
Machine relay, drive motor controller relay are connected, high-tension battery and battery management system, compressor of air conditioner,
Drive motor controller is started working, if main ECU and redundancy ECU do not receive high-tension battery and battery management system
System, the fault-signal of drive motor controller, then send commands to high-tension battery and close negative terminal with battery management system
Bus D.C. contactor, simultaneously closes off pre-charge-relay, carries out current limliting by pre-charge resistance, for driving motor
Controller is pre-charged, and drive motor controller sends and is pre-charged successfully after message, main ECU and redundancy ECU
Control anode bus D.C. contactor Guan Bi after comparing, and control pre-charge-relay disconnection, complete high pressure
Part power up.
Key switch switches to START shelves from ON shelves, after main ECU detection drive motor controller fault-free,
Control brake actuator relay, steer motor relay, redundancy steer motor relay adhesive, for left rear wheel system
Dynamic actuator, off hind wheel brake actuator, the near front wheel brake actuator, off-front wheel brake actuator, steer motor,
Redundancy steer motor powers on, and brakes, drives, turns to all startups, can perform main ECU and redundancy ECU sends
Driving instruction.If unmanned pattern, main ECU controls automatic Pilot unit and powers on.
[3] there is the emergency course of work
Main storage battery work is abnormal: then redundancy ECU takes over whole wagon control, and redundancy ECU is to driving motor
Controller sends instruction and gradually reduces output moment of torsion, and steering wheel sensor and electronic pedal sensor automatically switch simultaneously
To auxiliary ACC line powering, using redundancy steer motor to turn to, brake actuator only retains two front-wheel systems
Dynamic.If manned mode, redundancy ECU points out driver's Current vehicle shape by man-machine interaction electronic instrument
State, prompting driver reduces speed and stops nearby；If unmanned pattern, then redundancy ECU control vehicle exists
Roadside is stopped.
Main ECU detects the message of catastrophe failure, or vehicle collides: it is defeated that the most main ECU sends rapidly reduction
Go out torque command to drive motor controller, cut off the most rapidly negative terminal bus D.C. contactor and anode bus direct current
Contactor, alerts driver's current vehicle condition by man-machine interaction electronic instrument, and driver can pull and drive if desired
Sail the high voltage safety switch in cabin, ensure electrically and personal safety.
ECU breaks down: when normally travelling, and main ECU and redundancy ECU carry out identical work, no
Break and control command of vehicle output is compared by the two, identical, send to controlling network.A certain when finding
ECU breaks down, and redundancy ECU is taken over immediately, ensures the security that car load travels.
Compared with prior art, the invention have the advantages that
(1) solve the requirement for redundancy of electric intelligent automobile ECU and line control system, travel for vehicle
In power supply unit, intelligent decision and control unit devise redundancy, when main storage battery fault by booster battery
Power supply, when main ECU fault, by redundancy ECU adapter system, improves the security of autonomous driving vehicle.
(2) key switch is improved, remain the convenience that original key switch controls, and can independently control
The battery-driven break-make of two-way processed.
(3) be turning to, brake during vehicle travels, etc. critical component devise hardware redundancy, for being not easy to
Carry out the critical component such as steering wheel, electronic pedal of hardware redundancy, use single-pole double-throw relay to control, work as master
ACC line powering power down, automatically switches to assist ACC circuit to ensure power supply, thus is further ensured that traveling peace
Quan Xing.
(4) vehicle part is divided into intelligent decision to hold with control unit, intelligence sensor and intelligence by centralized architecture
Row device three part, all controllers concentrate in central authorities' intelligent decision and control unit.Centralized architecture can drop significantly
Low overall wire sheaves complexity, increases functional expansionary.
(5) system also include automatic Pilot unit, automatic Pilot unit relay power break-make by intelligent decision with
Control unit controls, if unmanned pattern, main ECU controls automatic Pilot unit and powers on, and remote monitor can be remote
Journey is monitored.
(6) system also includes by normally closed relay and the antitheft ciphering unit of parking often electrically connected, normally closed relay
Power supply acceptor's ACC circuit of device controls, and automatically can carry out antitheft to vehicle when stopping, and key switch switches to
Automatically terminate after ACC shelves, thus security when improving parking of automobile.
(7) system also includes that system also includes, by relay and the man-machine interaction electronic instrument often electrically connected, carrying
Show driver's current vehicle condition.
Accompanying drawing explanation
Fig. 1 is electrical system architecture schematic diagram of the present invention；
Fig. 2 is electrical system key switch principle schematic of the present invention；
Reference:
1 high-tension battery and battery management system；2 negative terminal bus D.C. contactors；3 high voltage safety switchs；
4 pre-charge-relay；5 pre-charge resistances；6 anode bus D.C. contactors；7 high-tension batteries and battery
Management system relay；8 Vehicular chargers；9 compressors of air conditioner；10 DC DC converters；11 is auxiliary
Help battery；12 main storage batterys；13 drive motor controller；14 compressor of air conditioner relays；15 drive
Dynamic electric machine controller relay；16 key switches；17 main ECU；18 redundancies ECU；19 steering wheels
Sensor single-pole double-throw relay；20 steering wheel sensors；21 man-machine interaction electronic instrument relays；22
Man-machine interaction electronic instrument；23 left rear wheel brake actuator relays；24 left rear wheel brake actuators；25
Off hind wheel brake actuator relay；26 off hind wheel brake actuators；27 steer motor relays；28
Steer motor；29 electronic pedal sensor single-pole double-throw relay；30 electronic pedal sensors；31 stop
Car antitheft ciphering unit relay；The 32 antitheft ciphering units of parking；33 the near front wheel brake actuator relays；
34 the near front wheel brake actuators；35 off-front wheel brake actuator relays；36 off-front wheel brake actuators；
37 redundancy steer motor relays；38 redundancy steer motor；39 automatic Pilot unit relays；40 take the photograph
As head；41 vehicles and infrastructure-based communication；42 GPS and inertial navigation；43 short distance radars；44 is long
Away from radar；45 ultrasonic sensors；46 remote monitors；U1 intelligent decision and control unit；U2—
Sensor unit；U3 actuator unit；G1 OFF shelves；G2 ACC shelves；G3 ON shelves；G4—
START shelves；The normal electric line of L1；L21 12V main ACC1 circuit；L22 12V assists ACC2 circuit
L22；L3 ON circuit；L4 START circuit；No. 1 end of A-two-way A-battery positive pole；B-two-way low pressure
Anode 2 end.
Detailed description of the invention
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with the technology of the present invention side
Implement premised on case, give detailed embodiment and concrete operating process, but the protection model of the present invention
Enclose and be not limited to following embodiment.
Embodiment
As it is shown in figure 1, the invention discloses a kind of centralized architecture controller and the electric intelligent automobile of power supply redundancy
Electrical system, opens with battery management system 1, negative terminal bus D.C. contactor 2, high-voltage safety including high-tension battery
Close 3, pre-charge-relay 4, pre-charge resistance 5, anode bus D.C. contactor 6, high-tension battery and cell tube
Reason system relay 7, Vehicular charger 8, compressor of air conditioner 9, DC-DC converter 10, booster battery
11, main storage battery 12, drive motor controller 13, compressor of air conditioner relay 14, drive motor controller continue
Electrical equipment 15, key switch 16, main ECU17, redundancy ECU18, steering wheel sensor single-pole double-throw relay
19, steering wheel sensor 20, man-machine interaction electronic instrument relay 21, man-machine interaction electronic instrument 22, left back
Wheel brake actuator relay 23, left rear wheel brake actuator 24, off hind wheel brake actuator relay 25, the right side
Rear service brake actuator 26, steer motor relay 27, steer motor 28, electronic pedal sensor single-pole double throw
Relay 29, electronic pedal sensor 30, the antitheft ciphering unit relay 31 that stops, stop antitheft ciphering unit
32, the near front wheel brake actuator relay 33, the near front wheel brake actuator 34, off-front wheel brake actuator relay
Device 35, off-front wheel brake actuator 36, redundancy steer motor relay 37, redundancy steer motor 38, automatically drive
Sail unit relay 39, camera 40, vehicle and infrastructure-based communication 41, GPS and inertial navigation 42, short
Away from radar 43, length away from radar 44, ultrasonic sensor 45 and remote monitor 46；
The high voltage dc bus positive pole of high-tension battery and battery management system 1 accesses to the input of high voltage safety switch 3
Anode, high voltage dc bus negative pole accesses to the input of high voltage safety switch 3 by negative terminal bus D.C. contactor 2
Negative terminal；Vehicular charger 8 has two-way output, and a road low pressure is output as high-tension battery and battery management system 1
Battery management system power, another road High voltage output is high-tension battery and the battery bag of battery management system 1 fills
Electricity；The positive pole output point two-way of high voltage safety switch 3, a road is connected to pre-charge-relay 4 and pre-charge resistance 5,
Another road is connected to compressor of air conditioner 9, the input anode of DC-DC converter 10 and the contact of anode bus direct current
The input of device 6, the High voltage output of anode bus D.C. contactor 6 is just being connected to drive motor controller 13
Pole input；The cathode output end of high voltage safety switch 3 connects compressor of air conditioner 9, DC-DC converter 10, drives
The negative input of dynamic electric machine controller 13；DC-DC converter 10 two-way output altogether, is connected on main electric power storage respectively
Pond 12 and the positive-negative input end of booster battery 11；
In figure, heavy line is high voltage cable, and fine line is type low-voltage cable, and dotted line is for controlling cable.
As in figure 2 it is shown, described key switch 16 can control the i.e. 12V of main ACC1 circuit main ACC1 circuit simultaneously
L21 and the break-make of auxiliary ACC circuit i.e. 12V auxiliary ACC2 two low-voltage circuits of circuit L22；
The output plus terminal of main storage battery 12 is connected to normal electric line L1 of low-pressure section, the anode of booster battery 11
Being connected on the two-way A-battery positive pole 2 end B of key switch 16, two-way A-battery positive pole 1 end A is with often
Electric line L1 is connected；Main storage battery 12 and the minus earth of booster battery 11；Key switch 16 fourth gear altogether,
Wherein ACC shelves G2 controls booster battery 11 positive pole and 12V the auxiliary connection of ACC2 circuit L22, master
Battery 12 positive pole and the connection of 12V main ACC1 circuit L21；ON shelves G3 controls main storage battery 12 positive pole
Connection with ON circuit L3；START shelves G4 controls main storage battery 12 positive pole and START circuit L4's
Connection；When key switch 16 is in OFF shelves G1, described 12V main ACC1 circuit L21,12V assist
ACC2 circuit L22, ON circuit L3, START circuit L4 disconnects with main storage battery 12 positive pole；
Main ECU17 is provided with two, carries out different work respectively, the corresponding redundancy of each main ECU17
ECU18, each main ECU17 and redundancy ECU18 by respective relay (including coil and normally opened contact) with
Often electric line L1 is connected with auxiliary ACC circuit, and the connection that main ECU17 powers is by 12V main ACC1 circuit
L21 controls, and the connection that redundancy ECU18 is powered is controlled by 12V auxiliary ACC2 circuit L22, and relay is to use
Small area analysis removes to control a kind of switch automatically of big electric current running, plays in circuit and is automatically adjusted, safeguard protection, turns
Change the effects such as circuit.
It is provided with signal transmission passage, correct in order to comparison decision signal between main ECU and respective redundancy ECU
Property.
Automatic Pilot unit include camera 40, vehicle and infrastructure-based communication 41, GPS and inertial navigation 42,
Short distance radar 43, length pass through automatic Pilot unit relay away from radar 44, ultrasonic sensor 45, low-voltage power supply
39 ACC1 circuit L21s main with 12V connect, and automatic Pilot unit relay 39 is single with control by intelligent decision
Unit U1 controls, and can control, with control unit U1, the break-make that automatic Pilot unit is powered by intelligent decision；
Actuator unit U3 includes left rear wheel brake actuator 24, off hind wheel brake actuator 26, steer motor
28, antitheft ciphering unit 32, the near front wheel brake actuator 34, off-front wheel brake actuator 36 and the redundancy of stopping turns
To motor 38, it is auxiliary that the near front wheel brake actuator 34 is connected to 12V by the near front wheel brake actuator relay 33
ACC2 circuit L22, off-front wheel brake actuator 36 is helped to be connected to by off-front wheel brake actuator relay 35
12V assists ACC2 circuit L22；Left rear wheel brake actuator 24 is by left rear wheel brake actuator relay 23
Being connected to 12V main ACC1 circuit L21, off hind wheel brake actuator 26 is by off hind wheel brake actuator relay
Device 25 is connected to 12V main ACC1 circuit L21；The braking of the near front wheel brake actuator relay 33, off-front wheel is held
Row device relay 35, left rear wheel brake actuator relay 23 and the confession of off hind wheel brake actuator relay 25
Electricity break-make is controlled with control unit U1 by intelligent decision respectively；
Steer motor 28 is by being connected to 12V main ACC1 circuit L21, and redundancy steer motor 38 is turned by redundancy
Being connected to 12V to motor relay 37 and assist ACC2 circuit L22, steer motor relay 27 and redundancy turn to
Motor relay 37 break-make of powering is controlled with control unit U1 by intelligent decision respectively；
Steering wheel sensor 20, man-machine interaction electronic instrument 22 and electronic pedal sensor 30 belong to sensor list
Unit U2, steering wheel sensor 20 is by steering wheel sensor single-pole double-throw relay 19 and 12V main ACC1 line
L21 and 12V auxiliary ACC2 circuit L22 in road is connected；Electronic pedal sensor 30 is sensed by electronic pedal
Device single-pole double-throw relay 29 ACC1 main with 12V circuit L21 and 12V assists ACC2 circuit L22 phase
Even；Single-pole double-throw relay 19,29 is often connected to 12V main ACC1 circuit L21 and is controlled by the main ACC1 of 12V
Circuit L21, when 12V main ACC1 circuit L21 voltage is abnormal, cuts automatically by single-pole double-throw relay
Shift to 12V auxiliary ACC2 circuit L22 and ensure steering wheel sensor 20 and the power supply of electronic pedal sensor 30；
Man-machine interaction electronic instrument 22 is connected to normal electric line L1 by relay, and relay is by the main ACC1 of 12V
Circuit L21 controls break-make；
Stop antitheft ciphering unit 32 by stopping antitheft ciphering unit normally closed relay 31 and often electrically connecting.12V
When main ACC1 circuit L21 does not powers on, i.e. vehicle is in dead ship condition, the normally closed relay of antitheft ciphering unit of stopping
Device 31 is in closure state, and the antitheft ciphering unit 32 that stops powers on.After key switch switches to ACC shelves G2,
The antitheft ciphering unit normally closed relay 31 that stops disconnects, and stop 32 times electricity of antitheft ciphering unit.
Electrical system working method of the present invention is as follows:
(1) the stopping for charging course of work
External charging staking is to Vehicular charger 8, and the low-voltage supply line of Vehicular charger 8 is high-tension battery and electricity
The battery management system of pond management system 1 provides electric energy, after high-tension battery and battery management system 1 self-inspection complete,
Control negative terminal bus D.C. contactor 2 to connect, send charging simultaneously and enable message to Vehicular charger 8, vehicle-mounted fill
The High voltage output of motor 8 begins through high voltage dc bus and fills to the battery bag of high-tension battery with battery management system 1
Electricity, and charged to booster battery 11, main storage battery 12 by DC-DC converter 10.DC-DC converts
Device 10 automatically cuts off and the connection of two batteries after booster battery 11 and main storage battery 12 charging complete, electricity
After the bag charging complete of pond, high-tension battery sends charging complete message to Vehicular charger 8 with battery management system 1,
Simultaneously switching off negative terminal bus D.C. contactor 2, Vehicular charger 8 stops High voltage output.
The antitheft ciphering unit 32 that stops is supplied by normal electric line L1 powered by main storage battery 12 in docking process
Electricity, support vehicles safety.
(2) key starts the course of work
Key switch 16 is when OFF shelves G1 beats to ACC shelves G2, and the 32 times electricity of antitheft ciphering unit that stop stop
Only work, the whole modules in main ECU17, automatic Pilot unit, steering wheel sensor 20, man-machine interaction electricity
Sub-instrument 22, electronic pedal sensor 30 are started working by main ACC line powering；Redundancy ECU18 is passed through
Auxiliary ACC line powering is started working.
Key switch 16 when ACC shelves G2 to ON shelves G3, high-tension battery and battery management system relay
7, compressor of air conditioner relay 14, drive motor controller relay 15 are connected, high-tension battery and battery management
System 1, compressor of air conditioner 9, drive motor controller 13 are started working, if main ECU17 and redundancy ECU18
Do not receive high-tension battery and battery management system 1, the fault-signal of drive motor controller 13, then send life
Make and close negative terminal bus D.C. contactor 2 to high-tension battery and battery management system 1, simultaneously close off precharge relay
Device 4, carries out current limliting by pre-charge resistance 5, is pre-charged for drive motor controller 13, drives motor
Controller 13 sends and be pre-charged successfully after message, main ECU17 and redundancy ECU18 compare after control anode
Bus D.C. contactor 6 closes, and control pre-charge-relay 4 disconnects, and completes high-pressure section power up.
Key switch 16 switches to START shelves G4, main ECU17 detection from ON shelves G3 and drives motor to control
After device 13 fault-free, control the near front wheel brake actuator relay 33, off-front wheel brake actuator relay 35,
Left rear wheel brake actuator relay 23 and off hind wheel brake actuator relay 25, steer motor relay 27,
Redundancy steer motor relay 37 adhesive, for left rear wheel brake actuator 24, off hind wheel brake actuator 26, a left side
Front wheel brake actuator 34, off-front wheel brake actuator 36, steer motor 28, redundancy steer motor 38 power on,
Brake, drive, turn to all startups, main ECU17 can be performed and driving instruction that redundancy ECU18 sends.If
For unmanned pattern, main ECU17 controls automatic Pilot unit and powers on.
(3) there is the emergency course of work
Main storage battery 12 works abnormal: then redundancy ECU18 take over whole wagon control, redundancy ECU18 to
Drive motor controller 13 sends instruction and gradually reduces output moment of torsion, simultaneously steering wheel sensor 20 and electronic pedal
Sensor 30 automatically switches to assist ACC line powering, uses redundancy steer motor 38 to turn to, braking
Actuator only retains the near front wheel brake actuator 34 and off-front wheel brake actuator 36.If manned mode,
Redundancy ECU18 points out driver current vehicle condition by man-machine interaction electronic instrument 22, and prompting driver reduces
Speed is stopped nearby；If unmanned pattern, then redundancy ECU18 controls vehicle in roadside stop.
Main ECU17 detects the message of catastrophe failure, or vehicle collides: the most main ECU17 sends rapidly fall
Low output torque command to drive motor controller 13, cuts off the most rapidly negative terminal bus D.C. contactor 2 and just
End bus D.C. contactor 6, alerts driver's current vehicle condition by man-machine interaction electronic instrument 22, necessary
Time driver can pull the high voltage safety switch 3 in driving cabin, ensure electrically and personal safety.
ECU breaks down: when normally travelling, and main ECU17 and redundancy ECU18 carry out identical work,
Constantly the control command of vehicle output is compared by the two, identical, send to controlling network.A certain when finding
ECU breaks down, and redundancy ECU is taken over immediately, ensures the security that car load travels.
Superior effect of the present invention is: solve electric intelligent automobile ECU and line control system for redundancy
Requirement, the critical component such as turning to, brake in travelling for vehicle, central control unit devises hardware and power supply
Redundancy, improve the security of autonomous driving vehicle；For being not easy to the critical component carrying out hardware redundancy such as side
To dish, electronic pedal, use single-pole double-throw relay to control, when main 12V powers power down, automatically switch to auxiliary
12V is helped to ensure power supply；Key switch is improved, remains the convenience that original key switch controls, and
Can independently control the break-make that two-way 12V powers.
Claims (10)
1. centralized architecture controller and an electric intelligent automotive electrical system for power supply redundancy, including phase intercommunication
Cross high-tension battery and battery management system (1), key switch (16), power supply unit, intelligence that electric wiring connects
Can decision-making and control unit, sensor unit and actuator unit, described high-tension battery and battery management system (1)
Including battery bag and battery management system, described key switch (16) arranges OFF shelves, ACC shelves, ON
Shelves and START shelves,
It is characterized in that, described power supply unit includes main storage battery (12) and booster battery (11), described
Main storage battery (12) and booster battery (11) cathode output end bonding, described electric wiring includes main
ACC circuit, auxiliary ACC circuit, ON circuit, START circuit and defeated with main storage battery (12) positive pole
Go out the normal electric line that end connects, described main ACC circuit and auxiliary ACC circuit and connect intelligence sensor respectively
Unit, and connect actuator unit respectively；
Described intelligent decision and control unit include the respective main ECU (17) with relay and redundancy ECU
(18), the relay coil of described main ECU (17) and main ACC connection, relay normally open contact
With main ACC circuit or often electric line is connected, the coil of the relay of described redundancy ECU (18) and normally opened tactile
Point respectively with auxiliary ACC connection, be provided with between main ECU (17) and redundancy ECU (18) signal biography
Defeated passage, the comparison of signal when the two works simultaneously；
When described key switch (16) is in OFF shelves, each circuit in addition to normal electric line in electric wiring
All disconnecting with power supply unit, when key switch (16) is in ACC shelves, main ACC circuit is with normal electric line even
Logical, auxiliary ACC circuit connects with booster battery (11) cathode output end, and key switch (16) is in ON
During shelves, main ACC circuit, ON circuit connect with normal electric line, auxiliary ACC circuit and booster battery (11)
Cathode output end connects, when key switch (16) is in START shelves, and main ACC circuit, ON circuit, START
Circuit connects with normal electric line, and auxiliary ACC circuit connects with booster battery (11) cathode output end, automobile
When normally travelling, main ECU (17) works with redundancy ECU (18) simultaneously, when main storage battery (12) fault
Time, main ECU (17) exits, and redundancy ECU (18) works.
A kind of centralized architecture controller the most according to claim 1 and the electric intelligent automobile of power supply redundancy
Electrical system, it is characterised in that described sensor unit includes that steering wheel sensor (20) and electronic pedal pass
Sensor (30), described steering wheel sensor (20) and electronic pedal sensor (30) are respectively by respective
Single-pole double-throw relay and main ACC circuit and auxiliary ACC connection, described single-pole double-throw relay is normal
It is connected to main ACC circuit and is controlled by main ACC circuit, when main ACC line voltage distribution is abnormal, automatically switching
Steering wheel sensor (20) and the power supply of electronic pedal sensor (30) is ensured to auxiliary ACC circuit.
A kind of centralized architecture controller the most according to claim 1 and the electric intelligent automobile of power supply redundancy
Electrical system, it is characterised in that described actuator unit includes left rear wheel brake actuator (24), off hind wheel
Brake actuator (26), steer motor (28), stop antitheft ciphering unit (32), the near front wheel brake actuator
(34), off-front wheel brake actuator (36) and redundancy steer motor (38)；
Wherein steer motor (28) and redundancy steer motor (38) are respectively by respective relay and main ACC
Circuit and auxiliary ACC circuit connect one to one, and left rear wheel brake actuator (24) and off hind wheel braking perform
Device (26) respectively by respective relay and main ACC connection and the near front wheel brake actuator (34) and
Off-front wheel brake actuator (36) is by respective relay and auxiliary ACC connection or left back respectively
Wheel brake actuator (24) and off hind wheel brake actuator (26) are respectively by respective relay and auxiliary ACC
Connection and the near front wheel brake actuator (34) and off-front wheel brake actuator (36) are continued by respective respectively
Electrical equipment and main ACC connection, each relay break-make of powering is controlled with control unit by intelligent decision respectively；Stop
The antitheft ciphering unit of car (32) is by stopping antitheft ciphering unit normally closed relay (31) and often electrically connecting, main
After ACC circuit powers on, the normally-closed contact of antitheft ciphering unit normally closed relay (31) of stopping disconnects.
A kind of centralized architecture controller the most according to claim 1 and the electric intelligent automobile of power supply redundancy
Electrical system, it is characterised in that described system also includes that automatic Pilot unit, described automatic Pilot unit include
Respectively by automatic Pilot unit relay (39) and the camera (40) of main ACC connection, vehicle with
Infrastructure-based communication (41), GPS and inertial navigation (42), short distance radar (43), long away from radar (44) and
Ultrasonic sensor (45), described automatic Pilot unit relay (39) power supply break-make is by intelligent decision and control
Unit processed controls.
A kind of centralized architecture controller the most according to claim 4 and the electric intelligent automobile of power supply redundancy
Electrical system, it is characterised in that described automatic Pilot unit also includes by automatic Pilot unit relay (39)
Remote monitor (46) with main ACC connection.
A kind of centralized architecture controller the most according to claim 1 and the electric intelligent automobile of power supply redundancy
Electrical system, it is characterised in that described system also includes Vehicular charger (8), described Vehicular charger (8)
Being provided with charging pile interface, low-voltage output and high-voltage output end, described low-voltage output is high-tension battery and battery
The battery management system of management system (1) provides electric energy, and described high-voltage output end is to high-tension battery and cell tube
Reason system (1) battery bag charging, and by DC-DC converter (10) give booster battery (11) and
Main storage battery (12) charges.
A kind of centralized architecture controller the most according to claim 1 and the electric intelligent automobile of power supply redundancy
Electrical system, it is characterised in that described system also includes man-machine interaction electronic instrument (22), described is man-machine
Interactive electronic instrument (22) is connected to normal electric line by man-machine interaction electronic instrument relay (21), described
The coil of man-machine interaction electronic instrument relay (21) and main ACC connection.
A kind of centralized architecture controller the most according to claim 1 and the electric intelligent automobile of power supply redundancy
Electrical system, it is characterised in that described electric wiring also includes high voltage dc bus, described high-tension battery with
Battery management system (1) output is by high voltage dc bus and high voltage safety switch (3), pre-charge-relay
(4), pre-charge resistance (5), anode bus D.C. contactor (6), compressor of air conditioner (9), DC-DC become
Parallel operation (10) and drive motor controller (13) connect.
A kind of centralized architecture controller the most according to claim 8 and the electric intelligent automobile of power supply redundancy
Electrical system, it is characterised in that described high-tension battery and battery management system (1) output head anode and high pressure
Safety switch (3) input anode connects, and high-tension battery and battery management system (1) negative pole of output end are by negative
End bus D.C. contactor (2) is connected with high voltage safety switch (3) input cathode.
A kind of centralized architecture controller the most according to claim 8 and the electric intelligent automobile of power supply redundancy
Electrical system, it is characterised in that the positive pole output point two-way of described high voltage safety switch (3), a road is connected to
Pre-charge-relay (4) and pre-charge resistance (5), another road is connected to compressor of air conditioner (9), DC-DC conversion
The input anode of device (10) and the input of anode bus D.C. contactor (6), anode bus direct current connects
The High voltage output of tentaculum (6) is connected to the electrode input end of drive motor controller (13)；High voltage safety switch
(3) cathode output end connects compressor of air conditioner (9), DC-DC (10), drive motor controller (13)
Negative input；DC-DC converter (10) is provided with two groups of outputs, be connected on respectively main storage battery (12) and
The input of booster battery (11).
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