CN108995537B - A whole car controlling means for vehicle intelligence is driven - Google Patents
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Abstract
The invention provides a whole vehicle control device for intelligent driving of a vehicle, which comprises a power supply module, a power supply management module and an intelligent control module, wherein the power supply management module is used for carrying out circuit protection and safety monitoring on a power supply output by the power supply module; the intelligent control module comprises a first auxiliary control module, a main control module and a second auxiliary control module; the first auxiliary control module comprises a vehicle information acquisition unit for acquiring the braking force related information of the vehicle; the second assist control module includes an environmental information acquisition unit that acquires environmental related information of the vehicle; the main control module carries out comprehensive processing on the environment related information and the braking force related information of the vehicle to generate control related information for controlling the vehicle. The invention ensures that the control strategy is more effective, the wire harness and the modules are reduced, the structure is optimized and the hardware cost is reduced by the fusion processing of various information.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a whole vehicle control device for intelligent driving of a vehicle.
Background
The existing vehicle control device realizes coordination and control of a vehicle power system through a torque control and energy recovery strategy; the central controller unit is used for controlling the starting, running, advancing and retreating, speed and stopping of the motor of the electric automobile and other electronic devices of the electric automobile, and is the brain of the electric automobile. In the existing vehicle control unit scheme, no intelligent driving function integrating environment perception and V2X technology is provided.
The existing intelligent driving means that various sensors mounted on a vehicle are used for collecting environmental data inside and outside the vehicle at the first time and processing the information, so that a driver can perceive possible dangers at the fastest time, or a vehicle executive terminal can be used for controlling the vehicle in an emergency so as to avoid risks.
However, a plurality of environment sensing modules of the current intelligent driving system are dispersed and independent, and are independent of a vehicle controller of the electric vehicle. For example, the vehicle-mounted camera is an independent sensing controller, the millimeter wave radar is also an independent controller, and the like, so that a large amount of controllers and surrounding environment sensing redundancy are caused, the intelligent sensing cost is high, and the real-time interaction of key information is not facilitated; the better vehicle control and driving safety auxiliary functions are not achieved.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a whole vehicle control device for intelligent driving of a vehicle, which comprises the following components: the intelligent power supply system comprises a power supply module, a power management module and an intelligent control module, wherein the power supply module, the power management module and the intelligent control module are sequentially connected; the power supply management module is used for performing circuit protection, level conversion and power supply monitoring on the power supply output by the power supply module;
the intelligent control module comprises a first auxiliary control module, a second auxiliary control module and a main control module, wherein the first auxiliary control module, the main control module and the second auxiliary control module are connected and integrated on the same circuit board and are integrated on a circuit;
the first auxiliary control module comprises a vehicle information acquisition unit, and the second auxiliary control module comprises an environmental information acquisition unit;
the vehicle information acquisition unit is used for acquiring braking force related information of a vehicle and transmitting the braking force related information to the main control module; the braking force related information includes first vehicle information and second vehicle information;
the environment information acquisition unit is used for acquiring environment related information of the vehicle and transmitting the environment related information to the main control module; the main control module is used for carrying out comprehensive processing on the environment related information and the braking force related information of the vehicle to generate control related information for controlling the vehicle.
Furthermore, the vehicle information acquisition unit comprises a first vehicle information acquisition subunit, a signal conditioning unit, a second vehicle information acquisition subunit and a driving unit; the first vehicle information acquisition subunit is connected with the signal conditioning unit, and the driving unit is connected with the second vehicle information acquisition subunit;
the first vehicle information acquisition subunit is used for acquiring first vehicle information of a vehicle, and the signal conditioning unit is used for performing signal processing on the first vehicle information; the driving unit is used for outputting second vehicle information, and the second vehicle information obtaining subunit is used for obtaining the second vehicle information.
Further, the first auxiliary control module further comprises a communication unit; the communication unit comprises a wireless communication line, a CAN bus, a LIN bus, a FlexRay communication line and an Ethernet communication line; the environment information acquisition unit comprises a first environment information acquisition subunit and a second environment acquisition subunit;
the first environment information acquisition subunit comprises a V2X module; the V2X module acquires first environment information through a wireless communication line and sends the first environment information to the main control module; the second environment acquisition subunit comprises a T-box module; and the T-box module acquires second environment information through a CAN bus and sends the second environment information to the main control module.
Further, the environment information acquiring unit further includes a third environment information acquiring sub-unit,
the third environmental information acquisition subunit comprises an azimuth detector and an image collector; the azimuth detector and the image collector are both connected with the main control module; the orientation detector is used for acquiring position information of obstacles around the vehicle; the image collector is used for obtaining the picture information of the surrounding environment of the vehicle.
Furthermore, the main control module comprises a first brake information processor and a second brake information processor, and the first brake information processor is connected with the vehicle information acquisition unit and the second brake information processor;
the first brake information processor is used for preprocessing the acquired brake force related information of the vehicle to obtain initial brake information; and the second braking information processing is used for reprocessing the initial braking information to obtain target braking information, and comprehensively processing the environment related information and the target braking information to obtain control related information.
The main control module includes a first environment information processor and a second environment information processor,
the first environment information processor, the environment information acquisition unit and the second environment information processor; the first environment information processor is used for preprocessing the acquired environment-related information of the vehicle to obtain initial environment information; and the second environment information processor is used for reprocessing the initial environment information to obtain target environment information, and comprehensively processing the braking related information and the target environment information to obtain control related information.
Further, the orientation detector includes a mid-range millimeter wave radar and a long-range millimeter wave radar; the image collector comprises a high-definition camera with an MIPI interface; the main control module comprises a digital ramp generator HSPDM, a radar accelerator SPU and an image information processor ISP.
Further, the first vehicle information comprises accelerator pedal information, vehicle brake information, gear information, temperature sensor information and high-voltage interlocking information; the second vehicle information comprises braking system information, steering system information, high-voltage electricity information, water pump information and fan information;
the environment-related information comprises road surface obstacle information and road surface driving state information; the control-related information includes warning information, vehicle braking information, lane keeping information.
Further, the driving unit comprises a PWM pulse driving circuit, a high side driving circuit and a low side driving circuit; the signal conditioning unit comprises a digital signal processing circuit and an analog signal processing circuit.
Furthermore, the power management module comprises a power protection unit and a level conversion monitoring unit;
the power supply protection unit comprises a Filter, a transient diode TVS and a field effect transistor MOS which are connected in sequence; the level conversion monitoring unit comprises a Tracker, a low dropout regulator (LDO) and a voltage converter Boost/Buck.
The invention provides a whole vehicle control device for intelligent driving of a vehicle, and particularly relates to an intelligent control module which comprises a first auxiliary control module, a main control module and a second auxiliary control module; the first auxiliary control module, the main control module and the second auxiliary control module all belong to one part of the intelligent control module and can be integrated on a circuit. In detail, the first auxiliary control module comprises a vehicle information acquisition unit, and the vehicle information acquisition unit is used for acquiring braking force related information of a vehicle and transmitting the braking force related information to the main control module; the second auxiliary control module comprises an environmental information acquisition unit, and the environmental information acquisition unit is used for acquiring environmental related information of the vehicle and transmitting the environmental related information to the main control module; the main control module is used for carrying out comprehensive processing on the environment related information and the braking force related information of the vehicle to generate control related information for controlling the vehicle. The intelligent control module realizes information fusion; making internal information processing and transmission more efficient.
According to the vehicle control device for intelligent vehicle driving, provided by the invention, the main control module can process the environment-related information and the braking force-related information; the braking force control device can also be externally provided with a processor for processing the environment-related information and a processor for processing the braking force-related information.
In a word, the control strategy is more effective and more accurate through the fusion processing of various information; and the number of wire harnesses and modules is reduced, so that the structure is more optimized and compact, and the hardware cost is reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a main structural framework diagram of a vehicle control device for intelligent vehicle driving according to an embodiment of the present invention;
fig. 2 is an information transmission framework diagram of a vehicle control device for intelligent driving of a vehicle according to an embodiment of the present invention;
fig. 3 is a concrete structural framework diagram of a vehicle control device for intelligent vehicle driving according to an embodiment of the present invention;
fig. 4 is a hardware structure diagram of a vehicle control device for intelligent vehicle driving according to an embodiment of the present invention;
fig. 5 is a hardware structure diagram of another vehicle control device for intelligent driving of a vehicle according to an embodiment of the present invention.
In the figure: the intelligent control system comprises a power supply module 100, a power supply management module 200, a power supply protection unit 210, a level conversion monitoring unit 220, an intelligent control module 300, a first auxiliary control module 310, a vehicle information acquisition unit 311, a communication unit 312, a second auxiliary control module 320, an environmental information acquisition unit 321 and a main control module 330.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example (b):
the embodiment provides a whole vehicle control device for intelligent driving of a vehicle, and the whole vehicle control device integrates an intelligent driving function. As shown in fig. 1, the power management module comprises a power supply module 100, a power management module 200 and an intelligent control module 300, wherein the power supply module 100, the power management module 200 and the intelligent control module 300 are connected in sequence.
The power management module 200 is given and described as follows:
the power management module 200 is used for performing circuit protection, level conversion and power monitoring on the power output by the power supply module 100. Further, as shown in fig. 3, the power management module 200 includes a power protection unit 210 and a level shift monitoring unit 220; the power protection unit 210 includes a filtering and reverse connection prevention circuit, specifically, as shown in fig. 4, includes a Filter, a transient diode TVS, and a field effect transistor MOS, which are connected in sequence; the level shift monitoring unit 220 is used for performing error monitoring, safety state control, watchdog, power sleep and wake-up functions, and may specifically include a Tracker, a low dropout regulator LDO, and a voltage converter Boost/Buck.
It should be noted that the power protection unit 210 in the power management module 200 may further include other devices for performing circuit protection, and the level shift monitoring unit 220 in the power management module 200 may further include other devices for performing level shift and safety monitoring. The power management module 200 with the diagnostic function can provide multiple voltage steps and multiple power supplies to the first auxiliary control module 310 and the second auxiliary control module 320 in the intelligent control module 300, such as 12V or 24V in fig. 4, and 1.3V, 3.3V, 3V in fig. 4, and the like.
The intelligent control module 300 is given and described as follows:
as shown in fig. 2 to 3, the intelligent control module 300 includes a first auxiliary control module 310, a main control module 330 and a second auxiliary control module 320, and the first auxiliary control module 310, the main control module 330 and the second auxiliary control module 320 are connected in sequence and are integrated in a circuit. The first auxiliary control module 310 includes a vehicle information acquisition unit 311, and the second auxiliary control module 320 includes an environmental information acquisition unit 321;
specifically, the following is explained for the part of the intelligent control module relating to the braking force-related information:
the vehicle information acquisition unit 311 is configured to acquire braking force related information of a vehicle and transmit the braking force related information to the main control module 330; the braking force related information includes first vehicle information and second vehicle information.
In detail, the vehicle information collecting unit 311 includes a first vehicle information acquiring subunit, a signal conditioning unit, a second vehicle information acquiring subunit, and a driving unit; the first vehicle information acquisition subunit is connected with the signal conditioning unit and acquires information through a hard wire; the driving unit is connected with the second vehicle information acquisition subunit, and the information acquired by the second vehicle information acquisition unit is output through the direct drive of the driving unit.
Specifically, the first vehicle information acquiring subunit is configured to acquire first vehicle information of a vehicle, and the signal conditioning unit is configured to perform signal processing on the first vehicle information; the driving unit is used for directly driving and feeding back second vehicle information, and the second vehicle information acquisition subunit is used for acquiring the second vehicle information.
The signal conditioning unit comprises a digital signal processing circuit and an analog signal processing circuit; the information acquired by the first vehicle information acquiring unit is signal-processed to satisfy the signal form required by the main control module 330. The driving unit is used for feeding back second vehicle information to the main control module and comprises a PWM pulse driving circuit, a high-side driving circuit and a low-side driving circuit.
As shown in fig. 4, the first vehicle information includes accelerator pedal information, vehicle brake information, gear information, temperature sensor information, high-voltage interlock information, and the like, and also includes other related control information; the second vehicle information includes brake system information, steering system information, high-voltage power information, water pump information, fan information, and other related control information. Corresponding to the drive circuit, the explanation is given: the high-side driving circuit and the low-side driving circuit support but are not limited to brake pump control, steering pump control, water pump control and high-voltage power-on and power-off control; the PWM pulse drive circuit may be a fan and motor control. Moreover, the driving unit needs to be provided with a diagnosis circuit; the main control module collects state feedback information of the driving unit to achieve closed-loop control.
The parts related to the environment-related information in the intelligent control module are explained as follows:
the environment information acquiring unit 321 is configured to acquire environment-related information of a vehicle and transmit the environment-related information to the main control module 330; the main control module 330 is configured to perform comprehensive processing on the environment-related information and the braking force-related information of the vehicle to generate control-related information for controlling the vehicle. The environment-related information comprises road surface obstacle information and road surface driving state information; the control-related information includes warning information, vehicle braking information, lane keeping information.
Specifically, the first auxiliary control module 310 further includes a communication unit 312; the number of the communication units 312 may be one or more, each of the communication units 312 includes a CAN bus, a wireless communication line, a LIN bus, a FlexRay communication line, and an ethernet communication line, and acquires corresponding information through different information acquisition communication modes; the environment information acquiring unit 321 includes a first environment information acquiring sub-unit and a second environment acquiring sub-unit;
the first environment information acquisition subunit comprises a V2X module; the V2X module acquires first environment information through a wireless communication line or a cellular communication line and transmits the first environment information to the main control module 330; the second environment acquisition subunit comprises a T-box module; the T-box module acquires second environment information through a wireless communication line, sends the second environment information to the main control module 330 through a CAN bus, and the main control module 330 performs unified processing on all external environment sensing and vehicle information to make a control strategy.
The V2X module corresponds to the core technology of the car networking and can operate under different communication technology conditions, such as DSRC, 4G-LTE, LTE-V2X and 5G. By using the internet of vehicles V2X technology, the vehicle can acquire unknown parameters of the surrounding environment and the running state of nearby vehicles, and then the vehicle-mounted active safety algorithm will process the acquired information and classify the information according to priority. V2X is a more active communication-type safety system in the technology that is a coordinated control model. The vehicle control strategy is more direct and effective and the vehicle driving safety is improved by fusing the V2X function.
The context information acquiring unit 321 further comprises a third context information acquiring sub-unit,
the third environmental information acquisition subunit comprises an azimuth detector and an image collector; the orientation detector and the image collector are both connected with the main control module 330; the orientation detector is used for acquiring position information of obstacles around the vehicle; the image collector is used for obtaining the picture information of the surrounding environment of the vehicle.
The azimuth detector comprises a medium-range millimeter wave radar and a long-range millimeter wave radar; the image collector comprises a high-definition camera with an MIPI interface; such as the in-vehicle front millimeter wave radar shown in fig. 4; the image collector is used for obtaining picture information of the surrounding environment of the vehicle, such as a camera lens and a video imager shown in fig. 4. As shown in fig. 4, the main control module 330 includes a digital ramp generator HSPDM, a radar accelerator SPU, and an image information processor ISP.
It should be noted that the main control module 330 in this embodiment directly processes the signal detected by the orientation detector of the environment information acquiring unit 321; in particular, it may support one or more fourier transforms; meanwhile, the digital ramp generator HSPDM is arranged, a radar accelerator SPU with the frequency of 300MHz and above is required, a digital radar interface is 400Mbit/s and above, and a direct storage unit of corresponding radar signals is included, so that the direct processing and storage of one path or multiple paths of radar signals are supported from hardware and a processor. For example, the front 77GHz-79GHz millimeter wave radar closely related to the safe running of the vehicle.
In addition, the main control module 330 in this embodiment directly processes the signal acquired by the image acquirer of the environmental information acquiring unit 321; specifically, the image collector is composed of a camera lens and video imaging, and a video image signal is directly transmitted to a main control module 330 with an image signal processing function (ISP) through a high-definition camera MIPI interface for subsequent image processing, thereby performing visual image processing and image algorithm processing. For a visual image signal with a higher security level, such as a front camera, the control unit with higher real-time performance can be used for directly processing the visual image signal.
It should be noted that the intelligent control module 300 further includes a first storage module for storing data transmitted and processed by the information in the first auxiliary control module 310, and a second storage module for storing data transmitted and processed by the information in the second auxiliary control module 320.
In this embodiment, the main control module 330 is responsible for data acquisition and processing, logical operation, implementation of a control strategy, and the like, and selects corresponding chips having the following functions:
1 supports multiple operating systems, such as Unix, Linux;
2, the chip can be a multi-core chip with a lockstep core and meets the requirement of functional safety;
3, a high main frequency and a multilayer storage space are needed to process a large amount of safe driving data in real time and store a large amount of environment information and Internet of vehicles data in an off-line manner;
4, an image signal processing function (ISP) can be contained on hardware to support the preprocessing of one or more paths of video image signals; the hardware can contain Fourier transform function and support the preprocessing of one or more paths of radar signals;
5 hardware supports various communication modes, such as Ethernet, FlexRay, CANFD and the like, and integrates the communication function of the Internet of vehicles V2X.
Therefore, the main control module 330 requires hardware having corresponding computing capability, computing speed, storage space, function safety, etc. to cooperate with software to realize the function of the intelligent driving vehicle controller, that is: except algorithms and control strategies for high-voltage power-on and power-off control, thermal management, energy management, torque control and the like of the whole vehicle controller; the recognition algorithm, perception fusion and optimization of control strategies of external environments closely related to safe driving of the vehicle can be processed, and the intelligent driving function of the vehicle is achieved; in an emergency, the vehicle execution end can be used for controlling the vehicle so as to avoid risks; functions such as, but not limited to, forward collision warning, lane departure warning, vehicle emergency braking control, lane keeping control, adaptive cruise control, V2X-based platoon driving, automatic planning of a driving route, and the like may be implemented.
Based on the above, that is, in the main control module 330, a bottom layer recognition algorithm and a logic algorithm can be performed, the identification, detection and tracking of static and dynamic objects can be performed, and finally, a lane departure warning, a vehicle emergency braking control, a lane keeping control, an adaptive cruise control, even a train running, a traffic jam handling through network information, a planned running route, and other vehicle control functions of the intelligent driving vehicle controller can be performed on a software application layer.
Example (b):
the embodiment provides a whole vehicle control device for intelligent driving of a vehicle, and the whole vehicle control device integrates an intelligent driving function. As shown in fig. 1, the power management module comprises a power supply module 100, a power management module 200 and an intelligent control module 300, wherein the power supply module 100, the power management module 200 and the intelligent control module 300 are connected in sequence.
The power management module 200 is given and described as follows:
the power management module 200 is used for performing circuit protection, level conversion and power monitoring on the power output by the power supply module 100. Further, as shown in fig. 3, the power management module 200 includes a power protection unit 210 and a level shift monitoring unit 220; the power protection unit 210 includes a filtering and reverse connection prevention circuit, specifically, as shown in fig. 4, includes a Filter, a transient diode TVS, and a field effect transistor MOS, which are connected in sequence; the level shift monitoring unit 220 is used for performing error monitoring, safety state control, watchdog, power sleep and wake-up functions, and may specifically include a Tracker, a low dropout regulator LDO, and a voltage converter Boost/Buck.
It should be noted that the power protection unit 210 in the power management module 200 may further include other devices for performing circuit protection, and the level shift monitoring unit 220 in the power management module 200 may further include other devices for performing level shift and safety monitoring. The power management module 200 with the diagnostic function can provide multiple voltage steps and multiple power supplies to the first auxiliary control module 310 and the second auxiliary control module 320 in the intelligent control module 300, such as 12V or 24V in fig. 5, and 1.3V, 3.3V, 3V in fig. 5, and the like.
The intelligent control module 300 is given and described as follows:
as shown in fig. 2 to 3, the intelligent control module 300 includes a first auxiliary control module 310 and a second auxiliary control module 320, and the first auxiliary control module 310 and the second auxiliary control module 320 are connected and integrated in a circuit. The first auxiliary control module 310 includes a vehicle information acquisition unit 311, and the second auxiliary control module 320 includes an environmental information acquisition unit 321;
specifically, the following is explained for the part of the intelligent control module relating to the braking force-related information:
the vehicle information acquisition unit 311 is configured to acquire braking force related information of a vehicle and transmit the braking force related information to the main control module 330; the braking force related information includes first vehicle information and second vehicle information.
In detail, the vehicle information collecting unit 311 includes a first vehicle information acquiring subunit, a signal conditioning unit, a second vehicle information acquiring subunit, and a driving unit; the first vehicle information acquisition subunit is connected with the signal conditioning unit and acquires information through a hard wire; the driving unit is connected with the second vehicle information acquisition subunit, and the information acquired by the second vehicle information acquisition unit is output through the direct drive of the driving unit.
The first vehicle information acquisition subunit is used for acquiring first vehicle information of a vehicle, and the signal conditioning unit is used for performing signal processing on the first vehicle information; the driving unit is used for outputting second vehicle information, and the second vehicle information obtaining subunit is used for obtaining the second vehicle information.
The signal conditioning unit comprises a digital signal processing circuit and an analog signal processing circuit; the information acquired by the first vehicle information acquiring unit is signal-processed to satisfy the signal form required by the main control module 330. The driving unit is used for outputting second vehicle information and comprises a PWM pulse driving circuit, a high-side driving circuit and a low-side driving circuit.
The first vehicle information includes accelerator pedal information, vehicle brake information, gear information, temperature sensor information, high-voltage interlock information, and the like, and may further include other related control information. The second vehicle information includes brake system control information, steering system control information, high-voltage control information, water pump control information, fan control information, and the like, that is, voltage, current, or pulse level respectively corresponding thereto; and may also include other relevant control information such as power distribution information and the like. Corresponding to the drive circuit, the explanation is given: the high-side driving circuit and the low-side driving circuit support but are not limited to brake pump control, steering pump control, water pump control and high-voltage power-on and power-off control; the PWM pulse drive circuit may be a fan and motor control. And the drive unit needs to be a diagnosis circuit, and the main control module acquires the state feedback information of the drive unit to achieve closed-loop control.
The parts related to the environment-related information in the intelligent control module are explained as follows:
the environment information acquiring unit 321 is configured to acquire environment-related information of a vehicle and transmit the environment-related information to the main control module 330; the main control module 330 is configured to perform comprehensive processing on the environment-related information and the braking force-related information of the vehicle to generate control-related information for controlling the vehicle.
Specifically, the first auxiliary control module 310 further includes a communication unit 312; one or more communication units 312 may be provided, and each communication unit 312 includes a CAN bus, a wireless communication line, and may further include a LIN bus, a FlexRay communication line, and the like; the environment information acquiring unit 321 includes a first environment information acquiring sub-unit and a second environment acquiring sub-unit;
the first environment information acquisition subunit comprises a V2X module; the V2X module obtains first environment information through a wireless communication technology or a cellular communication technology, and sends the first environment information to the main control module 330; the second environment acquisition subunit comprises a T-box module; the T-box module acquires second environment information in a wireless communication mode, sends the second environment information to the main control module 330 in an in-vehicle communication mode (including a CAN bus), and the main control module 330 performs unified processing on all external environment perception and vehicle information to make a control strategy.
The V2X module corresponds to the core technology of the car networking and can operate under different communication technology conditions, such as DSRC, 4G-LTE, LTE-V2X and 5G. By using the internet of vehicles V2X technology, the vehicle can acquire unknown parameters of the surrounding environment and the running state of nearby vehicles, and then the vehicle-mounted active safety algorithm will process the acquired information and classify the information according to priority. V2X is a more active communication-type safety system in the technology that is a coordinated control model. The vehicle control strategy is more direct and effective and the vehicle driving safety is improved by fusing the V2X function.
The context information acquiring unit 321 further comprises a third context information acquiring sub-unit,
the third environmental information acquisition subunit comprises an azimuth detector and an image collector; the orientation detector and the image collector are both connected with the main control module 330; the orientation detector is used for acquiring position information of obstacles around the vehicle; the image collector is used for obtaining the picture information of the surrounding environment of the vehicle.
In detail, the environment-related information includes road surface obstacle information and road surface driving state information, the first environment information includes external information such as signal lamps on a traffic road, the second environment information includes information sent to the vehicle by a received background or a dispatching room, and the third environment information includes obstacle information and environment picture information around the vehicle; the control-related information includes warning information, vehicle braking information, lane keeping information.
Further, as shown in fig. 5, the main control module 330 includes a first brake information processor and a second brake information processor, and the first brake information processor is connected to both the vehicle information collecting unit 311 and the second brake information processor;
the first brake information processor is used for preprocessing the acquired brake force related information of the vehicle to obtain initial brake information; and the second braking information processing is used for reprocessing the initial braking information to obtain target braking information, and comprehensively processing the environment related information and the target braking information to obtain control related information.
That is, in this embodiment, the main control module 330 is externally provided with a brake information processor for processing information related to braking force; the processor may include, but is not limited to, fourier transform and signal processing functions, the preprocessed braking force related information is transmitted to the first controller, and the first controller performs comprehensive processing on the environment related information and the target braking information, that is, the radar sensing information is fused to obtain control related information, so as to perform intelligent control on the vehicle.
Further, as shown in fig. 5, the main control module 330 includes a first environment information processor and a second environment information processor, and the first environment information processor is connected to both the environment information obtaining unit 321 and the second environment information processor;
the first environment information processor is used for preprocessing the acquired environment-related information of the vehicle to obtain initial environment information; and the second environment information processor is used for reprocessing the initial environment information to obtain target environment information, and comprehensively processing the braking related information and the target environment information to obtain control related information.
That is to say, in this embodiment, the main control module 330 is externally provided with an environment information processor for processing environment-related information, which is mainly used for processing an image of the surrounding environment of the vehicle, and the external image processing function device is added to reduce the burden of the main control module 330 in the aspect of image operation processing, and the brake-related information and the target environment information are comprehensively processed by the second controller, that is, radar perception information is fused; and obtaining control related information, and intelligently controlling the vehicle.
It should be noted that, in the aspect of processing the environment-related information and the braking force-related information, an external corresponding information processor may be used at the same time to reduce the processing load of the main control module 330; or one of the corresponding information processors with external arrangement is arranged according to the size requirement of the device; or, the external corresponding information processor may not be provided when the main control module can meet the required requirements.
It should be noted that the intelligent control module 300 further includes a first storage module for storing data transmitted and processed by the information in the first auxiliary control module 310, and a second storage module for storing data transmitted and processed by the information in the second auxiliary control module 320.
In this embodiment, the main control module 330 is responsible for data acquisition and processing, logical operation, implementation of a control strategy, and the like, and selects corresponding chips having the following functions:
1 supports multiple operating systems, such as Unix, Linux;
2, the chip can be a multi-core chip with a lockstep core and meets the requirement of functional safety;
3, a high main frequency and a multilayer storage space are needed to process a large amount of safe driving data in real time and store a large amount of environment information and Internet of vehicles data in an off-line manner;
4, an image signal processing function (ISP) can be contained on hardware to support the preprocessing of one or more paths of video image signals; the hardware can contain Fourier transform function and support the preprocessing of one or more paths of radar signals;
5 hardware supports various communication modes, such as Ethernet, FlexRay, CANFD and the like, and integrates the communication function of the Internet of vehicles V2X.
Therefore, the main control module 330 requires hardware having corresponding computing capability, computing speed, storage space, function safety, etc. to cooperate with software to realize the function of the intelligent driving vehicle controller, that is: except algorithms and control strategies for high-voltage power-on and power-off control, thermal management, energy management, torque control and the like of the whole vehicle controller; the recognition algorithm, perception fusion and optimization of control strategies of external environments closely related to safe driving of the vehicle can be processed, and the intelligent driving function of the vehicle is achieved; in an emergency, the vehicle execution end can be used for controlling the vehicle so as to avoid risks; functions such as, but not limited to, forward collision warning, lane departure warning, vehicle emergency braking control, lane keeping control, adaptive cruise control, V2X-based platoon driving, automatic planning of a driving route, and the like may be implemented.
Based on the above, that is, in the main control module, a bottom layer recognition algorithm and a logic algorithm can be performed, the technical processes of identification, detection, tracking and the like of static and dynamic objects can be performed, and finally, a vehicle control function of the intelligent driving vehicle controller is performed on a software application layer, such as lane departure early warning, vehicle emergency braking control, lane keeping control, adaptive cruise control, even queue driving, coping with traffic jam through network information, planning a driving route and the like.
The invention provides a whole vehicle control device for intelligent driving of a vehicle, and particularly relates to an intelligent control module which comprises a first auxiliary control module, a main control module and a second auxiliary control module, wherein the first auxiliary control module, the main control module and the second auxiliary control module all belong to one part of the intelligent control module and can be integrated on a circuit. In detail, the first auxiliary control module comprises a vehicle information acquisition unit, and the vehicle information acquisition unit is used for acquiring braking force related information of a vehicle; the second auxiliary control module comprises an environmental information acquisition unit and a main control module; the environment information acquisition unit is used for acquiring environment related information of the vehicle and transmitting the environment related information to the main control module; the main control module is used for carrying out comprehensive processing on the environment related information and the braking force related information of the vehicle to generate control related information for controlling the vehicle. The intelligent control module realizes information fusion; making internal information processing and transmission more efficient. Compared with the method for intelligently driving the distributed layout of the independent control modules in the existing scheme, the scheme is optimized on the aspects of hardware design and main chip type selection; and after the modules are fused, various operating systems can be supported, so that function migration and fusion are facilitated. Meanwhile, the invention integrates the technology of vehicle network V2X (vehicle to electric) in the information acquisition, so that the brain information channel of the whole vehicle is more smooth.
The vehicle control device for intelligent vehicle driving provided by the invention has the advantages that the main control module has higher main frequency and multilayer storage space, so that a large amount of safe driving data can be processed in real time, or a large amount of environment information, communication and network information can be processed off line, and meanwhile, self-learning algorithm processing and information storage can be supported. The main control module can process the environment-related information and the braking force-related information; the braking force control device can also be externally provided with a processor for processing the environment-related information and a processor for processing the braking force-related information.
In a word, the invention improves the intellectualization and the safety of the whole vehicle control while saving the cost of module hardware, and the control strategy is more direct and effective, thereby realizing the function of intelligently driving the whole vehicle control. Through the fusion processing of various information, the control strategy is more effective, the wire harnesses and modules are reduced, the structure is optimized, and the hardware cost is reduced.
The invention integrates modern communication and network technology by fusing with intelligent driving function, so that the vehicle controller can better control the safe driving of the vehicle while meeting the dynamic property and comfort of the vehicle by the power-on and power-off control, torque control and energy recovery strategies under the assistance of more vehicle environment information. The design scheme of the vehicle controller with the vehicle information and the external environment information fused meets the driving safety requirement of intelligent driving of the vehicle, reduces the threshold of intelligent driving of the vehicle controller, and is beneficial to gradual realization and popularization of intelligent driving and even automatic driving technology.
Each functional module in the embodiments of the present invention may be present in a single physical circuit module, or may be present in a module in which two or more modules are integrated. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the embodiment.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (8)
1. The whole vehicle control device for intelligent vehicle driving comprises a power supply module (100), a power management module (200) and an intelligent control module (300), and is characterized by further comprising the power supply module (100), the power management module (200) and the intelligent control module (300) which are connected in sequence; the power management module (200) is used for performing circuit protection, level conversion and power monitoring on the power output by the power supply module (100); the intelligent control module (300) comprises a first auxiliary control module (310), a second auxiliary control module (320) and a main control module (330), wherein the first auxiliary control module (310), the main control module and the second auxiliary control module (320) are sequentially connected and integrated on the same circuit board;
the first auxiliary control module (310) comprises a vehicle information acquisition unit (311), and the second auxiliary control module (320) comprises an environment information acquisition unit (321); the vehicle information acquisition unit (311) is used for acquiring braking force related information of a vehicle and transmitting the braking force related information to the main control module (330); the environment information acquisition unit (321) is used for acquiring environment-related information of a vehicle and transmitting the environment-related information to the main control module (330); the environment information acquisition unit (321) comprises a first environment information acquisition sub-unit and a second environment acquisition sub-unit; the first environment information acquisition subunit comprises a V2X module; the V2X module acquires first environment information through a wireless communication line and sends the first environment information to the main control module (330); the second environment acquisition subunit comprises a T-box module; the T-box module acquires second environment information through a wireless communication line and sends the second environment information to the main control module (330) through a CAN bus;
the main control module (330) is used for comprehensively processing the environment-related information and the braking force-related information of the vehicle to generate control-related information for controlling the vehicle; the main control module (330) comprises a first brake information processor and a second brake information processor, wherein the first brake information processor is connected with the vehicle information acquisition unit (311) and the second brake information processor;
the first brake information processor is used for preprocessing the acquired brake force related information of the vehicle to obtain initial brake information; the second braking information processor is used for reprocessing the initial braking information to obtain target braking information and comprehensively processing the environment related information and the target braking information to obtain control related information; the main control module (330) further comprises a first environment information processor and a second environment information processor, wherein the first environment information processor is connected with the environment information acquisition unit (321) and the second environment information processor; the first environment information processor is used for preprocessing the acquired environment-related information of the vehicle to obtain initial environment information; and the second environment information processor is used for reprocessing the initial environment information to obtain target environment information, and comprehensively processing the braking related information and the target environment information to obtain control related information.
2. The vehicle control device according to claim 1, wherein the vehicle information acquisition unit (311) comprises a first vehicle information acquisition subunit, a signal conditioning unit, a second vehicle information acquisition subunit and a driving unit; the first vehicle information acquisition subunit is connected with the signal conditioning unit, and the driving unit is connected with the second vehicle information acquisition subunit; the first vehicle information acquisition subunit is used for acquiring first vehicle information of a vehicle, and the signal conditioning unit is used for performing signal processing on the first vehicle information; the driving unit is used for outputting second vehicle information, and the second vehicle information obtaining subunit is used for obtaining the second vehicle information.
3. The vehicle control apparatus according to claim 1, wherein the first auxiliary control module (310) further includes a communication unit (312); the communication unit comprises a wireless communication line, a CAN bus, a LIN bus, a FlexRay communication line and an Ethernet communication line.
4. The vehicle control apparatus according to claim 3, wherein the environmental information acquisition unit (321) further comprises a third environmental information acquisition subunit, the third environmental information acquisition subunit comprising an orientation detector and an image collector; the orientation detector and the image collector are both connected with the main control module (330); the orientation detector is used for acquiring position information of obstacles around the vehicle; the image collector is used for obtaining the picture information of the surrounding environment of the vehicle.
5. The vehicle control apparatus according to claim 4, wherein the orientation detector includes a mid-range millimeter wave radar and a long-range millimeter wave radar; the image collector comprises a high-definition camera with an MIPI interface; the main control module (330) comprises a digital ramp generator HSPDM, a radar accelerator SPU and an image information processor ISP.
6. The vehicle control apparatus according to claim 2, wherein the first vehicle information includes accelerator pedal information, vehicle brake information, gear information, temperature sensor information, high-voltage interlock information; the second vehicle information comprises braking system information, steering system information, high-voltage electricity information, water pump information and fan information; the environment-related information comprises road surface obstacle information and road surface driving state information; the control-related information includes warning information, vehicle braking information, lane keeping information.
7. The vehicle control device according to claim 2, wherein the driving unit comprises a PWM pulse driving circuit, a high-side driving circuit and a low-side driving circuit; the signal conditioning unit comprises a digital signal processing circuit and an analog signal processing circuit.
8. The vehicle control device according to any one of claims 1 to 7, wherein the power management module (200) comprises a power protection unit (210) and a level shift monitoring unit (220); the power supply protection unit comprises a Filter, a transient diode TVS and a field effect transistor MOS which are connected in sequence; the level conversion monitoring unit comprises a Tracker, a low dropout regulator (LDO) and a voltage converter Boost/Buck.
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