CN113602281B - Redundant backup system for unmanned vehicle - Google Patents
Redundant backup system for unmanned vehicle Download PDFInfo
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- CN113602281B CN113602281B CN202110872783.2A CN202110872783A CN113602281B CN 113602281 B CN113602281 B CN 113602281B CN 202110872783 A CN202110872783 A CN 202110872783A CN 113602281 B CN113602281 B CN 113602281B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/023—Avoiding failures by using redundant parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/182—Conjoint control of vehicle sub-units of different type or different function including control of braking systems including control of parking brakes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
- B60W10/192—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes electric brakes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
- B60W10/26—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means for electrical energy, e.g. batteries or capacitors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/24—Energy storage means
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a redundant backup system for an unmanned vehicle, which belongs to the technical field of unmanned vehicles and provides the following scheme: a redundant backup system for an unmanned vehicle, the unmanned vehicle including a power battery controller, an automatic driving sensor, a high voltage driving motor, a parking control motor, a brake control motor, and a steering control motor, the redundant backup system for an unmanned vehicle comprising: the main central domain controller and the backup central domain controller are used for controlling a power battery controller, an automatic driving sensor, a high-voltage driving motor, a parking control motor, a braking control motor and a steering control motor of the unmanned vehicle; the main/standby Ethernet bus switch is connected to the main central domain controller and the standby central domain controller, and is switched to the standby central domain controller when the main central domain controller fails so as to control the unmanned vehicle to normally run. The technical scheme of the invention improves the safety of the unmanned vehicle.
Description
Technical Field
The invention relates to the technical field of unmanned vehicles, in particular to a redundant backup system for an unmanned vehicle.
Background
Along with the development of automobile technology, the intellectualization becomes a development target of various automobile manufacturers, and accordingly, unmanned automobiles are getting more attention. The unmanned technique of the automobile can release both hands of people on one hand, and can avoid traffic accidents caused by fatigue driving of people on the other hand, and the unmanned automobile has very wide application prospect. It is important to have a safe and reliable electronic control system for unmanned vehicles, for example, although a traditional braking system can implement braking through the electronic control system, the electronic control system is only used as a loop of the braking system, and once the electronic control system fails, the driver can only rely on the driver to tread a brake pedal to implement braking.
For unmanned vehicles, once a device fails, the vehicle is out of control, which may cause damage to the vehicle and even threaten the lives of drivers in the vehicle and pedestrians walking on the road.
Disclosure of Invention
The invention mainly aims to provide a redundant backup system for an unmanned vehicle, which aims to solve the problem of out-of-control of the vehicle caused by a fault of a certain device in the unmanned vehicle and improve the safety of the unmanned vehicle.
The basic scheme provided by the invention is as follows:
a redundant backup system for an unmanned vehicle including a power battery controller, an autopilot sensor, a high voltage drive motor, a park control motor, a brake control motor, and a steering control motor, the redundant backup system for an unmanned vehicle comprising:
the main central domain controller is used for controlling a power battery controller, an automatic driving sensor, a high-voltage driving motor, a parking control motor, a braking control motor and a steering control motor of the unmanned vehicle;
The standby central domain controller is used for carrying out backup control on a power battery controller, an automatic driving sensor, a high-voltage driving motor, a parking control motor, a braking control motor and a steering control motor of the unmanned vehicle;
And the main/standby Ethernet bus change-over switch is connected to the main central domain controller and the standby central domain controller and is used for switching to the standby central domain controller when the main central domain controller fails so as to control the unmanned vehicle to normally run.
The basic scheme of the invention has the following principle and effects:
In the scheme, the redundant backup system for the unmanned vehicle comprises a main central domain controller, a standby central domain controller and a main/standby Ethernet bus change-over switch, wherein the unmanned vehicle comprises a power battery controller, an automatic driving sensor, a high-voltage driving motor, a parking control motor, a braking control motor and a steering control motor; the main central domain controller and the standby central domain controller are used for controlling a power battery controller, an automatic driving sensor, a high-voltage driving motor, a parking control motor, a braking control motor and a steering control motor of the unmanned vehicle; therefore, the main central domain controller controls the unmanned vehicle to start and stop, change the road, accelerate and decelerate and the like to run normally, and the standby central domain controller can continuously ensure the unmanned vehicle to stop safely and timely when the main central domain controller fails, so that unsafe working conditions of sudden acceleration or deceleration can not occur. In a normal state, the standby central domain controller monitors and diagnoses the input and output of the main central domain controller, ensures that the input and output of the main central domain controller cannot exceed a normal boundary, and gives an alarm to the main central domain controller in time to process when the vehicle fault is found. Therefore, the problem that the vehicle is out of control due to the fact that a certain device in the unmanned vehicle is out of order is solved, and the safety of the unmanned vehicle is improved.
In the scheme, the unmanned vehicle can realize comprehensive redundancy backup of automatic driving of the unmanned vehicle only by the main central domain controller, the standby central domain controller and the main/standby Ethernet bus change-over switch, such as power backup, automatic driving controller backup, brake/steering/parking actuator backup, communication bus backup and sensor backup, and the cost of the redundancy backup system is reduced because fewer controllers need to be backed up.
The scheme is connected to the main central domain controller and the standby central domain controller through the main/standby Ethernet bus change-over switch, and is used for switching to the standby central domain controller when the main central domain controller fails, controlling the vehicle V2X communication, software upgrading and collecting the running of road running data of the vehicle so as to ensure that the unmanned vehicle normally runs.
Furthermore, the unmanned vehicle further comprises a main control storage battery and a standby control storage battery which are used for supplying power to an automatic driving sensor, a high-voltage driving motor, a parking control motor, a braking control motor and a steering control motor of the unmanned vehicle.
Through the setting of main control storage battery and reserve control storage battery, combine power battery controller to when one of them storage battery became invalid, another one storage battery can in time supply power, prevents unmanned vehicles's trouble emergence, promotes unmanned vehicles's safe and reliable.
Further, the unmanned vehicle further comprises a high-voltage battery pack electrically connected with the power battery controller.
The high-voltage battery pack is directly and electrically connected with the power battery controller, so that the occurrence of faults between the high-voltage battery pack and the power battery controller is reduced due to direct connection, and meanwhile, the power is supplied to the whole vehicle of the unmanned vehicle through the control and power conversion of the power battery controller.
Further, the power battery controller is electrically connected with the high-voltage driving motor, and the power battery controller is respectively connected with the main central domain controller and the standby central domain controller through a high-voltage power CAN bus; the high-voltage driving motor is respectively connected with the main central domain controller and the standby central domain controller through a high-voltage power CAN bus.
The power battery controller is used for controlling the power supply to the high-voltage driving motor, the main central domain controller and the standby central domain controller are used for controlling and storing the data of the high-voltage driving motor, and the redundancy of the unmanned vehicle to the high-voltage driving motor is improved.
Further, the unmanned vehicle includes a first parking control motor and a second parking control motor;
the first parking control motor is respectively connected to the main central domain controller and the standby central domain controller through a first CAN-FD bus and a second CAN-FD bus;
The second parking control motor is connected to the main central domain controller and the standby central domain controller through a first CAN-FD bus and a second CAN-FD bus, respectively.
By connecting the first CAN-FD bus and the second CAN-FD bus, the transmission rate, the data length and the like are improved relative to the CAN bus, so that the transmission efficiency between the parking control motor and the main central domain controller and the standby central domain controller is higher in the same time.
Further, the unmanned vehicle includes a first brake control motor and a second brake control motor;
the first brake control motor is respectively connected to the main central domain controller and the standby central domain controller through a first CAN-FD bus and a second CAN-FD bus;
The second brake control motor is connected to the main central domain controller and the spare central domain controller through a first CAN-FD bus and a second CAN-FD bus, respectively.
By connecting the first CAN-FD bus and the second CAN-FD bus, the transmission rate, the data length and the like are improved relative to the CAN bus, so that the transmission efficiency between the brake control motor and the main central domain controller and the standby central domain controller is higher in the same time.
Further, the unmanned vehicle includes a first steering control motor and a second steering control motor;
The first steering control motor is respectively connected to the main central domain controller and the standby central domain controller through a first CAN-FD bus and a second CAN-FD bus;
The second steering control motor is connected to the main central domain controller and the standby central domain controller through a first CAN-FD bus and a second CAN-FD bus, respectively.
By connecting the first CAN-FD bus and the second CAN-FD bus, the transmission rate, the data length and the like are improved relative to the CAN bus, so that the transmission efficiency between the steering control motor and the main central domain controller and the standby central domain controller is higher in the same time.
Further, the redundant backup system for the unmanned vehicle further comprises an intelligent cabin domain controller, wherein the intelligent cabin domain controller is respectively connected with the main central domain controller and the main/standby Ethernet bus switch.
The intelligent cabin domain controller is also respectively connected with the main central domain controller and the standby central domain controller through a central domain-cabin domain CAN-FD bus.
The intelligent cabin domain controller is arranged in the redundant backup system for the unmanned vehicle, and is connected with the main central domain controller and the standby central domain controller through the central domain-cabin domain CAN-FD bus, so that automatic driving data of the main central domain controller and the standby central domain controller CAN be conveniently returned for cloud management and monitoring.
Further, the main central domain controller and the standby central domain controller are respectively connected with the automatic driving sensor.
Therefore, the main central domain controller and the standby central domain controller both transmit and control data of the automatic driving sensor of the unmanned vehicle, failure of any central domain controller is avoided, and reliability of the unmanned vehicle is improved.
Drawings
FIG. 1 is a schematic diagram of a redundant backup system for an unmanned vehicle according to one embodiment of the present invention.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The following is a further detailed description of the embodiments:
In one embodiment, referring to fig. 1, a redundant backup system for an unmanned vehicle including a power battery controller, an automatic driving sensor, a high voltage driving motor, a parking control motor, a brake control motor, and a steering control motor, the redundant backup system for an unmanned vehicle includes:
the main central domain controller is used for controlling a power battery controller, an automatic driving sensor, a high-voltage driving motor, a parking control motor, a braking control motor and a steering control motor of the unmanned vehicle;
The standby central domain controller is used for carrying out backup control on a power battery controller, an automatic driving sensor, a high-voltage driving motor, a parking control motor, a braking control motor and a steering control motor of the unmanned vehicle;
And the main/standby Ethernet bus change-over switch is connected to the main central domain controller and the standby central domain controller and is used for switching to the standby central domain controller when the main central domain controller fails so as to control the unmanned vehicle to normally run.
In the embodiment, the high-voltage battery pack is directly and electrically connected with the power battery controller to output a high-voltage power supply, and the power battery controller is connected with the high-voltage driving motor to distribute the high-voltage power supply to the high-voltage driving motor, so that the high-voltage driving motor works normally; the power battery controller controls a main control power supply and a standby control power supply, wherein the main control power supply is respectively connected to the main central domain controller and the standby central domain controller, and the standby control power supply is respectively connected to the main central domain controller and the standby central domain controller; the power battery controller is communicated with the main central domain controller or the standby central domain controller through a high-voltage power CAN bus, and the high-voltage driving motor is communicated with the main central domain controller or the standby central domain controller through the high-voltage power CAN bus; the main central domain controller and the standby central domain controller are respectively connected with an automatic driving sensor. It should be noted that, the power battery controller may also be a power conversion distributor, and the automatic driving sensor may be a signal combination of respective driving sensors disposed on the unmanned vehicle, and the automatic driving sensor is connected with the main central control domain and the backup central control domain through the signal combination of the respective driving sensors, so as to realize the backup control of the respective driving sensors on the unmanned vehicle, and improve the driving safety of the unmanned vehicle. It will be appreciated that each of the autopilot sensors connected to the primary central domain controller is powered by a primary control power source and each of the autopilot sensors connected to the backup central domain controller is powered by a backup control power source.
In this embodiment, the central domain controller and the standby central domain controller are connected through two heartbeat CAN buses, and are combined through two heartbeat signal CAN buses, so that whether the main central domain controller fails or not is judged under the condition that the preset frequency and the duty ratio are not met, short circuit and open circuit in an unmanned vehicle are avoided, and safety is improved. The control of the network switching signal can switch the communication line between the main central domain controller and the intelligent cabin domain controller and between the standby central domain controller and the intelligent cabin domain controller under the condition of different combinations of the high level and the low level of the two lines; if the primary central domain controller has an important sensor failure, such as a radar or a camera, the standby central domain controller monitors the failure, the network is switched to the standby central domain controller to report the failure, and then to the connection with the primary central domain controller.
Further, the redundant backup system for the unmanned vehicle further includes a first CAN-FD control bus and a second CAN-FD control bus; the normal state emission bus of the first parking control motor, the normal state emission bus of the second parking control motor, the normal state emission bus of the first braking control motor, the normal state emission bus of the second braking control motor, the normal state emission bus of the first steering control motor and the normal state emission bus of the second steering control motor are all connected with the first CAN-FD control bus, and the normal state receiving bus of the main central domain controller and the standby emission bus of the standby central domain controller are respectively connected with the second CAN-FD control bus; the normal state receiving bus of the first parking control motor, the normal state receiving bus of the second parking control motor, the normal state receiving bus of the first braking control motor, the normal state receiving bus of the second braking control motor, the normal state receiving bus of the first steering control motor and the normal state receiving bus of the second steering control motor are all connected with the second CAN-FD control bus, the normal state transmitting bus of the main central domain controller and the standby transmitting bus of the standby central domain controller are respectively connected with the second CAN-FD control bus, and the standby receiving bus of the main/standby Ethernet bus switch is connected with the second CAN-FD control bus. Further, the first parking control motor, the first braking control motor and the first steering control motor are powered by a main control power supply, and the second parking control motor, the second braking control motor and the second steering control motor are powered by a standby control power supply.
The actual feedback value of the control motor is output to the main central domain controller via the first CAN-FD control bus, and the torque command of the control motor is output to the second CAN-FD control bus via the main central domain controller.
In the above embodiment, except for the existing necessary BMS and power motor controllers, only three main controllers are needed for the whole vehicle, so that the full redundancy backup of automatic driving can be realized: power backup, automatic driving sensor backup, brake/steering/parking control motor backup, communication bus backup and the like, and the required cost is low. The sensor of the main central domain controller is comprehensive and has high cost. The standby central domain controller can ensure that the unmanned vehicle stops when in fault in time when the main central domain controller fails, and unsafe working conditions of sudden acceleration or deceleration can not occur. In a normal state, the standby central domain controller monitors and diagnoses the input and output of the main central domain controller, ensures that the normal boundary is not exceeded, and timely alarms and processes when a fault problem is found.
Further, the brake/steering/parking actuator in the unmanned vehicle does not divide the master and slave, namely the brake control motor, the steering control motor and the parking control motor in the scheme do not divide the master and slave, work in a normal state, fault diagnosis is convenient, the current of a single-path driving circuit is reduced, and the service life of each part in the unmanned vehicle is prolonged. When one power supply fails, the steering and braking moment of the system can reach 50% of the normal state, and the normal running of the unmanned vehicle is ensured. In a normal state, a motor control instruction is sent by using one CAN-FD control bus, and a feedback signal of an actuator is sent by using the other CAN-FD control bus. When any CAN-FD control bus for actuator control fails, all receiving and transmitting communication is transferred to the other CAN-FD control bus, so that the system operation of the unmanned vehicle is not affected. According to the scheme, when bus redundancy backup is met, the types of data frame IDs on any CAN-FD control bus are reduced, so that the probability of needing to arbitrate ID priority is lowest when the bus sends data frames, the bus occupancy rate is lowest, and the real-time performance of unmanned vehicle control is guaranteed.
In this embodiment, the control command signal for controlling the motor is a torque command signal for controlling the motor, so that the execution of the upper control algorithm and the lower control algorithm can be decoupled, thereby facilitating the generalization of the control motor and the cost reduction.
In an embodiment, referring to fig. 1, the intelligent cabin domain controller sends a cabin controller reset signal to the main central domain controller while being interconnected with the main/standby ethernet bus switch, and is also connected with the main central domain controller and the standby central domain controller through the central domain-cabin domain CAN-FD bus, respectively. It should be noted that, the intelligent cabin domain controller is connected with each control switch and a touch screen through LVDS and USB buses; the intelligent cabin domain controller integrates body control, external 4G/5G network connection, and internal WiFi connection.
In this embodiment, the central domain controller and the intelligent cabin domain controller are connected by using a high-speed ethernet, so that automatic driving data can be returned conveniently, and cloud management and monitoring can be performed. When the standby central domain controller judges that the main central domain controller fails, the Ethernet line is switched to the standby central domain controller to carry out emergency communication. Therefore, a more expensive vehicle-mounted Ethernet exchange chip is not needed, and the cost of a communication circuit is greatly reduced.
When the intelligent cabin domain controller fails, the central domain controller firstly judges, then resets and restarts the intelligent cabin domain controller, and when the restarting fails, passengers on the unmanned vehicle are notified, and a safety path is automatically selected to stop. The central domain controller can be networked through 4G/5G/Wifi signals of the intelligent cabin domain controller, an automatic driving software system is updated, data are returned, cloud management and control are achieved, and the like.
The foregoing is merely exemplary of the present application, and specific structures and features well known in the art will not be described in detail herein, so that those skilled in the art will be aware of all the prior art to which the present application pertains, and will be able to ascertain the general knowledge of the technical field in the application or prior art, and will not be able to ascertain the general knowledge of the technical field in the prior art, without using the prior art, to practice the present application, with the aid of the present application, to thereby complete the application with its own skills, without any special purpose of the present application. It should be noted that modifications and improvements can be made by those skilled in the art without departing from the structure of the present application, and these should also be considered as the scope of the present application, which does not affect the effect of the implementation of the present application and the utility of the patent. The protection scope of the present application is subject to the content of the claims, and the description of the specific embodiments and the like in the specification can be used for explaining the content of the claims.
Claims (7)
1. A redundant backup system for an unmanned vehicle, the unmanned vehicle comprising a power battery controller, an autopilot sensor, a high voltage drive motor, a park control motor, a brake control motor, and a steering control motor, the redundant backup system for an unmanned vehicle comprising:
the main central domain controller is used for controlling a power battery controller, an automatic driving sensor, a high-voltage driving motor, a parking control motor, a braking control motor and a steering control motor of the unmanned vehicle;
The standby central domain controller is used for carrying out backup control on a power battery controller, an automatic driving sensor, a high-voltage driving motor, a parking control motor, a braking control motor and a steering control motor of the unmanned vehicle;
A main/standby ethernet bus switch, connected to the main central domain controller and the standby central domain controller, for switching to the standby central domain controller when the main central domain controller fails, so as to control the unmanned vehicle to run normally;
The unmanned vehicle comprises a first parking control motor and a second parking control motor;
the first parking control motor is respectively connected to the main central domain controller and the standby central domain controller through a first CAN-FD bus and a second CAN-FD bus;
the second parking control motor is respectively connected to the main central domain controller and the standby central domain controller through a first CAN-FD bus and a second CAN-FD bus;
the unmanned vehicle comprises a first brake control motor and a second brake control motor;
the first brake control motor is respectively connected to the main central domain controller and the standby central domain controller through a first CAN-FD bus and a second CAN-FD bus;
the second brake control motor is respectively connected to the main central domain controller and the standby central domain controller through a first CAN-FD bus and a second CAN-FD bus;
the unmanned vehicle comprises a first steering control motor and a second steering control motor;
The first steering control motor is respectively connected to the main central domain controller and the standby central domain controller through a first CAN-FD bus and a second CAN-FD bus;
The second steering control motor is connected to the main central domain controller and the standby central domain controller through a first CAN-FD bus and a second CAN-FD bus, respectively.
2. The redundant backup system for an unmanned vehicle of claim 1, wherein the unmanned vehicle further comprises a main control battery and a backup control battery, each for powering an autopilot sensor, a high voltage drive motor, a park control motor, a brake control motor, and a steering control motor of the unmanned vehicle.
3. A redundant backup system for an unmanned vehicle according to claim 2, wherein the unmanned vehicle further comprises a high voltage battery pack electrically connected to the power battery controller.
4. The redundant backup system for an unmanned vehicle of claim 1, wherein the power battery controller is electrically connected to the high voltage drive motor, the power battery controller being connected to the primary central domain controller and the backup central domain controller, respectively, via a high voltage power CAN bus; the high-voltage driving motor is respectively connected with the main central domain controller and the standby central domain controller through a high-voltage power CAN bus.
5. A redundant backup system for an unmanned vehicle according to claim 1 further comprising an intelligent cabin controller connected to the main central domain controller and the main/standby ethernet bus switch, respectively.
6. A redundant backup system for an unmanned vehicle according to claim 5 wherein the intelligent cabin domain controller is further connected to the primary and backup central domain controllers, respectively, by a central domain-cabin domain CAN-FD bus.
7. A redundant backup system for an unmanned vehicle in accordance with claim 1 wherein the primary central domain controller and the backup central domain controller are each coupled to the autopilot sensor.
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| CN202110872783.2A CN113602281B (en) | 2021-07-30 | 2021-07-30 | Redundant backup system for unmanned vehicle |
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| CN202110872783.2A CN113602281B (en) | 2021-07-30 | 2021-07-30 | Redundant backup system for unmanned vehicle |
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| CN113602281B true CN113602281B (en) | 2024-11-05 |
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