Power supply structure for autonomous vehicle

Abstract

The utility model provides a power supply structure of an automatic driving vehicle, which belongs to the technical field of vehicle power supplies and comprises a main power supply, a redundant power supply, an automatic driving type load, a driving safety type load and a power supply control module. The power supply control module comprises a first switch, a second switch and a redundant controller used for controlling the on-off of the first switch and the second switch; the automatic driving load and the driving safety load are connected in parallel to form a load module, and the load module is connected to the main power supply through the first switch and connected to the redundant power supply through the second switch. According to the power supply structure of the automatic driving vehicle, the redundant power supply is added, so that the technical problem that the function safety requirement of an automatic driving system of the vehicle cannot be met by adopting a single power supply for power supply in the prior art is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of vehicle power supply, and in particular to a power supply structure of an automatic driving vehicle. Background Art

[0002] Currently, most autonomous driving vehicles on the market have only a single power supply system. When the single power supply network of these vehicles fails to provide power, the eyes and brains of autonomous driving, such as millimeter-wave radar, camera, lidar, and self-driving domain controller, will not work due to power outage; the thighs of autonomous driving, such as the wire-controlled throttle, wire-controlled steering, and wire-controlled braking system, will also not work due to power outage. At this time, the vehicle is in autonomous driving mode and there is a risk of losing control.

[0003] In summary, the single power supply used in existing technologies cannot meet the functional safety requirements of automotive autonomous driving systems. Utility Model Content

[0004] In view of this, it is necessary to provide a power supply structure for an autonomous driving vehicle to solve the technical problem in the prior art that a single power supply cannot meet the functional safety requirements of the automotive autonomous driving system.

[0005] In order to solve the above problems, the utility model provides a power supply structure of an autonomous driving vehicle, including: a main power supply, a redundant power supply, an autonomous driving load, a driving safety load and a power control module, wherein the power control module includes a first switch, a second switch and a redundant controller for controlling the on and off of the first switch and the second switch;

[0006] The autonomous driving load and the driving safety load are connected in parallel to form a load module. The load module is connected to the main power supply through the first switch and is connected to the redundant power supply through the second switch.

[0007] In a possible implementation, the power supply structure of the autonomous driving vehicle further includes: a fuse; the load module is connected to the main power supply through the first switch and the fuse in sequence.

[0008] In a possible implementation, in the power supply structure of an autonomous driving vehicle, the power control module further includes a voltage stabilizing circuit, and the load module is connected to the redundant power supply via the second switch and the voltage stabilizing circuit in sequence.

[0009] In one possible implementation, the power supply structure of the autonomous driving vehicle further includes: a generator; the generator is connected in parallel with the main power supply.

[0010] In one possible implementation, in the power supply structure of an autonomous driving vehicle, the driving safety loads include a steering actuator and a braking actuator, and the autonomous driving loads include a camera and a millimeter-wave radar.

[0011] In a possible implementation, in the power supply structure of an autonomous driving vehicle, the camera includes an original vehicle camera and a backup camera, and the millimeter-wave radar includes an original vehicle millimeter-wave radar and a backup millimeter-wave radar.

[0012] In a possible implementation, the power supply structure of the autonomous driving vehicle further includes: a power battery; the power battery is electrically connected to the main power supply.

[0013] In a possible implementation, the power supply structure of the autonomous driving vehicle further includes: a DC-DC converter; the power battery is electrically connected to the main power supply through the DC-DC converter.

[0014] In a possible implementation, the redundant controller is also respectively connected to the autonomous driving load and the driving safety load for obtaining working status data of the autonomous driving load and the driving safety load.

[0015] In one possible implementation, the power supply structure of the autonomous driving vehicle further includes a display; one end of the display is connected to the redundant power supply and the main power supply, and the other end of the display is connected to the load module.

[0016] The beneficial effect of adopting the above-mentioned implementation method is: the power supply structure of the autonomous driving vehicle provided by the utility model, by adding a redundant power supply and controlling the on and off of the first switch and the second switch through a redundant controller, can supply power to the autonomous driving loads and driving safety loads through the redundant power supply when the main power supply fails. Even when the main power supply fails, the autonomous driving loads and driving safety loads can still work normally. By adding a multi-channel setting, single power supply can be effectively avoided, the safety of autonomous driving can be achieved, and the technical problem that the single power supply in the prior art cannot meet the functional safety requirements of the automobile autonomous driving system can be solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1A schematic diagram of the structure of an embodiment of the power supply structure of the autonomous driving vehicle provided by the utility model;

[0019] Figure 2 A schematic structural diagram of another embodiment of the power supply structure of the autonomous driving vehicle provided by the utility model. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the utility model.

[0021] In the description of the embodiments of the present application, unless otherwise specified, “plurality” means two or more than two.

[0022] In the embodiments of the present invention, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, apparatus, product or equipment comprising a series of steps or modules is not necessarily limited to those steps or modules explicitly listed, but may include other steps or modules not explicitly listed or inherent to these processes, methods, products or equipment.

[0023] The naming or numbering of the steps in the embodiments of the present invention does not mean that the steps in the method flow must be executed in the time / logical sequence indicated by the naming or numbering. The execution order of the named or numbered process steps can be changed according to the technical purpose to be achieved, as long as the same or similar technical effects can be achieved.

[0024] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0025] The utility model provides a power supply structure for an automatic driving vehicle, which is described below respectively.

[0026] like Figure 1As shown, the utility model provides a power supply structure of an autonomous driving vehicle, which includes: a main power supply 101, a redundant power supply 102, an autonomous driving load 104, a driving safety load 105 and a power control module 103, wherein the power control module 103 includes a first switch, a second switch and a redundant controller for controlling the on and off of the first switch and the second switch;

[0027] The autonomous driving load 104 and the driving safety load 105 are connected in parallel to form a load module. The load module is connected to the main power supply 101 through the first switch and is connected to the redundant power supply 102 through the second switch.

[0028] It is understandable that the power supply structure of the autonomous driving vehicle consists of a power control module 103 and a redundant power supply 102. The power control module 103 and the redundant power supply 102 are connected in parallel at both ends of the autonomous driving load 104 / driving safety load 105, and the comfort load 107 can also be connected in parallel at both ends of the main power supply 101. The power control module 103, as the master for the main power supply 101 / redundant power supply 102, needs to support bus communication (e.g. CANFD), output its own control and fault status information to the whole vehicle in real time, monitor the health status of the redundant power supply 102 (e.g. SOC value), and output its own fault status through a separate hard line redundancy. For the autonomous driving system, it can enter the autonomous driving mode only when it receives no fault information from both the bus and the hard line.

[0029] Since the power control module 103 is the master of the vehicle power control, it is necessary to distribute power in combination with the vehicle working conditions, mainly including the following working modes:

[0030] 1) Power supply mode of the main power supply 101: the redundant controller in the power control module 103 controls the switch Sw1 (first switch) to be closed, and the switch Sw2 (second switch) to be opened, and the autonomous driving load 104 / driving safety load 105 is powered by the main power supply 101;

[0031] 2) Charging mode of the redundant power supply 102: During the power supply of the main power supply 101, if the redundant controller in the power control module 103 determines that the SOC value of the redundant power supply 102 is lower than the threshold, the power control module 103 controls the switch Sw2 to close, and when the SOC value of the redundant power supply 102 is greater than the threshold, controls the switch Sw2 to open to stop charging;

[0032] 3) Redundant power supply 102 power supply mode: When the power control module 103 determines that the voltage at point A is lower than the threshold, the power control module 103 controls the switch Sw1 to be opened and the switch Sw2 to be closed. The autonomous driving load / driving safety load is powered by the redundant power supply 102, ensuring that the autonomous driving system can successfully execute the "minimum safety operation".

[0033] In some embodiments, the power supply structure of the autonomous driving vehicle further includes: a fuse; the load module is connected to the main power supply 101 through the first switch and the fuse in sequence.

[0034] It is understandable that for a part powered by dual power supplies, the circuits of the main power supply 101 and the redundant power supply 102 should be physically uncoupled. That is, the main power supply 101 is connected to the power input terminal of the part through a fuse, and the ground terminal of the part is connected to a grounding point; the redundant power supply 102 is connected to the power input terminal of the part through another fuse, and the ground terminal of the part is connected to another grounding point.

[0035] In some embodiments, the power control module 103 further includes a voltage stabilizing circuit, and the load module is connected to the redundant power supply 102 via the second switch and the voltage stabilizing circuit in sequence.

[0036] It is understandable that the voltage stabilization circuit can ensure that the voltage output by the redundant power supply 102 is stable.

[0037] In some embodiments, the power supply structure of the autonomous driving vehicle further includes: a generator 106; the generator 106 is connected in parallel with the main power supply 101.

[0038] It is to be understood that the generator 106 can continuously charge the main power source 101 .

[0039] In some embodiments, the driving safety load 105 includes a steering actuator and a braking actuator, and the autonomous driving load 104 includes a camera and a millimeter wave radar.

[0040] It is understandable that based on the data collected by the camera and millimeter-wave radar, the on-board controller can realize autonomous driving of the vehicle.

[0041] In some embodiments, the camera includes an original vehicle camera and a backup camera, and the millimeter wave radar includes an original vehicle millimeter wave radar and a backup millimeter wave radar.

[0042] It can be understood that in this embodiment, both the camera and the millimeter-wave radar are designed redundantly.

[0043] In some embodiments, it further includes: a power battery; the power battery is electrically connected to the main power supply 101.

[0044] It can be understood that in this embodiment, the main power supply 101 can be powered by a power battery.

[0045] In some embodiments, it further includes: a DC-DC converter; the power battery is electrically connected to the main power supply 101 through the DC-DC converter.

[0046] It is understandable that the DC-DC converter can step up or step down the direct current output by the power battery and then output it to charge the main power supply 101.

[0047] In some embodiments, the redundant controller is also respectively connected to the autonomous driving load 104 and the driving safety load 105 for obtaining working status data of the autonomous driving load 104 and the driving safety load 105 .

[0048] In some embodiments, the power supply structure of the autonomous driving vehicle further includes a display; one end of the display is connected to the redundant power supply 102 and the main power supply 101, and the other end of the display is connected to the load module.

[0049] In other embodiments, the solution provided by the present invention is as follows Figure 2 As shown, when normal, the main power supply 101 supplies power to actuators, controllers, redundant controllers and other equipment, where the actuators and controllers are driving safety loads 105, and the backup power supply is charged by turning on and off the isolator. If the main power supply 101 fails, the dual-path control system switches to the backup power supply and reports the fault and switching status.

[0050] 1) Lead-acid battery + isolator: Use German standard wire 16 square, the negative pole is directly connected to the original car battery, the positive pole is connected to the positive pole of the original car battery through the isolator, the main power supply 101 on the isolator is connected to the positive pole of the original car battery, and the auxiliary power supply is connected to the positive pole of the lead-acid battery. The negative pole of the isolator and the negative pole of the battery share the same ground;

[0051] 2) Dual-channel control power board: The input has two channels, the positive and negative poles of channel 1 are connected to the positive and negative poles of the original vehicle battery, and the positive and negative poles of channel 2 are connected to the positive and negative poles of the lead-acid battery. The output has one channel connected to a main switch to power the installed equipment. Among them, channel 1 is equivalent to the first switch, the original vehicle battery is equivalent to the main power supply 101, channel 2 is equivalent to the second switch, the lead-acid battery is equivalent to the redundant power supply 102, and the redundant controller can control the switching between channel 1 and channel 2.

[0052] The power supply structure in the utility model is different from the existing vehicle-mounted power supply structure in the following aspects:

[0053] 1) Different application scenarios:

[0054] 1. The redundant power supply 102 in the present invention is mainly used to solve the scenario in which the high-level autonomous driving function is used. It is to solve the problem that if the main power supply 101 fails during the autonomous driving process, the redundant controller controls the switch to the redundant power supply 102, but the redundant power supply 102 only needs to ensure the power supply of the degraded function of the autonomous driving, and can normally exit the autonomous driving function and park safely. It is not necessary to ensure that all functions of the vehicle can still be driven normally after the vehicle power is switched; if the high-level autonomous driving function is not turned on, although the redundant controller can detect the failure of the main power supply 101 (voltage is too high, too low or abnormal trend), it will not switch the redundant power supply 102. In other words, if a power failure occurs when the autonomous driving function is not in operation, it is handled by the safety measures of the vehicle itself and does not belong to the design scope of the present invention;

[0055] 2. Since the redundant power supply 102 designed in the present invention only needs to ensure the power supply of the degradation function of the automatic driving and can ensure safe parking, its power supply capacity does not need to be designed to be the same size as the main power supply 101. The power supply time is sufficient to satisfy the "minimum safe operation" of the autonomous driving system under extreme working conditions. Taking the HWP (high-speed functional driving) function as an example, when the main power supply 101 system of the vehicle fails, the autonomous driving system reminds the driver to take over for 5 seconds. The driver does not take over and switches to the redundant power supply 102. The autonomous driving system controls the vehicle to gradually change lanes to the right to park by the side of the road. The vehicle speed is 120 km / h. Each lane change lasts 5 seconds, and each lane driving time is 10 seconds (considering that there are many vehicles around and it is impossible to change lanes quickly and continuously). The braking deceleration is calculated according to 0.3g, and the working time of the backup power supply is: 5+4*5+4*10+(120 / 3.6) / 0.3g=76.34s. Considering that a certain margin has been reached, the working time of the redundant power supply 102 is 2 minutes, rounded up to 5 minutes. The capacity of the redundant power supply 102 only needs to ensure the power supply capacity of the vehicle for 5 minutes. The cost of the redundant power supply 102 is also very different from that of the main power supply 101.

[0056] 2) Different types of loads powered:

[0057] 1. Due to the different application scenarios, the power supply load of the redundant power supply 102 provided by the present invention is also different. The redundant power supply 102 is mainly used to supply power to the sensors and actuators with "minimum safe operation" of the redundant automatic driving.

[0058] 2. Main types: a. Redundant controller, which needs to monitor the power status and be able to control the switching of the main and backup power supplies; b. Backup sensors, which include backup millimeter-wave radars and backup cameras. Since the perception capability of "minimum safe operation" does not need to be the same as the perception capability of the main automatic driving, it is only necessary to ensure the basic forward perception capability, so the redundant power supply 102 only needs to supply power to the backup forward camera and the backup forward millimeter-wave radar. However, in order to ensure that the perception still has redundant capabilities when the main power supply 101 fails, the redundant power supply 102 can simultaneously supply power to the original vehicle's forward camera and the original vehicle's millimeter-wave.

[0059] 3. In addition to the redundant controller and backup sensor, the redundant power supply 102 also needs to be able to supply power to the main vehicle actuators, namely the backup actuators, which include steering actuators and brake actuators. Therefore, the redundant power supply 102 only needs to supply power to the components that can perform the minimum safety operation, including the redundant controller that can provide monitoring and switching functions, the backup camera and backup millimeter wave that provide sensing capabilities, and the steering actuator and brake actuator that provide the vehicle actuator. Also due to the use of this power supply method, the redundant power supply 102 only needs the minimum redundant power capacity, which solves the shortcomings of the conventional redundant power supply 102, which is high in cost, large in size and difficult to install.

[0060] 3) The power supply control method is different:

[0061] 1. Power supply mode of main power supply 101: When the vehicle is driving normally or the vehicle starts automatic driving and driving normally, it is powered by main power supply 101 (not only loads related to automatic driving, but also loads not related to automatic driving are powered by main power supply 101), and the isolator between main power supply 101 and redundant power supply 102 is automatically closed;

[0062] 2. Charging mode of redundant power supply 102: During the power supply of main power supply 101, if the SOC value of redundant power supply 102 is detected to be lower than the threshold value (14V), the DC-DC converter will charge the redundant power supply 102 through the isolator. When the threshold value is met, the charging ends.

[0063] 3. Redundant controller monitors and controls power supply for safety: During vehicle operation, the redundant controller will always monitor the status of the main power supply 101 and the redundant power supply 102 through the digital-to-analog converter, that is, monitor the status of the power supply. When the autonomous driving function is turned on, if the voltage of the main power supply 101 is lower or higher than the set threshold range or abnormal trend, the redundant controller will notify the main autonomous driving controller of the power failure status information and monitor the safety strategy of the main autonomous driving controller. If the main autonomous driving controller does not implement the safety strategy within the set safety response time, the redundant controller will actively control the switching of the main power supply 101 to the redundant power supply 102 and inform the main controller of the power switching status information. The redundant controller takes over and performs the minimum safety operation of autonomous driving. Here are a few key points:

[0064] A. The redundant controller can monitor the fault information of the main power supply 101 and the redundant power supply 102. The fault information can be a voltage that is too high or too low, or a sudden change, or a trend of abnormal change within a period of time. The general power supply monitoring fault category can only monitor a specific voltage low threshold or can only monitor after a fault has occurred. This monitoring system can predict the power supply fault before it occurs, monitor the fault type and range more comprehensively, and reduce the risk of faults;

[0065] B. When the general design power supply and redundant power supply 102 are switched, the hardware triggers the switch after a fault occurs, and there will be a safety issue of the switching time. This switching delay may lead to very serious consequences, especially during the automatic driving process, which may cause the function to suddenly exit abnormally and the driver will not have time to take over and react. Because the switching of this design has a predicted fault trend in advance, before the fault triggers the switching condition, the redundant controller can control the redundant power supply 102 to start powering (the main power supply 101 also powers at the same time). At this time, the main power supply 101 has not completed the switching. When the redundant power supply status is normal, the main power supply 101 is cut off, thus greatly reducing the impact of the switching delay. This control method of predicting abnormal trends and active switching greatly improves the safety of the switched power supply.

[0066] In summary, the power supply structure of the autonomous driving vehicle provided by the utility model includes: a main power supply 101, a redundant power supply 102, an autonomous driving load 104, a driving safety load 105 and a power control module 103, wherein the power control module 103 includes a first switch, a second switch and a redundant controller for controlling the on and off of the first switch and the second switch; the autonomous driving load 104 and the driving safety load 105 are connected in parallel to form a load module, and the load module is connected to the main power supply 101 through the first switch, and is connected to the redundant power supply 102 through the second switch.

[0067] The power supply structure of the autonomous driving vehicle provided by the utility model increases a redundant power supply 102 and controls the on and off of the first switch and the second switch through a redundant controller. When the main power supply 101 fails, the redundant power supply 102 can be used to supply power to the autonomous driving load 104 and the driving safety load 105. Even if the main power supply 101 fails, the autonomous driving load 104 and the driving safety load 105 can still work normally. By adding a multi-channel setting, single power supply can be effectively avoided, the safety of autonomous driving can be achieved, and the technical problem that the single power supply in the prior art cannot meet the functional safety requirements of the automobile autonomous driving system can be solved.

[0068] The main advantages of the power supply structure of the autonomous driving vehicle provided by the utility model are:

[0069] 1) The main power supply device and redundant power supply device of the autonomous driving are controlled by a dual-circuit power supply board. Under normal circumstances, the main power supply 101 supplies power to the main actuators related to the autonomous driving, such as the main autonomous driving controller ADAS (Advanced Driver Assistance System), the braking system IPB (Intelligent Integrated Braking System), and the main steering EPS (Electric Power Steering System). It also supplies power to the autonomous driving redundant systems, such as the redundant controller, the redundant braking system (EHC), the redundant steering system (EPS), etc., and charges the redundant power supply 102 in forward and reverse directions through the isolator between the main power supply 101 and the redundant power supply 102, ensuring that the redundant power supply 102 is always at a normal voltage of 14V;

[0070] 2) When the main power supply 101 fails, the power control board controls to cut off the power input of the main power supply 101, and the redundant power supply 102 supplies power to ensure the normal automatic driving;

[0071] 3) Isolate the power supply of the actuators related to the main autonomous driving system from the actuators related to the redundant system so that the power supply of the two systems will not affect each other. When it is necessary to increase the power supply of other redundant equipment, adding a redundant circuit loop will not affect the main power supply loop, thereby increasing its scalability.

[0072] The power supply structure of the autonomous driving vehicle provided by the present invention is introduced in detail above. Specific examples are used in this article to illustrate the principle and implementation mode of the present invention. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for technicians in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation mode and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A power supply structure for an autonomous driving vehicle, characterized in that: include: A main power supply, a redundant power supply, an autonomous driving load, a driving safety load, and a power control module, wherein the power control module includes a first switch, a second switch, and a redundant controller for controlling the on and off of the first switch and the second switch; The autonomous driving load and the driving safety load are connected in parallel to form a load module. The load module is connected to the main power supply through the first switch and is connected to the redundant power supply through the second switch.

2. The power supply structure of the autonomous driving vehicle according to claim 1, characterized in that: Also includes: Fuse; the load module is connected to the main power supply through the first switch and the fuse in sequence.

3. The power supply structure of the autonomous driving vehicle according to claim 1, characterized in that: The power control module further includes a voltage stabilizing circuit, and the load module is connected to the redundant power supply via the second switch and the voltage stabilizing circuit in sequence.

4. The power supply structure of the autonomous driving vehicle according to claim 1, characterized in that: Also includes: dynamo; The generator is connected in parallel with the main power source.

5. The power supply structure of the autonomous driving vehicle according to claim 1, characterized in that: The driving safety loads include steering actuators and braking actuators, and the autonomous driving loads include cameras and millimeter-wave radars.

6. The power supply structure of the autonomous driving vehicle according to claim 5, characterized in that: The camera includes an original vehicle camera and a backup camera, and the millimeter-wave radar includes an original vehicle millimeter-wave radar and a backup millimeter-wave radar.

7. The power supply structure of the autonomous driving vehicle according to claim 1, characterized in that: Also includes: Power battery; the power battery is electrically connected to the main power supply.

8. The power supply structure of the autonomous driving vehicle according to claim 7, characterized in that: Also includes: DC-DC converter; The power battery is electrically connected to the main power supply through the DC-DC converter.

9. The power supply structure of the autonomous driving vehicle according to claim 1, characterized in that: The redundant controller is also respectively connected to the autonomous driving load and the driving safety load for communication so as to obtain working status data of the autonomous driving load and the driving safety load.

10. The power supply structure of the autonomous driving vehicle according to any one of claims 1 to 9, characterized in that: It also includes a display; one end of the display is connected to the redundant power supply and the main power supply, and the other end of the display is connected to the load module.

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