A CAN network topology structure for an unmanned vehicle

Abstract

The present invention discloses a CAN network topology structure of an unmanned vehicle, including a CAN network topology of an unmanned vehicle and an unmanned gateway message protocol; the CAN network topology structure of the whole vehicle is divided into a CAN network architecture of the whole vehicle and an unmanned driving network architecture; the CAN network architecture of the whole vehicle includes a gateway and a CAN‑Q communication and a CAN‑A communication connected thereto, and the unmanned driving network architecture includes: ultrasonic radar communication CAN‑M, millimeter wave radar communication CAN‑N, and switch Ethernet communication. The present invention distributes and arranges the whole vehicle CAN communication equipment and the unmanned driving domain controller in a combined manner through a data gateway and a domain controller, solves the high load rate of the CAN bus, reduces the number of error frames, effectively prevents the whole vehicle CAN network from being paralyzed, and ensures the safety of the whole vehicle. It will become an inevitable trend in the development of unmanned vehicles in the future.

Description

Technical Field

[0001] The present invention relates to the field of unmanned driving, and in particular to a CAN network topology structure of an unmanned driving vehicle. Background Art

[0002] The main components of unmanned vehicles include environmental perception systems, simulated thinking and decision-making, and vehicle network communications. Environmental perception is to use various sensors on the vehicle body to imitate human vision and hearing in order to obtain information about the surrounding environment; simulated thinking and decision-making relies on the vehicle body computer to imitate the human brain, and to perform comprehensive processing such as identification and environmental reconstruction of the collected image, video, voice and signal information in order to make driving decisions such as acceleration, deceleration, braking, and turning. How to reasonably design the whole vehicle unmanned driving system and the whole vehicle CAN network topology has become one of the goals of major automobile manufacturers to continuously improve the design level and improve the safety of the whole vehicle. Summary of the invention

[0003] The purpose of the present invention is to provide a CAN network topology structure for an unmanned vehicle, which distributes and combines the vehicle CAN communication equipment and the unmanned domain controller through a data gateway and a domain controller, solves the high load rate of the CAN bus, reduces the number of error frames, effectively prevents the paralysis of the vehicle CAN network, and ensures the safety of the vehicle. It will become an inevitable trend in the development of unmanned vehicles in the future.

[0004] The technical solution of the present invention is:

[0005] A CAN network topology structure of an unmanned vehicle, including an unmanned vehicle CAN network topology and an unmanned gateway message protocol;

[0006] The vehicle CAN network topology is divided into two parts: the vehicle CAN network architecture and the unmanned driving network architecture;

[0007] The vehicle CAN network architecture includes a gateway and one CAN-Q communication and one CAN-A communication connected to it. The CAN-Q communication has a baud rate of 500kps and connects the chassis domain controller, autonomous driving domain controller, camera, and integrated navigation of the unmanned driving system. The autonomous driving domain controller connects to the vehicle controller, BMS, and gear shifter through CAN-A to obtain the vehicle power system information and send control strategies to the vehicle controller to achieve normal driving control of the vehicle.

[0008] The autonomous driving network architecture includes:

[0009] Ultrasonic radar communication CAN-M, baud rate 250kps, the radar controller obtains the obstacle detection data of the entire vehicle ultrasonic radar and communicates with the autonomous driving domain controller through CAN-M;

[0010] Millimeter-wave radar communicates via CAN-N, with a baud rate of 500kps. Combined navigation obtains vehicle positioning information and connects to the autonomous driving domain controller via CAN-N to analyze driving path data.

[0011] The switch uses Ethernet communication to connect the lidar controller and binocular camera. The switch is connected to the autonomous driving domain controller via Ethernet to analyze the lidar and camera data.

[0012] Preferably, the autonomous driving domain controller and the chassis domain controller are used as the core to form an unmanned driving simulation thinking and decision-making topology architecture; the unmanned driving simulation thinking and decision-making topology architecture includes the chassis domain controller communication CAN-W, the baud rate is 250KPS, connecting the wire-controlled steering EPS, wire-controlled braking EHB, and electronic handbrake EPB; the chassis domain controller is connected to the autonomous driving domain controller through the vehicle's CAN-Q communication to realize decision-making control of the steering and braking of the wire-controlled chassis.

[0013] Preferably, the unmanned driving gateway message protocol includes:

[0014] (1) Forward the ABS vehicle speed and status on the vehicle chassis CAN-S to CAN-K for instrument display, and forward the ABS drive wheel speed information and pulse counter data to CAN-A and CAN-Q for policy control by the vehicle controller and chassis domain controller;

[0015] (2) Forward the motor status information, power battery information, and vehicle status on the vehicle power CAN-A to the unmanned driving CAN-Q for the WCU and autonomous driving domain controller to execute the vehicle control strategy;

[0016] (3) Forward the body control module status, front and rear brake air pressure, and power status data on the vehicle body CAN-K to the unmanned driving CAN-Q for WCU and industrial computer to perform vehicle status data analysis and control;

[0017] (4) Forward the data messages of EPB status, braking status, and unmanned vehicle body control on the unmanned vehicle CAN-Q to the vehicle body CAN-K for instrument display.

[0018] Preferably, the unmanned driving CAN network wiring harness includes an unmanned driving assembly wiring harness and an unmanned driving chassis wiring harness;

[0019] (1) The unmanned driving assembly wiring harness is connected to the EPB switch, linear steering EPS, linear braking EHB, laser radar controller power supply, and binocular camera power supply; the EPS controller and EHB controller power supply are connected to the 12V power box assembly;

[0020] (2) The unmanned driving CAN-W is designed in the unmanned driving assembly CAN harness, using a double-core shielded cable, and pay attention to the grounding of the shield layer; one end of the 120Ω terminal resistor is at the EPS controller, and the other end is integrated in the chassis domain controller.

[0021] (3) The wiring harness of the unmanned driving chassis is designed according to the installation position of the unmanned driving equipment. The unmanned driving equipment is installed in the equipment box behind the middle door, including the chassis domain controller, automatic driving domain controller, integrated navigation, data collector, switch, and 220V inverter.

[0022] (4) The unmanned driving chassis CAN harness has 5 CAN lines, namely vehicle CAN-A, unmanned driving CAN-Q, wire-controlled chassis CAN-W, navigation CAN-N, and ultrasonic radar CAN-M.

[0023] Compared with the prior art, the present invention has the following advantages:

[0024] The unmanned vehicle CAN network topology structure of the present invention reasonably distributes and combines the unmanned vehicle CAN communication equipment and unmanned driving equipment through a data gateway and a domain controller, solves the high load rate of the CAN bus, reduces the number of error frames, effectively prevents the paralysis of the vehicle CAN network, and ensures the safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0026] Figure 1 The CAN network topology of the whole vehicle for unmanned driving models;

[0027] Figure 2 It is the unmanned driving gateway message protocol. DETAILED DESCRIPTION

[0028] The unmanned driving vehicle whole vehicle CAN network topology structure of the present invention includes the unmanned driving vehicle whole vehicle CAN network topology and the unmanned driving gateway message protocol, and designs a specific unmanned driving CAN network wiring harness.

[0029] like Figure 1 As shown, the vehicle CAN network topology is divided into two parts: the vehicle CAN network architecture and the unmanned driving network architecture;

[0030] The vehicle CAN network architecture includes a gateway and one CAN-Q communication and one CAN-A communication connected to it. The CAN-Q communication has a baud rate of 500kps and connects the chassis domain controller (WCU), autonomous driving domain controller, camera, and integrated navigation of the unmanned driving system. The autonomous driving domain controller connects to the vehicle controller, BMS, and gear shifter through CAN-A to obtain the vehicle power system information and send control strategies to the vehicle controller to achieve normal vehicle driving control.

[0031] The autonomous driving network architecture includes:

[0032] Ultrasonic radar communication CAN-M, baud rate 250kps, the radar controller obtains the obstacle detection data of the entire vehicle ultrasonic radar and communicates with the autonomous driving domain controller through CAN-M;

[0033] Millimeter-wave radar communicates via CAN-N, with a baud rate of 500kps. Combined navigation obtains vehicle positioning information and connects to the autonomous driving domain controller via CAN-N to analyze driving path data.

[0034] The switch uses Ethernet communication to connect the lidar controller and binocular camera. The switch is connected to the autonomous driving domain controller via Ethernet to analyze the lidar and camera data.

[0035] With the autonomous driving domain controller and chassis domain controller as the core, the unmanned driving simulation thinking and decision-making topology architecture is formed; the unmanned driving simulation thinking and decision-making topology architecture includes the chassis domain controller communication CAN-W, the baud rate is 250KPS, connecting the wire-controlled steering EPS, wire-controlled braking EHB, and electronic handbrake EPB; the chassis domain controller is connected to the autonomous driving domain controller through the vehicle CAN-Q communication to realize the decision-making control of the steering and braking of the wire-controlled chassis.

[0036] like Figure 2 As shown, the unmanned driving gateway message protocol includes:

[0037] (1) The ABS vehicle speed and status on the vehicle chassis CAN-S are forwarded to CAN-K for instrument display. At the same time, the ABS drive wheel speed information, pulse counter data, etc. are forwarded to CAN-A and CAN-Q for strategy control by the vehicle control unit (VCU) and chassis domain controller (WCU).

[0038] (2) The motor status information, power battery information, and vehicle status (vehicle speed, accelerator pedal position, brake pedal position, etc.) on the vehicle power CAN-A are forwarded to the unmanned driving CAN-Q for the WCU and the autonomous driving domain controller to execute the vehicle control strategy.

[0039] (3) The body control module status, front and rear brake air pressure, power status and other data on the vehicle body CAN-K are forwarded to the unmanned driving CAN-Q for WCU and industrial computer to perform vehicle status data analysis and control.

[0040] (4) Forward the data messages such as EPB status, braking status, and unmanned driving body control on the unmanned driving CAN-Q to the body CAN-K for instrument display.

[0041] The unmanned driving CAN network harness is redesigned according to the network structure, including the unmanned driving assembly harness and the unmanned driving chassis harness.

[0042] (1) The unmanned driving assembly wiring harness is connected to the EPB switch, linear steering EPS, linear braking EHB, laser radar controller power supply, and binocular camera power supply; the EPS controller and EHB controller power supply are connected to the 12V power box assembly;

[0043] The unmanned driving CAN-W is designed in the unmanned driving assembly CAN harness, using a double-core shielded cable, and pay attention to the grounding of the shielding layer; one end of the 120Ω terminal resistor is at the EPS controller, and the other end is integrated in the chassis domain controller.

[0044] (2) The unmanned driving chassis wiring harness is designed according to the installation position of the unmanned driving equipment. The unmanned driving equipment is installed in the equipment box behind the middle door, including the chassis domain controller, automatic driving domain controller, integrated navigation, data collector, switch, and 220V inverter;

[0045] The unmanned driving chassis CAN harness has 5 CAN lines, namely vehicle CAN-A, unmanned driving CAN-Q, wire-controlled chassis CAN-W, navigation CAN-N, and ultrasonic radar CAN-M.

[0046] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with the technology to understand the content of the present invention and implement it accordingly, and they cannot be used to limit the protection scope of the present invention. Any modifications made according to the spirit of the main technical solution of the present invention should be included in the protection scope of the present invention.

Claims

1. A CAN network topology structure of an unmanned vehicle, characterized in that: Including the CAN network topology of the unmanned vehicle and the unmanned gateway message protocol; The vehicle CAN network topology is divided into two parts: the vehicle CAN network architecture and the unmanned driving network architecture; The vehicle CAN network architecture includes a gateway and one CAN-Q communication and one CAN-A communication connected to it. The CAN-Q communication has a baud rate of 500kps and connects the chassis domain controller, autonomous driving domain controller, camera, and integrated navigation of the unmanned driving system. The autonomous driving domain controller connects to the vehicle controller, BMS, and gear shifter through CAN-A to obtain the vehicle power system information and send control strategies to the vehicle controller to achieve normal driving control of the vehicle. The autonomous driving network architecture includes: Ultrasonic radar communication CAN-M, baud rate 250kps, the radar controller obtains the obstacle detection data of the entire vehicle ultrasonic radar and communicates with the autonomous driving domain controller through CAN-M; Millimeter-wave radar communicates via CAN-N, with a baud rate of 500kps. Combined navigation obtains vehicle positioning information and connects to the autonomous driving domain controller via CAN-N to analyze driving path data. Switch Ethernet communication, connecting the lidar controller and binocular camera through the switch, and the switch connecting to the autonomous driving domain controller through Ethernet to analyze the lidar and camera data; With the autonomous driving domain controller and chassis domain controller as the core, the unmanned driving simulation thinking and decision-making topology architecture is formed; the unmanned driving simulation thinking and decision-making topology architecture includes the chassis domain controller communication CAN-W, the baud rate is 250KPS, connecting the wire-controlled steering EPS, wire-controlled braking EHB, and electronic handbrake EPB; the chassis domain controller is connected to the autonomous driving domain controller through the vehicle CAN-Q communication to realize the decision-making and control operations of the steering and braking of the wire-controlled chassis.

2. The CAN network topology structure of the unmanned vehicle according to claim 1 is characterized in that: The vehicle CAN network architecture also includes vehicle chassis CAN-S and body CAN-K; The unmanned driving gateway message protocol includes: (1) Forward the ABS vehicle speed and status on the vehicle chassis CAN-S to CAN-K for instrument display, and forward the ABS drive wheel speed information and pulse counter data to CAN-A and CAN-Q for policy control by the vehicle controller and chassis domain controller; (2) Forward the motor status information, power battery information, and vehicle status on the vehicle power CAN-A to the unmanned driving CAN-Q for the WCU and autonomous driving domain controller to execute the vehicle control strategy; (3) Forward the body control module status, front and rear brake air pressure, and power status data on the vehicle body CAN-K to the unmanned driving CAN-Q for WCU and industrial computer to perform vehicle status data analysis and control; (4) Forward the data messages of EPB status, braking status, and unmanned vehicle body control on the unmanned vehicle CAN-Q to the vehicle body CAN-K for instrument display.

3. The CAN network topology structure of the unmanned vehicle according to claim 2 is characterized in that: It also includes unmanned driving CAN network harness, which includes unmanned driving assembly harness and unmanned driving chassis harness; (1) The unmanned driving assembly wiring harness is connected to the EPB switch, linear steering EPS, linear braking EHB, laser radar controller power supply, and binocular camera power supply; the EPS controller and EHB controller power supply are connected to the 12V power box assembly; (2) The unmanned driving CAN-W is involved in the unmanned driving assembly CAN harness, and a double-core shielded cable is used, with the shield layer grounded; one end of the 120Ω terminal resistor is at the EPS controller, and the other end is integrated in the chassis domain controller; (3) The unmanned driving chassis wiring harness is designed according to the installation position of the unmanned driving equipment. The unmanned driving equipment is installed in the equipment box behind the middle door, including the chassis domain controller, automatic driving domain controller, integrated navigation, data collector, switch, and 220V inverter; (4) The unmanned driving chassis CAN harness has 5 CAN lines, namely vehicle CAN-A, unmanned driving CAN-Q, wire-controlled chassis CAN-W, navigation CAN-N, and ultrasonic radar CAN-M.

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