An electric vehicle self-driving control system and method

Abstract

The application discloses an electric vehicle self-walking control system and method, and the system comprises a control unit, a self-walking controller and a vehicle controller. The self-walking controller is in communication connection with the control unit, transmits a control instruction to a steering unit, and receives data of the steering unit and a direction sensor. The vehicle controller is in communication connection with a motor controller, a battery management unit, a direct current commutating unit, a braking unit, the steering unit and a vehicle body stabilizing unit, respectively. The vehicle controller receives fault states of each unit, analyzes and processes the fault states, and sends control instructions to each unit. The vehicle motion track can be controlled during the assembly process, most workstations in the electric vehicle assembly workshop can be flexibly arranged according to the vehicle type production, the data signal transmission and cooperation among each unit in the system are used to control the vehicle motion track, and large-scale customized and intelligent production of the electric vehicle is realized.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of automatic driving of electric vehicles and relates to an electric vehicle self-walking control system and method. BACKGROUND

[0002] In the current electric vehicle manufacturing process, the painted vehicle body needs to be transported to the assembly workshop through kinetic energy transmission devices such as slide plate lines or plate chain lines, and accumulative storage type air friction lines, and then the assembly and quality detection after assembly of the interior decoration line, the ground plate line and the final line are sequentially performed.

[0003] The current electric vehicle manufacturing and assembly method needs to plan production equipment and assembly station positions in advance in the construction of the assembly workshop, is suitable for single vehicle production and assembly, has the disadvantages of long production line joint debugging time, large production line reconstruction amount for vehicle model replacement, poor flexibility of fixed assembly stations, and cannot meet the current intelligent networked electric vehicle private customization demand. SUMMARY

[0004] The application aims to solve the problems in the prior art that the electric vehicle has the disadvantages of long production line joint debugging time, large production line reconstruction amount for vehicle model replacement and poor flexibility of fixed assembly stations in the vehicle manufacturing and assembly process, cannot meet the current electric vehicle customization assembly route problem in the production process, and provides an electric vehicle self-walking control system and method.

[0005] To achieve the above-mentioned purpose, the application adopts the following technical solutions:

[0006] An electric vehicle self-walking control system comprises a control unit, a self-walking controller and a vehicle controller.

[0007] The self-walking controller is in communication connection with the control unit, transmits control instructions to the steering unit, and receives feedback signal data of the steering unit and the direction sensor.

[0008] The vehicle controller is in communication connection with a motor controller, a battery management unit, a direct current commutating unit, a braking unit, a steering unit and a vehicle body stabilizing unit, respectively, receives the fault states of each unit in real time, sends control instructions to each unit after analyzing and processing the fault states, and realizes different control processes.

[0009] Further improvement of the application is as follows:

[0010] The control unit sends request instructions to the self-walking controller, including self-walking function activation / exit request, function suspension / resumption request and target vehicle speed request; and the self-walking controller feeds back signal data to the control unit, including self-walking function activation state, current actual vehicle speed, fault state, steering angle and steering angular velocity.

[0011] The self-walking controller sends high-voltage disconnection / connection request, start / exit request, target vehicle speed and self-walking function off / on request to the vehicle controller through the steering unit; the vehicle controller sends the vehicle high-voltage connection state, activation / exit state, current actual vehicle speed, system fault state and pause / resume state to the self-walking controller through the steering unit.

[0012] The vehicle controller sends the speed control request and control mode request to the motor controller, and the motor controller sends the actual speed and fault state to the vehicle controller; the vehicle controller sends the main relay disconnection / closure request to the battery management unit, and the battery management unit sends the fault state to the vehicle controller; the vehicle controller sends the enable request to the DC / AC unit, and the DC / AC unit sends the working state and fault state to the vehicle controller; the vehicle controller sends the brake unit clamping / release request to the steering unit, and the steering unit sends the brake unit clamping / release state to the vehicle controller.

[0013] The control instruction transmitted by the self-walking controller to the steering unit includes steering request and back-to-normal request.

[0014] The feedback signal data of the direction sensor includes the steering angle and the steering angular velocity.

[0015] The control process includes starting the self-walking function, pausing the self-walking function, resuming the self-walking function and closing the self-walking function.

[0016] An electric vehicle self-walking control method, comprising the following steps:

[0017] The control unit sets the target vehicle speed and starts the self-walking function, the self-walking controller requests high-voltage connection and sends the target vehicle speed and the self-walking function start instruction to the vehicle controller; the direction sensor sends the steering angle and the steering angular velocity to the self-walking controller in real time, the self-walking controller sends the steering request or the back-to-normal request to the steering unit after receiving, and the steering unit adjusts the steering wheel steering angle; the vehicle controller receives the high-voltage connection request, the target speed and the self-walking start request, and then collects the wheel speed and vehicle speed signals of the vehicle body stabilizing unit in real time, calculates the motor speed that meets the target vehicle speed, sends the motor speed to the motor controller, requests the battery management unit to close the main relay, requests the DC / AC unit to enable, and requests the brake unit to release, and starts the self-walking function;

[0018] After running to the specified station, the control unit sends the self-walking function pause request to the self-walking controller, and sets the target vehicle speed to zero at the same time, the self-walking controller sends the control instruction to the vehicle controller, the vehicle controller sends the zero speed request to the motor controller, and sends the clamping request to the brake unit at the same time, and the self-walking function is paused;

[0019] After the assembly at the designated station is completed, the control unit sends a self-walking function recovery request and a current target vehicle speed to the self-walking controller, the self-walking controller sends a control instruction to the vehicle controller, the vehicle controller calculates the required rotating speed of the motor according to the current target vehicle speed, sends the rotating speed of the motor to the motor controller, and receives the actual rotating speed fed back by the motor controller to calculate the actual vehicle speed, sends the actual vehicle speed to the self-walking controller, and at the same time, the vehicle controller sends a release request to the brake unit to recover the self-walking function.

[0020] After all the assemblies are completed, the control unit sends a self-walking function exit request to the self-walking controller, the self-walking controller sends a high-voltage connection disconnection request to the vehicle controller, the vehicle controller sends a zero rotating speed request to the motor controller, a main relay disconnection request to the battery management unit, an enable closing request to the direct current commutation unit, and a clamping request to the brake unit to close the self-walking function.

[0021] The motor controller, the battery management unit, the direct current commutation unit, the brake unit, the steering unit and the vehicle body stabilizing unit simultaneously send the fault states of the units to the vehicle controller, and the vehicle controller receives the fault states of the units and performs corresponding fault actions according to the fault levels.

[0022] The fault actions include high-voltage connection normal walking, high-voltage connection disconnection and normal walking.

[0023] Compared with the prior art, the present application has the following beneficial effects:

[0024] The present application provides an electric vehicle self-walking control system, which can control the vehicle motion trajectory during the assembly process, so that the assembly process is free from the constraints of transmission kinetic energy such as slide plate line, plate chain line and accumulated storage type air friction line, greatly reducing the investment cost of civil engineering, production equipment and assembly station in the construction of electric vehicle final assembly workshop, so that most of the stations in the electric vehicle final assembly workshop can be flexibly arranged according to the production of vehicle models, the control of vehicle motion trajectory is realized through the data signal transmission and cooperation between each unit in the system, and then the large-scale customization and intelligent production of electric vehicles are realized. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments, and it should be understood that the following drawings only show some embodiments of the present application, and should not be regarded as a limitation on the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor.

[0026] Figure 1 It is a logic diagram of the electric vehicle self-walking control system of the present application. DETAILED DESCRIPTION

[0027] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some but not all of the embodiments of the present application. Generally, the components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations.

[0028] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative work fall within the scope of protection of the present application.

[0029] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0030] In the description of the embodiments of the present application, it should be noted that, if the terms "upper", "lower", "horizontal", "inner" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship when the product of the present application is usually placed, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second" and the like are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0031] In addition, if the term "horizontal" appears, it does not mean that the component must be absolutely horizontal, but can be slightly inclined. For example, "horizontal" only means that its direction is relatively more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0032] In the description of the embodiments of the present application, it should also be noted that, unless otherwise explicitly specified and limited, if the terms "arrangement", "installation", "connection", "connection" appear, they should be understood in a broad sense, for example, can be fixedly connected, can be detachably connected, or integrally connected; can be mechanically connected, can be electrically connected; can be directly connected, can be indirectly connected through an intermediate medium, or can be connected inside two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0033] The application will be described in further detail below with reference to the drawings:

[0034] Referring to Figure 1 , the logic diagram of the electric vehicle self-walking control system of the application, the self-walking control system comprises a control unit, a self-walking controller and a vehicle controller; the self-walking controller is connected with the control unit through a CAN bus, the control unit sends a request instruction to the self-walking controller, including a self-walking function activation / exit request, a function suspension / resumption request and a target vehicle speed request; the self-walking controller sends a high-voltage disconnection / connection request, a start / exit request, a target vehicle speed and a self-walking function closing / opening request to the vehicle controller through a steering unit; the vehicle controller sends a vehicle high-voltage connection state, an activation / exit state, a current actual vehicle speed, a system fault state and a suspension / resumption state to the self-walking controller through the steering unit; the self-walking controller feeds back signal data to the control unit, including a self-walking function activation state, a current actual vehicle speed, a fault state, a steering angle and a steering angular velocity; the self-walking controller transmits a control instruction to the steering unit and receives feedback signal data of the steering unit and a direction sensor, the feedback signal data of the direction sensor including a steering angle and a steering angular velocity, the control instruction transmitted by the self-walking controller to the steering unit including a steering request and a return-to-zero request; the vehicle controller is connected with a motor controller, a battery management unit, a direct current commutating unit, a braking unit, a steering unit and a vehicle body stabilizing unit through a CAN bus respectively, the vehicle controller receives fault states of each unit in real time, sends control instructions to each unit after analyzing and processing the fault states, realizes different control processes, including starting the self-walking function, suspending the self-walking function, resuming the self-walking function and closing the self-walking function. The vehicle controller sends a rotating speed control request and a control mode request to the motor controller, the motor controller sends an actual rotating speed and a fault state to the vehicle controller; the vehicle controller sends a main relay disconnection / closure request to the battery management unit, the battery management unit sends a fault state to the vehicle controller; the vehicle controller sends an enable request to the direct current commutating unit, the direct current commutating unit sends a working state and a fault state to the vehicle controller; the vehicle controller sends a braking unit clamping / release request to the braking unit of the steering unit, the steering unit sends a braking unit clamping / release state to the vehicle controller

[0035] The electric vehicle self-walking control method in the application specifically comprises the following steps:

[0036] The control unit sets a target vehicle speed and starts the self-walking function, the self-walking controller requests high-voltage connection from the vehicle control unit and sends the target vehicle speed and the start self-walking function instruction; the direction sensor sends the steering angle and the steering angular velocity to the self-walking controller in real time, the self-walking controller sends the steering request or the straightening request to the steering unit after receiving, and the steering unit adjusts the steering wheel steering angle; the vehicle control unit receives the high-voltage connection request, the target speed and the self-walking start request, collects the vehicle body stability unit wheel speed and the vehicle speed signal in real time, calculates the motor speed meeting the target vehicle speed, sends the motor speed to the motor controller, requests the battery management unit to close the main relay, requests the direct current commutating unit to enable, and requests the brake unit to release, and starts the self-walking function;

[0037] After running to the specified station, the control unit sends the self-walking function pause request to the self-walking controller, and sets the target vehicle speed to zero at the same time, the self-walking controller sends the control instruction to the vehicle control unit, the vehicle control unit sends the zero speed request to the motor controller, and sends the clamping request to the brake unit at the same time, and the self-walking function is paused;

[0038] After the assembly at the specified station is completed, the control unit sends the self-walking function recovery request and the current target vehicle speed to the self-walking controller, the self-walking controller sends the control instruction to the vehicle control unit, the vehicle control unit calculates the motor speed required according to the current target vehicle speed, sends the motor speed to the motor controller, receives the actual speed feedback from the motor controller to calculate the actual vehicle speed, and sends the actual vehicle speed to the self-walking controller, and the vehicle control unit sends the release request to the brake unit at the same time, and the self-walking function is recovered;

[0039] After all the assemblies are completed, the control unit sends the self-walking function exit request to the self-walking controller, the self-walking controller sends the high-voltage connection disconnection request to the vehicle control unit, the vehicle control unit sends the zero speed request to the motor controller, the main relay disconnection request to the battery management unit, the enable closing request to the direct current commutating unit, and the clamping request to the brake unit, and the self-walking function is closed.

[0040] The electric vehicle self-walking control system includes four control processes of starting the self-walking function, pausing the self-walking function, recovering the self-walking function and closing the self-walking function, and the specific control process includes the following steps:

[0041] When starting the self-walking function, the control unit sets a target vehicle speed and starts the self-walking function;

[0042] After the self-walking controller SDU receives the self-walking function start request and the target vehicle speed set by the control unit, it requests high-voltage connection from the vehicle control unit VCU and sends the target vehicle speed and the self-walking function start instruction;

[0043] The direction sensor SAS sends the steering angle and steering angular velocity to the self-driving controller SDU in real time;

[0044] The self-driving controller SDU sends the steering request or the return-to-zero request to the steering unit EPS after receiving the steering angle and steering angular velocity from the direction sensor SDU;

[0045] The steering unit EPS adjusts the steering wheel steering angle after receiving the steering request or the return-to-zero request from the self-driving controller SDU;

[0046] The vehicle controller VCU receives the high-voltage request, the target vehicle speed and the self-driving start request, and collects the wheel speed and vehicle speed signals of the vehicle body stability unit ESP in real time to calculate the motor speed that meets the target vehicle speed, and sends the motor speed to the motor controller MCU through the CAN network;

[0047] The vehicle controller requests the battery management unit BMS to close the main relay, requests the direct current conversion unit DCDC to enable operation, and requests the brake unit EPB to release;

[0048] In addition to sending their respective fault states to the vehicle controller VCU, the motor controller MCU sends the current actual motor speed to the vehicle controller VCU, the direct current conversion unit DCDC sends the current working state to the vehicle controller VCU, and the brake unit EPB sends the clamping / release state to the vehicle controller VCU;

[0049] Meanwhile, the vehicle controller VCU sends the high-voltage connection state, the self-driving function start state, the current actual vehicle speed and the system fault state to the self-driving controller SDU in real time.

[0050] When the self-driving function is started and runs to a specific station, the control unit sends a self-driving function suspension request and sets the target vehicle speed to zero. After receiving the self-driving function suspension request, the vehicle controller VCU sends a zero speed request to the motor controller MCU and a clamping request to the brake unit EPB.

[0051] When the station is assembled, the control background sends a self-driving function recovery request and the current target vehicle speed. After receiving the self-driving function recovery request, the vehicle controller VCU calculates the required motor speed according to the current target vehicle speed, sends the calculated motor speed to the motor controller MCU, and calculates the actual vehicle speed according to the actual motor speed feedback from the motor controller MCU and sends the actual vehicle speed to the self-driving controller SDU. The vehicle controller VCU also sends a release request to the brake unit EPB.

[0052] When all the assemblies are completed, the control background sends an exit self-driving function request;

[0053] The self-walking controller SDU sends a high-voltage connection disconnection request to the vehicle controller VCU;

[0054] The vehicle controller VCU sends a zero rotation speed request to the motor controller MCU, a main relay disconnection request to the battery management unit BMS, an enable shutdown request to the direct current conversion unit DCDC, and a clamping request to the brake unit EPB;

[0055] The vehicle body stability unit ESP, the steering unit EPS, the motor controller MCU, the battery management unit BMS, the direct current conversion unit DCDC, and the brake unit EPB send system fault states to the vehicle controller VCU in real time, and the vehicle controller VCU performs fault actions according to the fault levels after receiving the system fault states, and the fault actions include high-voltage connection normal but unable to walk, high-voltage connection disconnection, and normal walking.

[0056] The above is only a preferred embodiment of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A self-propelled control system for electric vehicles, characterized in that, This includes control units, self-propelled controllers, and vehicle controllers; The self-propelled controller is connected to the control unit. The self-propelled controller transmits control commands to the steering unit and receives feedback signal data from the steering unit and the direction sensor. The vehicle controller is communicatively connected to the motor controller, battery management unit, DC-DC converter, braking unit, steering unit and vehicle stability unit. The vehicle controller receives the fault status of each unit in real time, analyzes and processes the fault status, and sends control commands to each unit to realize different control processes. The control method for an electric vehicle self-propelled control system includes the following steps: The control unit sets the target vehicle speed and activates the self-driving function. The self-driving controller requests a high-voltage connection from the vehicle controller and sends the target vehicle speed and self-driving function activation command. The steering sensor sends the steering angle and angular velocity to the self-driving controller in real time. After receiving the data, the self-driving controller sends a steering request or return-to-center request to the steering unit, which adjusts the steering wheel angle. After receiving the high-voltage connection request, target speed, and self-driving activation request, the vehicle controller collects the wheel speed and vehicle speed signals from the vehicle stability unit in real time, calculates the motor speed that meets the target vehicle speed, sends the motor speed to the motor controller, and requests the battery management unit to close the main relay, requests the DC-DC converter to enable, and requests the braking unit to release, thus activating the self-driving function. After reaching the designated workstation, the control unit sends a request to the self-propelled controller to pause the self-propelled function and sets the target vehicle speed to zero. The self-propelled controller sends control commands to the vehicle controller, which sends a zero-speed request to the motor controller and a clamping request to the braking unit to pause the self-propelled function. After assembly at the designated workstation is completed, the control unit sends a request to the self-propelled controller to restore the self-propelled function and the current target vehicle speed. The self-propelled controller sends the control command to the vehicle controller. The vehicle controller calculates the required motor speed based on the current target vehicle speed, sends the motor speed to the motor controller, and receives the actual speed feedback from the motor controller to calculate the actual vehicle speed. The actual vehicle speed is then sent to the self-propelled controller. At the same time, the vehicle controller sends a release request to the braking unit to restore the self-propelled function. After all assembly is completed, the control unit sends a request to the self-propelled controller to exit the self-propelled function. The self-propelled controller sends a high-voltage connection disconnection request to the vehicle controller. The vehicle controller sends a zero-speed request to the motor controller, a main relay disconnection request to the battery management unit, an enable / disable request to the DC-DC converter, and a clamping request to the braking unit, thereby disabling the self-propelled function.

2. The electric vehicle self-propelled control system as described in claim 1, characterized in that, The control unit sends request commands to the autonomous driving controller, including autonomous driving function activation / deactivation requests, function suspension / resumption requests, and target vehicle speed requests; the autonomous driving controller feeds back signal data to the control unit, including autonomous driving function activation status, current actual vehicle speed, fault status, turning angle, and turning angular velocity.

3. The electric vehicle self-propelled control system as described in claim 1, characterized in that, The self-propelled controller sends high-voltage disconnection / connection requests, start / exit requests, target vehicle speed, and self-propelled function off / on requests to the vehicle controller via the steering unit; the vehicle controller sends the vehicle high-voltage connection status, activation / exit status, current actual vehicle speed, system fault status, and pause / resume status to the self-propelled controller via the steering unit.

4. The electric vehicle self-propelled control system as described in claim 1, characterized in that, The vehicle controller sends speed control requests and control mode requests to the motor controller, and the motor controller sends the actual speed and fault status to the vehicle controller; the vehicle controller sends a main relay open / close request to the battery management unit, and the battery management unit sends the fault status to the vehicle controller; the vehicle controller sends an enable request to the DC-DC converter, and the DC-DC converter sends the operating status and fault status to the vehicle controller; the vehicle controller sends brake unit clamping / release requests to the braking unit and the steering unit, and the steering unit sends the brake unit clamping / release status to the vehicle controller.

5. The electric vehicle self-propelled control system as described in claim 1, characterized in that, The control commands transmitted from the self-propelled controller to the steering unit include steering requests and return-to-center requests.

6. The electric vehicle self-propelled control system as described in claim 1, characterized in that, The feedback signal data from the orientation sensor includes the turning angle and the turning angular velocity.

7. The electric vehicle self-propelled control system as described in claim 1, characterized in that, The control process includes activating the self-walking function, pausing the self-walking function, resuming the self-walking function, and deactivating the self-walking function.

8. The electric vehicle self-propelled control system as described in claim 1, characterized in that, The motor controller, battery management unit, DC-DC converter, braking unit, steering unit, and vehicle stability unit simultaneously send the fault status of each unit to the vehicle controller. After receiving the fault status of each unit, the vehicle controller performs corresponding fault actions according to the fault level.

9. The electric vehicle self-propelled control system as described in claim 8, characterized in that, The fault actions include: high voltage connection is normal but cannot move, high voltage connection is disconnected and can move normally.

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