An operating mode control system and control method for an autonomous new energy sanitation vehicle

Abstract

The present invention relates to the technical field of new energy sanitation vehicles, and provides a working mode control system and a control method for an autonomous driving new energy sanitation vehicle. The system includes a T-BOX, a start switch, an emergency switch, a signal receiver, an autonomous driving main controller, a first relay, an auxiliary function module, a second relay, a VCU, a third relay, a mode switch, a low-voltage system of the sanitation vehicle, a fourth relay, a high-voltage system of the sanitation vehicle, a fifth relay, a CAN bus, a BMS, and a battery module. According to the functional requirements of the vehicle under different working conditions, the present invention divides the vehicle control into different modes and several subsystems, precisely controls the operation of relevant subsystems under different modes, improves the completeness and reliability of vehicle control, effectively saves battery power, extends the operation time, and increases the cruising range.

Description

Technical Field

[0001] The present invention relates to the technical field of new energy sanitation vehicles, and particularly to a working mode control system and control method for an autonomous driving new energy sanitation vehicle. Background Art

[0002] New energy sanitation vehicles have the advantages of zero emissions, low noise, high efficiency, etc., and their market share in the sanitation field has been increasing year by year. Autonomous driving new energy sanitation vehicles, on the basis of new energy sanitation vehicles, add autonomous driving functions, can better adapt to the increasingly tight labor market situation, and meet the social demands for the intellectualization, networking, and unmanned operation of sanitation vehicles. In order to make autonomous driving new energy sanitation vehicles work more stably, efficiently, and reliably, a vehicle control scheme adapted to their operating conditions is particularly important.

[0003] The current automatic control scheme generally conducts data acquisition and analysis through multiple modules. The autonomous driving of vehicles is all developed for information processing and environmental perception (such as the publicly disclosed patent 201820266698.5). The research and development efforts for the overall vehicle control and systems with multiple working modes are insufficient. The control system generally has only one working mode and cannot adapt to multiple working environments. Summary of the Invention

[0004] The object of the present invention is to address the problem that the control system generally has only one working mode in the background art, resulting in the inability to adapt to multiple working environments, and to propose a working mode control system and control method for an autonomous driving new energy sanitation vehicle.

[0005] In a first aspect, the present invention provides a working mode control system for an autonomous driving new energy sanitation vehicle, including a T-BOX, a start switch, an emergency switch, a signal receiver, an autonomous driving main controller, a first relay, an auxiliary function module, a second relay, a VCU, a third relay, a mode switch, a low-voltage system of the sanitation vehicle, a fourth relay, a high-voltage system of the sanitation vehicle, a fifth relay, a CAN bus, a BMS, and a battery module;

[0006] The T-BOX is respectively connected to the start switch, the emergency switch, the signal receiver, the first relay, the second relay, the third relay, and the CAN bus, and is used for controlling the vehicle communication; the start switch is used for normally starting or shutting down the sanitation vehicle; the emergency switch is used for emergently shutting down the sanitation vehicle; the signal receiver is used for receiving a remote normal start signal, a normal shutdown signal, or an emergency shutdown signal; the CAN bus is used for in-vehicle communication between the T-BOX and the VCU and between the T-BOX and the BMS;

[0007] The autonomous driving main controller is connected to the first relay and is used for controlling the autonomous driving of the sanitation vehicle;

[0008] The auxiliary function module is connected to the second relay and is used to assist the automatic driving of the sanitation vehicle.

[0009] The VCU is connected to the mode switch, the third relay, the fourth relay, the fifth relay, and the CAN bus, and is used to control the sanitation vehicle as a whole; the mode switch is used to control the driving mode of the sanitation vehicle.

[0010] The low-voltage system of the sanitation vehicle is connected to the fourth relay, and the high-voltage system of the sanitation vehicle is connected to the fifth relay.

[0011] The BMS is connected to the CAN bus and the battery module and is used to manage the battery module.

[0012] Preferably, the mode switch includes an automatic driving gear and a manual driving gear; when the mode switch is in the automatic driving gear, it sends an automatic driving gear signal to the VCU; when the mode switch is in the manual driving gear, it sends a manual driving gear signal to the VCU.

[0013] Preferably, the auxiliary function module includes a sensing unit and a voice unit, and the sensing unit includes a radar and a camera.

[0014] The low-voltage system of the sanitation vehicle includes a low-voltage relay, a solenoid valve, a lighting function module, an instrument function module, a braking function module, a steering function module, a parking function module, a low-voltage waterway operation module, and a low-voltage air circuit operation module.

[0015] The high-voltage system of the sanitation vehicle includes a motor driver, a high-voltage fan, a high-voltage water pump, a sweeping disc, and an air conditioner.

[0016] Preferably, the T-BOX controls the power-on and power-off of the automatic driving main controller by controlling the closing or opening of the first relay; the T-BOX controls the power-on and power-off of the auxiliary function module by controlling the closing or opening of the second relay; the T-BOX controls the power-on and power-off of the VCU by controlling the closing or opening of the third relay.

[0017] The VCU controls the power-on and power-off of the low-voltage system of the sanitation vehicle by controlling the closing or opening of the fourth relay; the VCU controls the power-on and power-off of the high-voltage system of the sanitation vehicle by controlling the closing or opening of the fifth relay.

[0018] Preferably, the T-BOX realizes the independent control of the automatic driving main controller and the auxiliary function module by respectively controlling the closing or opening of the first relay and the second relay according to the different working condition requirements of the sanitation vehicle.

[0019] In a second aspect, the present invention also provides a control method for the working mode of an autonomous new energy sanitation vehicle for the above control system, including four working modes, namely Off mode, Ready mode, Driving mode, Offline mode, and Charge mode;

[0020] When the sanitation vehicle is in the Off mode, the T-BOX is in a sleep state, and all other modules of the sanitation vehicle are in a powered-off state; when the sanitation vehicle is in the Ready mode, the T-BOX works normally, the VCU is powered on and running, and both the low-voltage system and the high-voltage system of the sanitation vehicle are in a powered-on and operable state; when the sanitation vehicle is in the Driving mode, the sanitation vehicle is in autonomous driving or manual driving; when the sanitation vehicle is in the Offline mode, data processing and storage are performed; when the sanitation vehicle is in the Charge mode, the battery module is charged;

[0021] The working mode switching of the sanitation vehicle includes:

[0022] Mode switching one: Switching from the Off mode to the Ready mode;

[0023] Mode switching two: Switching from the Ready mode to the Off mode;

[0024] Mode switching three: Switching from the Ready mode to the Driving mode;

[0025] Mode switching four: Switching from the Driving mode to the Offline mode;

[0026] Mode switching five: Switching from the Driving mode to the Off mode;

[0027] Mode switching six: Switching from the Offline mode to the Off mode;

[0028] Mode switching seven: Switching from the Offline mode to the Ready mode;

[0029] Mode switching eight: Switching from the Off mode to the Charge mode;

[0030] Mode switching nine: Switching from the Charge mode to the Off mode.

[0031] Preferably, the mode switching method of mode switching one includes that when the sanitation vehicle is in the Off mode, closing the start switch or remotely sending a normal start signal; when the start switch is closed, the start switch sends a normal start signal to the T-BOX, and when a normal start signal is remotely sent, the signal receiver of the sanitation vehicle sends the received normal start signal to the T-BOX; after receiving the normal start signal, the T-BOX closes the first relay to power on the VCU for operation; the VCU further controls the fourth relay and the fifth relay to make the low-voltage system and the high-voltage system of the sanitation vehicle in a power-on and operable state; at this time, the sanitation vehicle enters the Ready mode;

[0032] Preferably, the mode switching method of mode switching two includes that when the sanitation vehicle is in the Ready mode, disconnecting the start switch or remotely sending a normal shutdown signal; when the start switch is disconnected, the start switch sends a normal shutdown signal to the T-BOX, and when a normal shutdown signal is remotely sent, the signal receiver of the sanitation vehicle sends the received normal shutdown signal to the T-BOX; after receiving the normal shutdown signal, the T-BOX disconnects the first relay to make the VCU in a sleep state; other modules of the sanitation vehicle are in a powered-off state; at this time, the sanitation vehicle enters the Off mode.

[0033] Preferably, the mode switching method of mode switching three includes that when the sanitation vehicle is in the Ready mode, turning the mode switch to the manual driving gear or the automatic driving gear; when the mode switch is turned to the manual driving gear, the mode switch sends the manual driving gear signal to the VCU, and the VCU then sends the manual driving gear through the CAN bus to the T-BOX, and the T-BOX makes the sanitation vehicle enter the manual driving mode; when the mode switch is turned to the automatic driving gear, the mode switch sends the automatic driving gear signal to the VCU, and the VCU then sends the automatic driving gear through the CAN bus to the T-BOX, and the T-BOX then closes the first relay to power on the automatic driving main controller for operation, and at the same time, the T-BOX can close the second relay to power on the auxiliary function module according to the working condition requirements, and the sanitation vehicle enters the automatic driving mode; whether it is the manual driving mode or the automatic driving mode, at this time, the sanitation vehicle enters the Driving mode;

[0034] Preferably, the mode switching method of mode switching four includes that when the sanitation vehicle is in the Driving mode and is in the automatic driving mode, after an automatic driving task is completed, the sanitation vehicle stops automatically; the T-BOX keeps the first relay closed, and the automatic driving main controller continues to run for data processing and storage; other modules of the sanitation vehicle are in a powered-off state; at this time, the sanitation vehicle enters the Offline mode;

[0035] Preferably, the mode switching method of Mode Switching Five includes closing the emergency switch or remotely sending an emergency shutdown signal when the sanitation vehicle is in the Driving mode. When the emergency switch is closed, the emergency switch sends an emergency shutdown signal to the T-BOX. When the emergency shutdown signal is remotely sent, the signal receiver of the sanitation vehicle sends the received emergency shutdown signal to the T-BOX. The T-BOX enters the Off mode by putting itself into sleep and powering off other modules of the sanitation vehicle according to the emergency shutdown signal. Or when the sanitation vehicle is in the Driving mode and in the manual driving mode, disconnect the start switch or remotely send a normal shutdown signal. When the start switch is disconnected, the start switch sends a normal shutdown signal to the T-BOX. When the normal shutdown signal is remotely sent, the signal receiver of the sanitation vehicle sends the received normal shutdown signal to the T-BOX. The T-BOX enters the Off mode by putting itself into sleep and powering off other modules of the sanitation vehicle according to the normal shutdown signal.

[0036] Preferably, the mode switching method of Mode Switching Six includes when the sanitation vehicle is in the Offline mode and the data processing and storage are completed, the T-BOX disconnects the first relay, and the main controller of the autonomous driving powers off and stops running, and the sanitation vehicle enters the Off mode;

[0037] Preferably, the mode switching method of Mode Switching Seven includes when the sanitation vehicle is in the Offline mode and the data processing and storage are not completed yet, if the T-BOX receives a new operation instruction signal of the sanitation vehicle, it powers on the VCU to run. The VCU further controls the fourth relay and the fifth relay to make the low-voltage system and the high-voltage system of the sanitation vehicle in the power-on and operable state. At this time, the sanitation vehicle enters the Ready mode.

[0038] Preferably, the mode switching method of Mode Switching Eight includes when the sanitation vehicle is in the Off mode, if the BMS detects that the charging cable is connected to the battery module, it sends the charging state to the T-BOX through the CAN bus. The T-BOX disconnects the first relay, the second relay and the third relay, and other modules except the BMS and the battery module stop running, and the sanitation vehicle enters the Charge mode;

[0039] Preferably, the mode switching method of Mode Switching Nine includes when the sanitation vehicle is in the Charge mode, if the BMS detects that the charging cable is removed from the battery module, it sends the end-of-charging state to the T-BOX through the CAN bus. The T-BOX puts itself into sleep and powers off other modules of the sanitation vehicle. At this time, the sanitation vehicle enters the Off mode.

[0040] Compared with the prior art, the present invention has the following beneficial technical effects: According to the functional requirements of the vehicle under different working conditions, the vehicle control is divided into different modes and several subsystems, and the operation of the relevant subsystems in different modes is precisely controlled, improving the completeness and reliability of vehicle control. At the same time, it reduces the battery power consumption caused by unnecessary operating functions, extends the vehicle operation time, and increases the cruising range. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a structural diagram of the working mode control system of the sanitation vehicle provided by the embodiment of the present invention.

[0042] Figure 2 It is a schematic diagram of mode switching of the working mode control method of the sanitation vehicle provided by the embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0043] As Figure 1 shown, an embodiment of the present invention provides a working mode control system for an autonomous new energy sanitation vehicle, including a T-BOX, a start switch, an emergency switch, a signal receiver, an autonomous driving main controller, a first relay, an auxiliary function module, a second relay, a VCU, a third relay, a mode switch, a low-voltage system of the sanitation vehicle, a fourth relay, a high-voltage system of the sanitation vehicle, a fifth relay, a CAN bus, a BMS, and a battery module;

[0044] The T-BOX is respectively connected to the start switch, the emergency switch, the signal receiver, the first relay, the second relay, the third relay, and the CAN bus, and is used to control the vehicle communication; the start switch is used to normally start or shut down the sanitation vehicle; the emergency switch is used to emergently shut down the sanitation vehicle; the signal receiver is used to receive remote normal start signals, normal shut-down signals, or emergency shut-down signals; the CAN bus is used for in-vehicle communication between the T-BOX and the VCU and between the T-BOX and the BMS;

[0045] The autonomous driving main controller is connected to the first relay and is used to control the autonomous driving of the sanitation vehicle;

[0046] The auxiliary function module is connected to the second relay and is used to assist the autonomous driving of the sanitation vehicle;

[0047] The VCU is connected to the mode switch, the third relay, the fourth relay, the fifth relay, and the CAN bus, and is used to control the sanitation vehicle as a whole; the mode switch includes an autonomous driving gear and a manual driving gear; when the mode switch is in the autonomous driving gear, it sends an autonomous driving gear signal to the VCU; when the mode switch is in the manual driving gear, it sends a manual driving gear signal to the VCU, and the mode switch is used to control the driving mode of the sanitation vehicle;

[0048] The low-voltage system of the sanitation vehicle is connected to the fourth relay, and the high-voltage system of the sanitation vehicle is connected to the fifth relay;

[0049] The BMS is connected to the CAN bus and the battery module for managing the battery module.

[0050] The mode switch includes an automatic driving gear and a manual driving gear; when the mode switch is in the automatic driving gear, it sends an automatic driving gear signal to the VCU; when the mode switch is in the manual driving gear, it sends a manual driving gear signal to the VCU.

[0051] The auxiliary function module includes a sensing unit and a voice unit, and the sensing unit includes a radar and a camera;

[0052] The low-voltage system of the sanitation vehicle includes a low-voltage relay, a solenoid valve, a lighting function module, an instrument function module, a braking function module, a steering function module, a parking function module, a low-voltage waterway operation module, and a low-voltage pneumatic operation module;

[0053] The high-voltage system of the sanitation vehicle includes a motor driver, a high-voltage blower, a high-voltage water pump, a sweeping disk, and an air conditioner.

[0054] The T-BOX controls the power-on and power-off of the automatic driving main controller by controlling the closing or opening of the first relay; the T-BOX controls the power-on and power-off of the auxiliary function module by controlling the closing or opening of the second relay; the T-BOX controls the power-on and power-off of the VCU by controlling the closing or opening of the third relay;

[0055] The VCU controls the power-on and power-off of the low-voltage system of the sanitation vehicle by controlling the closing or opening of the fourth relay; the VCU controls the power-on and power-off of the high-voltage system of the sanitation vehicle by controlling the closing or opening of the fifth relay.

[0056] The T-BOX realizes the independent control of the automatic driving main controller and the auxiliary function module by respectively controlling the closing or opening of the first relay and the second relay according to different working condition requirements of the sanitation vehicle.

[0057] Another embodiment of the present invention provides a control method for the working mode of an automatic driving new energy sanitation vehicle, which is applied in the above-mentioned control system for the working mode of an automatic driving new energy sanitation vehicle, and includes four working modes, namely Off mode, Ready mode, Driving mode, Offline mode, and Charge mode;

[0058] When the sanitation vehicle is in the Off mode, the T-BOX is in the sleep state, and all other modules of the sanitation vehicle are in the powered-off state; when the sanitation vehicle is in the Ready mode, the T-BOX works normally, the VCU is powered on and running, and both the low-voltage system and the high-voltage system of the sanitation vehicle are in the powered-on and operable state; when the sanitation vehicle is in the Driving mode, the sanitation vehicle is in autonomous driving or manual driving; when the sanitation vehicle is in the Offline mode, data processing and storage are performed; when the sanitation vehicle is in the Charge mode, the battery module is charged;

[0059] As Figure 2 shown, the working mode switching of the sanitation vehicle includes:

[0060] Mode switching one: Switching from the Off mode to the Ready mode;

[0061] Mode switching two: Switching from the Ready mode to the Off mode;

[0062] Mode switching three: Switching from the Ready mode to the Driving mode;

[0063] Mode switching four: Switching from the Driving mode to the Offline mode;

[0064] Mode switching five: Switching from the Driving mode to the Off mode;

[0065] Mode switching six: Switching from the Offline mode to the Off mode;

[0066] Mode switching seven: Switching from the Offline mode to the Ready mode;

[0067] Mode switching eight: Switching from the Off mode to the Charge mode;

[0068] Mode switching nine: Switching from the Charge mode to the Off mode.

[0069] The mode switching method of the said mode switching one includes that when the sanitation vehicle is in the Off mode, closing the start switch or remotely sending a normal start signal; when the start switch is closed, the start switch sends a normal start signal to the T-BOX, and when a normal start signal is remotely sent, the signal receiver of the sanitation vehicle sends the received normal start signal to the T-BOX; after receiving the normal start signal, the T-BOX makes the first relay close, enabling the VCU to be powered on and running; the VCU further controls the fourth relay and the fifth relay, making the low-voltage system and the high-voltage system of the sanitation vehicle in the powered-on and operable state; at this time, the sanitation vehicle enters the Ready mode;

[0070] The mode switching method of mode switching two includes that when the sanitation vehicle is in the Ready mode, disconnect the start switch or remotely send a normal shutdown signal; when the start switch is disconnected, the start switch sends a normal shutdown signal to the T-BOX, and when a normal shutdown signal is remotely sent, the signal receiver of the sanitation vehicle sends the received normal shutdown signal to the T-BOX; after receiving the normal shutdown signal, the T-BOX makes the first relay disconnect, so that the VCU is in the sleep state; other modules of the sanitation vehicle are in the power-off state; at this time, the sanitation vehicle enters the Off mode.

[0071] The mode switching method of mode switching three includes that when the sanitation vehicle is in the Ready mode, switch the mode switch to the manual driving gear or the autonomous driving gear; when the mode switch is switched to the manual driving gear, the mode switch sends the manual driving gear signal to the VCU, and the VCU then sends the manual driving gear through the CAN bus to the T-BOX, and the T-BOX makes the sanitation vehicle enter the manual driving mode; when the mode switch is switched to the autonomous driving gear, the mode switch sends the autonomous driving gear signal to the VCU, and the VCU then sends the autonomous driving gear through the CAN bus to the T-BOX, and the T-BOX then makes the first relay close to power on and run the autonomous driving main controller. At the same time, the T-BOX can make the second relay close to power on and run the auxiliary function module according to the working condition requirements, and the sanitation vehicle enters the autonomous driving mode; whether it is the manual driving mode or the autonomous driving mode, at this time, the sanitation vehicle enters the Driving mode;

[0072] The mode switching method of mode switching four includes that when the sanitation vehicle is in the Driving mode and is in the autonomous driving mode, after an autonomous driving task is completed, the sanitation vehicle stops automatically; the T-BOX makes the first relay remain closed, and the autonomous driving main controller continues to run for data processing and storage; other modules of the sanitation vehicle are in the power-off state; at this time, the sanitation vehicle enters the Offline mode;

[0073] The mode switching method of Mode Switching Five includes closing the emergency switch or remotely sending an emergency shutdown signal when the sanitation vehicle is in the Driving mode. When the emergency switch is closed, the emergency switch sends an emergency shutdown signal to the T-BOX. When the emergency shutdown signal is remotely sent, the signal receiver of the sanitation vehicle sends the received emergency shutdown signal to the T-BOX. The T-BOX makes itself sleep according to the emergency shutdown signal and powers off other modules of the sanitation vehicle. At this time, the sanitation vehicle enters the Off mode; or when the sanitation vehicle is in the Driving mode and in the manual driving mode, disconnect the start switch or remotely send a normal shutdown signal. When the start switch is disconnected, the start switch sends a normal shutdown signal to the T-BOX. When the normal shutdown signal is remotely sent, the signal receiver of the sanitation vehicle sends the received normal shutdown signal to the T-BOX. The T-BOX makes itself sleep according to the normal shutdown signal and powers off other modules of the sanitation vehicle. At this time, the sanitation vehicle also enters the Off mode.

[0074] The mode switching method of Mode Switching Six includes that when the sanitation vehicle is in the Offline mode and the data processing and storage are completed, the T-BOX disconnects the first relay, and the main controller of autonomous driving powers off and stops running, and the sanitation vehicle enters the Off mode;

[0075] The mode switching method of Mode Switching Seven includes that when the sanitation vehicle is in the Offline mode and the data processing and storage are not completed yet, if the T-BOX receives a new operation instruction signal of the sanitation vehicle, it makes the VCU power on and run. The VCU further controls the fourth relay and the fifth relay to make the low-voltage system and the high-voltage system of the sanitation vehicle in the power-on and operable state. At this time, the sanitation vehicle enters the Ready mode.

[0076] The mode switching method of Mode Switching Eight includes that when the sanitation vehicle is in the Off mode, if the BMS detects that the charging cable is connected to the battery module, it sends the charging state to the T-BOX through the CAN bus. The T-BOX disconnects the first relay, the second relay, and the third relay, and other modules except the BMS and the battery module stop running, and the sanitation vehicle enters the Charge mode;

[0077] The mode switching method of Mode Switching Nine includes that when the sanitation vehicle is in the Charge mode, if the BMS detects that the charging cable is removed from the battery module, it sends the end-of-charge state to the T-BOX through the CAN bus. The T-BOX makes itself sleep and powers off other modules of the sanitation vehicle. At this time, the sanitation vehicle enters the Off mode.

[0078] The embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to this. Various changes can be made without departing from the spirit of the present invention within the knowledge scope of those skilled in the art to which the present invention pertains.

Claims

1. A working mode control system for an autonomous new energy sanitation vehicle, characterized in that It includes a T-BOX, a start switch, an emergency switch, a signal receiver, an autonomous driving main controller, a first relay, an auxiliary function module, a second relay, a VCU, a third relay, a mode switch, a low-voltage system of a sanitation vehicle, a fourth relay, a high-voltage system of a sanitation vehicle, a fifth relay, a CAN bus, a BMS, and a battery module; The T-BOX is respectively connected to the start switch, the emergency switch, the signal receiver, the first relay, the second relay, the third relay, and the CAN bus, and is used for controlling vehicle communication; the start switch is used for normally starting or shutting down the sanitation vehicle; the emergency switch is used for emergently shutting down the sanitation vehicle; the signal receiver is used for receiving a remote normal start signal, a normal shutdown signal, or an emergency shutdown signal; the CAN bus is used for in-vehicle communication between the T-BOX and the VCU and between the T-BOX and the BMS; The autonomous driving main controller is connected to the first relay and is used for controlling the autonomous driving of the sanitation vehicle; The auxiliary function module is connected to the second relay and is used for assisting the autonomous driving of the sanitation vehicle; The VCU is connected to the mode switch, the third relay, the fourth relay, the fifth relay, and the CAN bus and is used for controlling the sanitation vehicle as a whole; the mode switch is used for controlling the driving mode of the sanitation vehicle; The low-voltage system of the sanitation vehicle is connected to the fourth relay, and the high-voltage system of the sanitation vehicle is connected to the fifth relay; The BMS is connected to the CAN bus and the battery module and is used for managing the battery module; The auxiliary function module includes a sensing unit and a voice unit, and the sensing unit includes a radar and a camera; The low-voltage system of the sanitation vehicle includes a low-voltage relay, a solenoid valve, a lighting function module, an instrument function module, a braking function module, a steering function module, a parking function module, a low-voltage waterway operation module, and a low-voltage pneumatic operation module; The high-voltage system of the sanitation vehicle includes a motor driver, a high-voltage blower, a high-voltage water pump, a sweeping disk, and an air conditioner; The T-BOX controls the power-on and power-off of the autonomous driving main controller by controlling the closing or opening of the first relay; the T-BOX controls the power-on and power-off of the auxiliary function module by controlling the closing or opening of the second relay; the T-BOX controls the power-on and power-off of the VCU by controlling the closing or opening of the third relay; The VCU controls the power-on and power-off of the low-voltage system of the sanitation vehicle by controlling the closing or opening of the fourth relay; the VCU controls the power-on and power-off of the high-voltage system of the sanitation vehicle by controlling the closing or opening of the fifth relay.

2. The working mode control system of the new energy sanitation vehicle for autonomous driving according to claim 1, characterized in that, The mode switch includes an autonomous driving gear and a manual driving gear; when the mode switch is in the autonomous driving gear, it sends an autonomous driving gear signal to the VCU; when the mode switch is in the manual driving gear, it sends a manual driving gear signal to the VCU.

3. The working mode control system of the new energy autonomous sanitation vehicle according to claim 1, wherein The T-BOX realizes independent control of the autonomous driving main controller and the auxiliary function module by respectively controlling the closing or opening of the first relay and the second relay according to different working condition requirements of the sanitation vehicle.

4. A control method for the working mode of an autonomous new energy sanitation vehicle, which is applied to the working mode control system of the autonomous new energy sanitation vehicle according to any one of claims 1 to 3, characterized in that, It includes four working modes, namely Off mode, Ready mode, Driving mode, Offline mode and Charge mode; When the sanitation vehicle is in the Off mode, the T-BOX is in the sleep state, and all other modules of the sanitation vehicle are in the powered-off state; when the sanitation vehicle is in the Ready mode, the T-BOX works normally, the VCU is powered on and running, and both the low-voltage system and the high-voltage system of the sanitation vehicle are in the powered-on and operable state; when the sanitation vehicle is in the Driving mode, the sanitation vehicle is in autonomous driving or manual driving; when the sanitation vehicle is in the Offline mode, data processing and storage are performed; when the sanitation vehicle is in the Charge mode, the battery module is charged; The working mode switching of the sanitation vehicle includes: Mode switching one: switching from the Off mode to the Ready mode; Mode switching two: switching from the Ready mode to the Off mode; Mode switching three: switching from the Ready mode to the Driving mode; Mode switching four: switching from the Driving mode to the Offline mode; Mode switching five: switching from the Driving mode to the Off mode; Mode switching six: switching from the Offline mode to the Off mode; Mode switching seven: switching from the Offline mode to the Ready mode; Mode switching eight: switching from the Off mode to the Charge mode; Mode switching nine: switching from the Charge mode to the Off mode.

5. The control method for the working mode of the new energy autonomous sanitation vehicle according to claim 4, wherein, The mode switching method of the mode switching one includes that when the sanitation vehicle is in the Off mode, closing the start switch or remotely sending a normal start signal; when the start switch is closed, the start switch sends a normal start signal to the T-BOX, and when the normal start signal is remotely sent, the signal receiver of the sanitation vehicle sends the received normal start signal to the T-BOX; after receiving the normal start signal, the T-BOX closes the first relay to power on the VCU for operation; the VCU further controls the fourth relay and the fifth relay to make the low-voltage system and the high-voltage system of the sanitation vehicle in the powered-on and operable state; at this time, the sanitation vehicle enters the Ready mode.

6. The working mode control method of the new energy sanitation vehicle for autonomous driving according to claim 4, wherein, The mode switching method of the mode switching two includes that when the sanitation vehicle is in the Ready mode, disconnecting the start switch or remotely sending a normal shutdown signal; when the start switch is disconnected, the start switch sends a normal shutdown signal to the T-BOX, and when the normal shutdown signal is remotely sent, the signal receiver of the sanitation vehicle sends the received normal shutdown signal to the T-BOX; after receiving the normal shutdown signal, the T-BOX disconnects the first relay to make the VCU in the sleep state; other modules of the sanitation vehicle are in the powered-off state; at this time, the sanitation vehicle enters the Off mode.

7. The working mode control method of the new energy autonomous sanitation vehicle according to claim 4, characterized in that, The mode switching method of Mode Switching Three includes that when the sanitation vehicle is in the Ready mode, the mode switch is turned to the manual driving gear or the autonomous driving gear; when the mode switch is turned to the manual driving gear, the mode switch sends the manual driving gear signal to the VCU, and the VCU then sends the manual driving gear through the CAN bus to the T-BOX, and the T-BOX commands the sanitation vehicle to enter the manual driving mode; when the mode switch is turned to the autonomous driving gear, the mode switch sends the autonomous driving gear signal to the VCU, and the VCU then sends the autonomous driving gear through the CAN bus to the T-BOX, and the T-BOX then commands the first relay to close to power on and operate the autonomous driving main controller. At the same time, the T-BOX can command the second relay to close to power on and operate the auxiliary function module according to the working condition requirements, and the sanitation vehicle enters the autonomous driving mode; Whether it is the manual driving mode or the autonomous driving mode, at this time the sanitation vehicle enters the Driving mode.

8. The working mode control method of the new energy autonomous sanitation vehicle according to claim 4, characterized in that, The mode switching method of Mode Switching Four includes that when the sanitation vehicle is in the Driving mode and in the autonomous driving mode, after an autonomous driving task is completed, the sanitation vehicle stops automatically; the T-BOX commands the first relay to remain closed, and the autonomous driving main controller continues to operate for data processing and storage; other modules of the sanitation vehicle are in the power-off state; at this time the sanitation vehicle enters the Offline mode.

9. The control method for the working mode of the new energy autonomous sanitation vehicle according to claim 4, wherein The mode switching method of Mode Switching Five includes that when the sanitation vehicle is in the Driving mode, the emergency switch is closed or an emergency shutdown signal is remotely sent. When the emergency switch is closed, the emergency switch sends an emergency shutdown signal to the T-BOX. When the emergency shutdown signal is remotely sent, the signal receiver of the sanitation vehicle sends the received emergency shutdown signal to the T-BOX. The T-BOX commands itself to sleep and powers off other modules of the sanitation vehicle according to the emergency shutdown signal. At this time the sanitation vehicle enters the Off mode; or when the sanitation vehicle is in the Driving mode and in the manual driving mode, the start switch is disconnected or a normal shutdown signal is remotely sent. When the start switch is disconnected, the start switch sends a normal shutdown signal to the T-BOX. When the normal shutdown signal is remotely sent, the signal receiver of the sanitation vehicle sends the received normal shutdown signal to the T-BOX. The T-BOX commands itself to sleep and powers off other modules of the sanitation vehicle according to the normal shutdown signal. At this time the sanitation vehicle also enters the Off mode.

10. The control method for the working mode of the new energy autonomous sanitation vehicle according to claim 4, wherein The mode switching method of Mode Switching Six includes that when the sanitation vehicle is in the Offline mode and the data processing and storage are completed, the T-BOX commands the first relay to disconnect, and the autonomous driving main controller powers off and stops operating, and the sanitation vehicle enters the Off mode.

11. The control method for the working mode of the new energy autonomous sanitation vehicle according to claim 4, characterized in that, The mode switching method of Mode Switching Seven includes that when the sanitation vehicle is in the Offline mode and the data processing and storage have not been completed, if the T-BOX receives a new sanitation vehicle operation instruction signal, it commands the VCU to power on and operate, and the VCU further controls the fourth relay and the fifth relay to make the low-voltage system and the high-voltage system of the sanitation vehicle in the power-on and operable state. At this time the sanitation vehicle enters the Ready mode.

12. The control method for the working mode of an autonomous new energy sanitation vehicle according to claim 4, characterized in that, The mode switching method of the mode switching eight includes that when the sanitation vehicle is in the Off mode, if the BMS detects that the charging cable is connected to the battery module, it sends the charging state to the T-BOX through the CAN bus. The T-BOX disconnects the first relay, the second relay, and the third relay, and other modules except the BMS and the battery module stop operating, and the sanitation vehicle enters the Charge mode.

13. The working mode control method of the new energy autonomous sanitation vehicle according to claim 4, characterized in that The mode switching method of the mode switching nine includes that when the sanitation vehicle is in the Charge mode, if the BMS detects that the charging cable is removed from the battery module, it sends the end-of-charging state to the T-BOX through the CAN bus. The T-BOX puts itself into sleep mode and powers off other modules of the sanitation vehicle. At this time, the sanitation vehicle enters the Off mode.

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