Battery replacement control device of automatic driving vehicle

Abstract

The invention belongs to the technical field of automatic driving, and particularly relates to a battery replacement control device of an automatic driving vehicle, which comprises an information processor, an environment information acquisition unit, an electric quantity supervision unit, a vehicle positioning unit, a station selection unit, a path planning management unit, an automatic parking unit, a data transmission unit and a remote monitoring center, the information processor is used for analyzing and processing the data information; a vehicle is positioned through the environment information acquisition unit and the vehicle positioning unit, according to the position of a charging station and the position of the vehicle, the path planning management unit is used for planning the moving path of charging of the vehicle, then the vehicle is driven to the charging station through the automatic parking unit, and when the vehicle is driven automatically, the vehicle is automatically parked. Vehicle information is transmitted to the remote monitoring center through the data transmission unit, remote manual control can be switched through the remote monitoring center, and the automatic driving vehicle can conveniently run to a charging station for battery replacement.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a battery replacement control device for an autonomous driving vehicle. Background Art

[0002] Autonomous vehicles (Self-driving automobiles), also known as driverless cars, computer-driven cars, or wheeled mobile robots, are intelligent cars that are unmanned by computer systems. They have been around for decades in the 20th century and are approaching practical use in the early 21st century.

[0003] Self-driving cars rely on artificial intelligence, visual computing, radar, monitoring devices and global positioning systems to work together, allowing computers to automatically and safely operate motor vehicles without any active human operation.

[0004] The car's self-driving technology includes video cameras, radar sensors and laser rangefinders to understand the surrounding traffic conditions and navigate the road ahead through a detailed map (collected by a manned car).

[0005] For new energy vehicles currently on the market, when replacing batteries, the driver needs to drive the vehicle to the designated location of the battery replacement station and successfully locate the location before starting the battery replacement. For L4 unmanned new energy vehicles, a driver is required to complete the battery replacement operation, which undoubtedly wastes manpower and has problems such as low battery replacement efficiency.

[0006] To this end, the present application proposes a battery replacement control device for an autonomous driving vehicle. Summary of the invention

[0007] The purpose of this section is to summarize some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0008] The present invention is proposed in view of the above-mentioned problems and / or problems existing in the battery replacement control devices of existing autonomous driving vehicles.

[0009] Therefore, the purpose of the present invention is to provide a battery replacement control device for an autonomous driving vehicle, which locates the vehicle through an environmental information collection unit and a vehicle positioning unit, and plans the mobile path for charging the vehicle using a path planning management unit according to the location of the charging station and the vehicle's own location. The vehicle then drives to the charging station through an automatic parking unit. When the vehicle is driving automatically, vehicle information is transmitted to a remote monitoring center through a data transmission unit, and remote manual control can be switched through the remote monitoring center, making it convenient for the autonomous driving vehicle to drive to the charging station for battery replacement.

[0010] To solve the above technical problems, according to one aspect of the present invention, the present invention provides the following technical solutions:

[0011] A battery replacement control device for an autonomous driving vehicle, comprising:

[0012] An information processor, used to analyze and process data information;

[0013] An environmental information collection unit, connected to the information processor, for collecting environmental information surrounding the vehicle;

[0014] A power supervision unit, connected to the information processor, for managing the battery of the vehicle;

[0015] A vehicle positioning unit, connected to the information processor, for performing positioning analysis on the vehicle itself;

[0016] A site selection unit, connected to the information processor, for detecting and selecting the status of a charging site;

[0017] A path planning management unit, connected to the site selection unit, for planning a vehicle action route according to the selected charging site;

[0018] An automatic parking unit, connected to the path planning management unit, is used to automatically park the vehicle according to the planned route and move the vehicle to a charging station;

[0019] A data transmission unit, connected to the information processor, for performing wireless transmission of data;

[0020] The remote monitoring center is connected to the data transmission unit and is used to perform remote supervision and control of the vehicle.

[0021] As a preferred solution of the battery replacement control device of an autonomous driving vehicle described in the present invention, the environmental information acquisition unit includes an external image acquisition module, an infrared ranging module and a surround radar module. The external image acquisition module is used to collect image information of the external environment of the vehicle, the infrared ranging module is used to measure the distance information between the vehicle and the surrounding environment through infrared rays, and the surround radar module is used to detect objects in the surrounding environment of the vehicle using body radar.

[0022] As a preferred solution of the battery replacement control device of an autonomous driving vehicle described in the present invention, wherein: the power supervision unit includes a remaining power monitoring module, a charging control circuit, a temperature control module and a charging recording module, the remaining power monitoring module is used to detect the remaining power of the battery, the charging control circuit is used to act as a control circuit during vehicle charging and discharging, the temperature control module is used to perform heat dissipation and cooling of the battery through a radiator, and the charging recording module is used to record the charging time and number of charging times of the vehicle.

[0023] As a preferred solution of the battery replacement control device of an autonomous driving vehicle described in the present invention, the vehicle positioning unit includes a GPS positioning module, a laser positioning module and an image analysis module. The GPS positioning module is used to locate the vehicle itself through GPS, the laser positioning module is used to detect and locate the vehicle's moving position through laser, and the image analysis module is used to analyze and process the surrounding environmental image information.

[0024] As a preferred solution of the battery replacement control device of an autonomous driving vehicle described in the present invention, the site selection unit includes a site vacancy detection module, a site matching module and a site selection module. The site vacancy detection module is used to detect the occupation and vacancy status of the charging site, the site matching module is used to match the locations of vacant charging sites, and the site selection module is used to select a charging site based on the matching results.

[0025] As a preferred solution of the battery replacement control device for an autonomous driving vehicle described in the present invention, the external image acquisition module adopts a high-definition camera, and the infrared ranging module is arranged on the vehicle chassis.

[0026] As a preferred solution of the battery replacement control device of an autonomous driving vehicle described in the present invention, the temperature control module includes a temperature detection module, a radiator and a temperature controller, the temperature detection module is used to detect the battery operating temperature, and the temperature controller is used to control the radiator operation according to the detected temperature.

[0027] As a preferred solution of the battery replacement control device for an autonomous driving vehicle described in the present invention, the image analysis module receives image information from an external image acquisition module and compares the image information to match the vehicle with the environmental position.

[0028] As a preferred solution of the battery replacement control device for an autonomous driving vehicle described in the present invention, the site selection module selects a suitable site that can be reached based on the vehicle model, the fault status of the charging site and the remaining power of the vehicle.

[0029] As a preferred solution of the battery replacement control device for an autonomous driving vehicle described in the present invention, the data transmission unit uses wireless signals for data transmission.

[0030] Compared with the prior art: the present invention monitors the vehicle's own power through a power monitoring unit. When the power is low, the vehicle moves to the charging station, selects a suitable charging station using the station selection unit, locates the vehicle through the environmental information collection unit and the vehicle positioning unit, and plans the moving path for vehicle charging according to the location of the charging station and the vehicle's own location using the path planning management unit. After that, the vehicle drives the vehicle to the charging station through the automatic parking unit. When the vehicle is driving automatically, the vehicle information is transmitted to the remote monitoring center through the data transmission unit, and remote manual control can be switched through the remote monitoring center, which is convenient for the automatic driving vehicle to drive to the charging station for battery replacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention will be described in detail below in combination with the accompanying drawings and detailed embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0032] Figure 1 It is a schematic diagram of the structure of the control system of the present invention;

[0033] Figure 2 This is a schematic diagram of the structure of the environmental information collection unit of the present invention;

[0034] Figure 3 This is a schematic diagram of the structure of the power monitoring unit of the present invention;

[0035] Figure 4 This is a schematic diagram of the structure of a vehicle positioning unit of the present invention;

[0036] Figure 5 This is a schematic diagram of the site selection unit structure of the present invention.

[0037] In the figure: 100 information processor, 200 environmental information acquisition unit, 210 external image acquisition module, 220 infrared ranging module, 230 surround radar module, 300 power supervision unit, 310 remaining monitoring module, 320 charging control circuit, 330 temperature control module, 340 charging record module, 400 vehicle positioning unit, 410 GPS positioning module, 420 laser positioning module, 430 image analysis module, 500 site selection unit, 510 site vacancy detection module, 520 site matching module, 530 site selection module, 600 path planning management unit, 700 automatic parking unit, 800 data transmission unit, 900 remote monitoring center. DETAILED DESCRIPTION

[0038] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0039] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0040] Secondly, the present invention is described in detail with reference to schematic diagrams. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0041] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0042] The present invention provides a battery replacement control device for an autonomous driving vehicle. The vehicle is positioned through an environmental information collection unit and a vehicle positioning unit. The vehicle is planned for a moving path for charging the vehicle using a path planning management unit according to the location of the charging station and the vehicle's own location. The vehicle then drives to the charging station through an automatic parking unit. When the vehicle drives automatically, the vehicle information is transmitted to a remote monitoring center through a data transmission unit. The remote monitoring center can switch to remote manual control, which is convenient for the autonomous driving vehicle to drive to the charging station for battery replacement. Please refer to Figure 1-Figure 5 , including: an information processor 100, an environmental information collection unit 200, a power supervision unit 300, a vehicle positioning unit 400, a site selection unit 500, a path planning management unit 600, an automatic parking unit 700, a data transmission unit 800 and a remote monitoring center 900.

[0043] The information processor 100 is used to analyze and process data information;

[0044] The environment information collection unit 200 is connected to the information processor 100 and is used to collect the vehicle surrounding environment information;

[0045] The environment information acquisition unit 200 includes an external image acquisition module 210, an infrared ranging module 220 and a surround radar module 230. The external image acquisition module 210 is used to collect image information of the external environment of the vehicle, the infrared ranging module 220 is used to measure the distance information between the vehicle and the surrounding environment by infrared rays, and the surround radar module 230 is used to detect objects in the surrounding environment of the vehicle by using the body radar;

[0046] Specifically, the external image acquisition module 210 uses a high-definition camera, and the infrared ranging module 220 is set on the vehicle chassis.

[0047] The power supervision unit 300 is connected to the information processor 100 and is used to manage the battery of the vehicle;

[0048] Among them, the power supervision unit 300 includes a remaining power monitoring module 310, a charging control circuit 320, a temperature control module 330 and a charging recording module 340. The remaining power monitoring module 310 is used to detect the remaining power of the battery, the charging control circuit 320 is used to act as a control circuit during vehicle charging and discharging, the temperature control module 330 is used to perform heat dissipation and cooling of the battery through a radiator, and the charging recording module 340 is used to record the charging time and number of charging times of the vehicle.

[0049] Specifically, the temperature control module 330 includes a temperature detection module, a radiator and a temperature controller. The temperature detection module is used to detect the operating temperature of the battery, and the temperature controller is used to control the operation of the radiator according to the detected temperature.

[0050] The vehicle positioning unit 400 is connected to the information processor 100 and is used to perform positioning analysis on the vehicle itself;

[0051] The vehicle positioning unit 400 includes a GPS positioning module 410, a laser positioning module 420 and an image analysis module 430. The GPS positioning module 410 is used to perform positioning of the vehicle itself through GPS, the laser positioning module 420 is used to perform detection and positioning of the vehicle's moving position through laser, and the image analysis module 430 is used to perform analysis and processing of the surrounding environment image information;

[0052] Specifically, the image analysis module 430 receives the image information from the external image acquisition module 210 and compares the image information to match the vehicle with the environment.

[0053] The site selection unit 500 is connected to the information processor 100 and is used to detect and select the state of the charging site;

[0054] The site selection unit 500 includes a site vacancy detection module 510, a site matching module 520 and a site selection module 530. The site vacancy detection module 510 is used to detect the occupation and vacancy status of the charging site, the site matching module 520 is used to match the location of the vacant charging site, and the site selection module 530 is used to select the charging site according to the matching result.

[0055] Specifically, the site selection module 530 selects a suitable site that can be reached according to the vehicle model, the fault status of the charging site, and the remaining power of the vehicle.

[0056] The route planning management unit 600 is connected to the site selection unit 500 and is used to plan the vehicle route according to the selected charging site.

[0057] Among them, vehicle path planning algorithms are a crucial component in autonomous driving and intelligent transportation systems. They are used to determine the optimal or shortest path for a vehicle from its starting point to its destination, while taking into account various constraints and optimization goals. The following are common vehicle path planning algorithms and their characteristics:

[0058] Dijkstra algorithm: This is one of the classic algorithms for the shortest path algorithm, proposed by EWDijkstra in 1959. It is suitable for calculating the shortest path problem where the road weights are all non-negative, and can give the shortest path from a node to all other nodes in the graph. The Dijkstra algorithm is known for its clear thinking and accurate search, but its disadvantage is that the input is a large sparse matrix, which is time-consuming and occupies a large space. Its algorithm complexity is O(n2), where n is the number of nodes1.

[0059] Lee algorithm: Compared with Dijkstra algorithm, Lee algorithm is more suitable for road path planning with ever-changing data and has a lower running cost. As long as the best path exists, the algorithm can find the best optimized path. However, the complexity of Lee algorithm is difficult to express, and it requires a large space for multi-layer path planning1.

[0060] Floyd algorithm (Floyd-Warshall algorithm): proposed by Floyd in 1962, it is used to calculate the shortest distance between any two points in a graph. This algorithm can correctly handle the shortest path problem of directed graphs or negative weights, and is also used to calculate the transitive closure of directed graphs. The time complexity of Floyd's algorithm is O(n3) and the space complexity is O(n2), where n is the number of nodes1.

[0061] Sampling-based planning (SBP) algorithm: including Rapid Exploration Random Tree (RRT), etc., which builds connections by generating random paths inside the C space. The main idea of ​​the RRT algorithm is to incrementally build the path between the starting point and the end point with random tree branches, which is called a probabilistic complete algorithm.

[0062] The automatic parking unit 700 is connected to the path planning management unit 600, and is used to automatically park the vehicle according to the planned route and move the vehicle to the charging station;

[0063] The data transmission unit 800 is connected to the information processor 100 and is used to perform wireless transmission of data; the data transmission unit 800 uses wireless signals to transmit data.

[0064] The remote monitoring center 900 is connected to the data transmission unit 800 and is used to perform remote supervision and control of the vehicle.

[0065] During specific use, the vehicle's own power is monitored by the power monitoring unit 300. When the power is low, the vehicle moves to the charging station, and the station selection unit 500 is used to select a suitable charging station. The vehicle is positioned by the environmental information collection unit 200 and the vehicle positioning unit 400. The path planning management unit 600 plans the moving path for vehicle charging according to the location of the charging station and the location of the vehicle itself. The vehicle then drives to the charging station through the automatic parking unit 700. When the vehicle is driving automatically, the vehicle information is transmitted to the remote monitoring center 900 through the data transmission unit 800. The remote manual control can be switched through the remote monitoring center 900, which is convenient for the automatic driving vehicle to drive to the charging station for battery replacement.

[0066] Although the present invention has been described above with reference to the embodiments, various modifications may be made thereto and parts thereof may be replaced by equivalents without departing from the scope of the present invention. In particular, as long as there is no structural conflict, the various features in the embodiments disclosed in the present invention may be used in combination with each other in any manner, and the fact that these combinations are not exhaustively described in this specification is only for the sake of omitting space and saving resources. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A battery replacement control device for an autonomous driving vehicle, characterized in that: include: An information processor (100), used for analyzing and processing data information; An environmental information collection unit (200), connected to the information processor (100), and used to collect environmental information surrounding the vehicle; A power supervision unit (300), connected to the information processor (100), and used to manage the battery of the vehicle; A vehicle positioning unit (400), connected to the information processor (100), for performing positioning analysis on the vehicle itself; A site selection unit (500), connected to the information processor (100), for detecting and selecting the state of a charging site; A route planning management unit (600), connected to the site selection unit (500), and used to plan a vehicle route according to the selected charging site; An automatic parking unit (700), connected to the path planning management unit (600), is used to automatically park the vehicle according to the planned route and move the vehicle to a charging station; A data transmission unit (800), connected to the information processor (100), and used to perform wireless transmission of data; The remote monitoring center (900) is connected to the data transmission unit (800) and is used to perform remote supervision and control of the vehicle.

2. The battery replacement control device for an autonomous driving vehicle according to claim 1, characterized in that: The environmental information acquisition unit (200) comprises an external image acquisition module (210), an infrared distance measurement module (220) and a surround radar module (230), wherein the external image acquisition module (210) is used to acquire image information of the external environment of the vehicle, the infrared distance measurement module (220) is used to measure the distance information between the vehicle and the surrounding environment by infrared rays, and the surround radar module (230) is used to detect objects in the surrounding environment of the vehicle by using a vehicle body radar.

3. The battery replacement control device for an autonomous driving vehicle according to claim 1, characterized in that: The power supervision unit (300) comprises a remaining power monitoring module (310), a charging control circuit (320), a temperature control module (330) and a charging recording module (340); the remaining power monitoring module (310) is used to detect the remaining power of the battery; the charging control circuit (320) is used to act as a control circuit when the vehicle is charged or discharged; the temperature control module (330) is used to perform heat dissipation and cooling of the battery through a radiator; and the charging recording module (340) is used to record the charging time and number of times the vehicle is charged.

4. The battery replacement control device for an autonomous driving vehicle according to claim 1, characterized in that: The vehicle positioning unit (400) comprises a GPS positioning module (410), a laser positioning module (420) and an image analysis module (430); the GPS positioning module (410) is used to perform positioning of the vehicle itself through GPS, the laser positioning module (420) is used to perform detection and positioning of the vehicle's moving position through laser, and the image analysis module (430) is used to perform analysis and processing of surrounding environment image information.

5. The battery replacement control device for an autonomous driving vehicle according to claim 1, characterized in that: The site selection unit (500) comprises a site vacancy detection module (510), a site matching module (520) and a site selection module (530), wherein the site vacancy detection module (510) is used to detect the occupied and vacant states of a charging site, the site matching module (520) is used to match the locations of vacant charging sites, and the site selection module (530) is used to select a charging site according to the matching result.

6. The battery replacement control device for an autonomous driving vehicle according to claim 2, characterized in that: The external image acquisition module (210) adopts a high-definition camera, and the infrared distance measurement module (220) is arranged on the vehicle chassis.

7. The battery replacement control device for an autonomous driving vehicle according to claim 3, characterized in that: The temperature control module (330) comprises a temperature detection module, a radiator and a temperature controller. The temperature detection module is used to detect the operating temperature of the battery, and the temperature controller is used to control the operation of the radiator according to the detected temperature.

8. The battery replacement control device for an autonomous driving vehicle according to claim 4, characterized in that: The image analysis module (430) receives image information from the external image acquisition module (210) and compares the image information to match the vehicle with the environment.

9. The battery replacement control device for an autonomous driving vehicle according to claim 5, characterized in that: The site selection module (530) selects a suitable site that can be reached according to the vehicle model, the fault status of the charging site and the remaining power of the vehicle.

10. The battery replacement control device for an autonomous driving vehicle according to claim 1, characterized in that: The data transmission unit (800) uses wireless signals to perform data transmission.

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