Automatic driving vehicle and temperature control device and method of calculation unit of automatic driving vehicle

Abstract

The invention belongs to the technical field of heating and heat dissipation, and particularly relates to an automatic driving vehicle and a temperature control device and method for a calculation unit of the automatic driving vehicle. The method comprises the steps that before a vehicle is started, the temperature of a calculation unit of the automatic driving vehicle is obtained; when the temperature is smaller than a first threshold value, the driving motor is controlled to be started in a locked-rotor mode, heat generated by locked-rotor of the driving motor is used for heating an automatic driving vehicle calculation unit, and when the temperature of the automatic driving vehicle calculation unit reaches a second threshold value, the driving motor is controlled to be stopped in a locked-rotor mode, and the vehicle is started; the second threshold value is the lowest temperature of normal starting of the calculation unit, after the vehicle is started, waste heat generated in the working process of the driving motor and / or other electrical parts in the automatic driving vehicle is used for continuously heating the calculation unit, and therefore the motor stalling time is shortened while the calculation unit is rapidly heated; the vehicle can be quickly started at extremely low temperature in the morning in a cold region, the vehicle using experience of a driver and passengers is improved, and the service life of the motor is prolonged.

Description

Technical Field

[0001] The present invention belongs to the technical field of heating and heat dissipation, and specifically relates to a temperature control device and method for an autonomous driving vehicle and a computing unit of the autonomous driving vehicle. Background Art

[0002] With the rapid development of science and technology and the improvement of people's living standards, new means of transportation and travel modes are constantly emerging. Autonomous driving and vehicle networking technology have become the core competitiveness of intelligent networking technology for automobiles. Among them, the computing unit is an important part of autonomous driving vehicles. It is greatly affected by temperature. The performance of the computing unit of autonomous driving vehicles will be significantly reduced at low temperatures, and even affect the safe operation of autonomous driving in severe cases. Therefore, it is necessary to heat the computing unit of autonomous driving vehicles in a low temperature environment so that it can operate normally. The commonly used heating method is to use an electric heating device to heat the water circulation of the thermal management system, but this method has low heating efficiency. In the case of extremely low temperatures in the morning in cold areas in the north, it takes a long time to heat to reach the working temperature. The vehicle startup time is too slow, which affects the driver and passengers' car experience. Therefore, in order to improve the heating efficiency, the existing technology controls the drive motor to stall when the vehicle is parked, which is conducive to the heat generated by the motor stall to heat the computing unit, but the long-term stalling of the vehicle will damage the drive motor and affect the service life of the motor. Summary of the invention

[0003] The purpose of the present invention is to provide a temperature control device and method for an autonomous driving vehicle and a computing unit of an autonomous driving vehicle, so as to solve the problem that the existing heating method cannot simultaneously meet the requirements of high heating efficiency and low motor damage.

[0004] In order to solve the above technical problems, the present invention provides a temperature control method for a computing unit of an autonomous driving vehicle, comprising: obtaining the temperature of the computing unit of the autonomous driving vehicle before starting the vehicle; when the temperature is less than a first threshold, controlling the drive motor to be locked and turned on, using the heat generated by the drive motor to heat the computing unit of the autonomous driving vehicle, and when the temperature of the computing unit of the autonomous driving vehicle reaches a second threshold, controlling the drive motor to be locked and turned off and starting the vehicle; the second threshold is the minimum temperature for normal startup of the computing unit, and the first threshold is less than the second threshold; after the vehicle is started, using the waste heat generated by the drive motor and / or other electrical components in the autonomous driving vehicle to continuously heat the computing unit.

[0005] Furthermore, in the process of continuously heating the computing unit using the waste heat generated by the drive motor and / or other electrical components in the autonomous driving vehicle, if it is detected that the temperature of the computing unit of the autonomous driving vehicle is lower than a third threshold, the water heating pipes where the computing unit of the autonomous driving vehicle is located are heated by the electric heating unit, and when the temperature of the computing unit of the autonomous driving vehicle is greater than or equal to a fourth threshold, the electric heating unit is controlled to stop heating the water heating pipes where the computing unit of the autonomous driving vehicle is located; the third threshold is greater than the second threshold and less than the fourth threshold.

[0006] Furthermore, the method further includes: when it is detected that the stall time of the drive motor is greater than the set stall limit time and the temperature of the calculation unit is less than a first threshold value, controlling the drive motor to be stalled and shut down.

[0007] Furthermore, the temperature of the autonomous driving vehicle computing unit is the temperature of the water inlet of the autonomous driving vehicle computing unit in the water heating pipeline.

[0008] The beneficial effects of the above technical solution are as follows: the present invention is an improved invention, and before the automatic driving vehicle is started, the temperature of its computing unit is detected. When the temperature of the computing unit is less than the first threshold value, it indicates that the ambient temperature is extremely low. At this time, the motor is started to lock in order to quickly heat the computing unit. When the temperature is heated to the minimum temperature for normal startup of the computing unit, the motor lock control is exited and the vehicle is started to control the vehicle's driving, thereby quickly heating the computing unit while reducing the motor lock time. The vehicle can be quickly started in extremely low temperatures in the morning in cold areas, reducing the startup time, and then when the vehicle is running, the waste heat generated by the drive motor and / or other electrical parts in the automatic driving vehicle is used to continuously heat the computing unit, and the waste heat is used to make the computing unit work in a suitable temperature range, thereby reducing the consumption of the motor lock, improving the vehicle experience of the driver and passengers, and increasing the service life of the motor.

[0009] In order to solve the above technical problems, the present invention also provides a temperature control device for an autonomous driving vehicle computing unit, comprising a controller and a temperature sensor, wherein the temperature sensor is used to detect the temperature of the autonomous driving vehicle computing unit, and the controller is used to obtain the temperature of the autonomous driving vehicle computing unit detected by the temperature sensor when the vehicle starts, and when the temperature is less than a first threshold, control the drive motor to be locked and turned on, and use the heat generated by the drive motor being locked to heat the autonomous driving vehicle computing unit, and when the temperature of the autonomous driving vehicle computing unit reaches a second threshold, control the drive motor to be locked and turned off and start the vehicle; after the vehicle starts, the waste heat generated by the drive motor and / or other electrical parts in the autonomous driving vehicle is used to continuously heat the computing unit; wherein the second threshold is the lowest temperature for normal startup of the computing unit, and the first threshold is less than the second threshold.

[0010] Furthermore, in the process of continuously heating the computing unit using the waste heat generated by the drive motor and / or other electrical components in the autonomous driving vehicle, if the controller detects that the temperature of the computing unit of the autonomous driving vehicle is lower than a third threshold, the water heating pipe where the computing unit of the autonomous driving vehicle is located is heated by the electric heating unit, and the electric heating unit is controlled to stop heating the water heating pipe where the computing unit of the autonomous driving vehicle is located when the temperature of the computing unit of the autonomous driving vehicle is greater than or equal to a fourth threshold; the third threshold is greater than the second threshold and less than the fourth threshold.

[0011] Further, when the controller detects that the drive motor stall time is greater than the set stall limit time and the temperature of the calculation unit is less than the first threshold, the drive motor is controlled to be stalled and turned off.

[0012] Furthermore, the controller is a vehicle controller.

[0013] Furthermore, the temperature sensor is arranged at the water inlet of the autonomous driving vehicle computing unit in the water heating pipeline where the autonomous driving vehicle computing unit is located.

[0014] The beneficial effects of the above technical solution are as follows: the present invention is an improved invention, and before the automatic driving vehicle is started, the temperature of its computing unit is detected. When the temperature of the computing unit is less than the first threshold value, it indicates that the ambient temperature is extremely low. At this time, the motor is started to lock in order to quickly heat the computing unit. When the temperature is heated to the minimum temperature for normal startup of the computing unit, the motor lock control is exited and the vehicle is started to control the vehicle's driving, thereby quickly heating the computing unit while reducing the motor lock time. The vehicle can be quickly started in extremely low temperatures in the morning in cold areas, reducing the startup time, and then when the vehicle is running, the waste heat generated by the drive motor and / or other electrical parts in the automatic driving vehicle is used to continuously heat the computing unit, and the waste heat is used to make the computing unit work in a suitable temperature range, thereby reducing the consumption of the motor lock, improving the vehicle experience of the driver and passengers, and increasing the service life of the motor.

[0015] To solve the above technical problems, the present invention also provides an autonomous driving vehicle, including a drive motor, a computing unit, a temperature sensor and a controller. The temperature sensor is used to detect the temperature of the computing unit of the autonomous driving vehicle. The controller is used to execute computer program instructions based on the temperature of the computing unit of the autonomous driving vehicle to implement the steps in the temperature control method of the computing unit of an autonomous driving vehicle introduced above.

[0016] The beneficial effects of the above technical solution are as follows: the present invention is an improved invention, and before the automatic driving vehicle is started, the temperature of its computing unit is detected. When the temperature of the computing unit is less than the first threshold value, it indicates that the ambient temperature is extremely low. At this time, the motor is started to lock in order to quickly heat the computing unit. When the temperature is heated to the minimum temperature for normal startup of the computing unit, the motor lock control is exited and the vehicle is started to control the vehicle's driving, thereby quickly heating the computing unit while reducing the motor lock time. The vehicle can be quickly started in extremely low temperatures in the morning in cold areas, reducing the startup time, and then when the vehicle is running, the waste heat generated by the drive motor and / or other electrical parts in the automatic driving vehicle is used to continuously heat the computing unit, and the waste heat is used to make the computing unit work in a suitable temperature range, thereby reducing the consumption of the motor lock, improving the vehicle experience of the driver and passengers, and increasing the service life of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic diagram of the temperature control principle of the autonomous driving vehicle computing unit of an autonomous driving vehicle embodiment of the present invention; Figure 2 1 is a flow chart of temperature control of a computing unit of an autonomous driving vehicle according to an embodiment of the autonomous driving vehicle of the present invention. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solutions and advantages of the present invention more clear, the specific implementation methods of the present invention are further described below in conjunction with the accompanying drawings.

[0019] The present invention detects the temperature of the computing unit before the automatic driving vehicle is started. When the temperature of the computing unit is less than the first threshold value, it indicates that the ambient temperature is extremely low. At this time, the motor is started to lock up to quickly heat the computing unit. When the temperature reaches the minimum temperature for normal startup of the computing unit, the motor lock up control is exited and the vehicle is started to control the vehicle's driving. Then, when the vehicle is running, the residual heat generated by the driving motor and / or other electrical parts in the automatic driving vehicle is used to continuously heat the computing unit, thereby quickly heating the computing unit and reducing the motor lock up time. The vehicle can be quickly started at extremely low temperatures in the morning in cold areas, reducing the startup time from vehicle ignition to driving, improving the vehicle experience of the driver and passengers, and increasing the service life of the motor. There is no need to add a special controller heating circuit, effectively providing a suitable working range temperature for the computing unit, and the structural design is simple and low cost.

[0020] Autonomous Vehicle Embodiments An autonomous driving vehicle of the present invention includes a driving motor, a computing unit, a temperature sensor and a controller. The temperature sensor is used to detect the temperature of the computing unit of the autonomous driving vehicle. The controller is used to obtain the temperature of the computing unit of the autonomous driving vehicle detected by the temperature sensor. Based on the temperature of the computing unit of the autonomous driving vehicle, a temperature control method is implemented. The controller can be a separately set controller. In order to reduce costs, the whole vehicle controller can also be used for temperature control. The temperature control principle is as follows: Figure 1 As shown: Taking the cooling water pump of the thermal management system as the starting point, the water pump provides the motive force to pump the coolant to the motor controller, the drive motor and the computing unit respectively. The motor controller, the drive motor and the computing unit form three parallel water circuits. The coolant finally converges to the water inlet of the motor radiator and flows to the water pump from the radiator outlet. The temperature sensor is arranged in the water heating pipeline where the autonomous driving vehicle computing unit is located, such as between the computing unit and the cooling water pump. Preferably, the temperature sensor is arranged at the water inlet of the autonomous driving vehicle computing unit in the water heating pipeline where the autonomous driving vehicle computing unit is located, and the temperature of the water inlet of the autonomous driving vehicle computing unit is collected, and the collected temperature is used as the computing unit temperature. The temperature sensor can directly send the computing unit temperature message to the controller of the autonomous driving vehicle, and can also be connected to the controller of the air conditioner, and send the received computing unit temperature message to the controller of the autonomous driving vehicle through the controller of the air conditioner. The controller implements a temperature control method for the computing unit of an autonomous driving vehicle based on the computing unit temperature. The specific implementation process of the method is as follows. Figure 2 As shown, the following steps are included: 1. Before the vehicle is started, the temperature of the computing unit of the autonomous driving vehicle is obtained. Before starting means that the vehicle is ignited but not running, and the vehicle is in a stationary state, that is, the ON signal and the P gear signal are detected to ensure that the vehicle can enter the stall state when it is stationary.

[0021] 2. When the temperature is less than the first threshold, the drive motor is controlled to be locked and turned on, and the heat generated by the drive motor is used to heat the autonomous vehicle computing unit. When the temperature of the autonomous vehicle computing unit reaches the second threshold, the drive motor is controlled to be locked and turned off and the vehicle is started. Furthermore, after the drive motor is locked and turned off, the vehicle is started according to the instructions issued by the safety personnel on the vehicle to improve the safety of the autonomous vehicle. After the startup is completed, the gear is shifted to control the vehicle to drive; the second threshold is the lowest temperature for the normal startup of the computing unit.

[0022] When it is detected that the drive motor stall time is greater than the set stall limit time and the temperature of the calculation unit is less than the first threshold, it indicates that the motor stall function fails. At this time, the drive motor is controlled to shut down and a fault alarm is sent. The set time is customized according to the actual working conditions. For example, the set time is set to 30 minutes.

[0023] 3. After the vehicle is started, the waste heat generated by the drive motor and / or other electrical components in the autonomous driving vehicle is used to continuously heat the computing unit.

[0024] Among them, an electric heating unit (such as an electric heating tube) is arranged in front of the water inlet of the computing unit, and the waste heat generated during the operation of the driving motor and / or other electrical components in the autonomous driving vehicle is used to continuously heat the computing unit. If it is detected that the temperature of the autonomous driving vehicle computing unit is lower than the third threshold value, the water heating pipeline where the autonomous driving vehicle computing unit is located is heated by the electric heating unit, and when the temperature of the autonomous driving vehicle computing unit is greater than or equal to the fourth threshold value, the electric heating unit is controlled to stop heating the water heating pipeline where the autonomous driving vehicle computing unit is located.

[0025] When the temperature is lower than the first threshold, the vehicle's drive motor is locked to heat the water heating pipes and start the water circulation. When the temperature is too high and needs to be dissipated, the water circulation system takes away a certain amount of heat, thereby further controlling the temperature of the computing platform within a certain range and ensuring the safe operation of the autonomous driving vehicle.

[0026] The first threshold value T1 is less than the second threshold value T2 and less than the third threshold value T3 and less than the fourth threshold value T4, and each threshold value is determined based on experience. For example, in one embodiment, T1 is -10°C, T2 is -5°C, T3 is 0°C, and T4 is 5°C.

[0027] Method Embodiment The present invention provides a temperature control method for an autonomous driving vehicle computing unit. This method is the temperature control method for an autonomous driving vehicle computing unit described in the above autonomous driving vehicle embodiment and will not be described in detail here.

[0028] Device Embodiment A temperature control device for an autonomous driving vehicle computing unit of the present invention includes a controller and a temperature sensor. The temperature sensor is used to detect the temperature of the autonomous driving vehicle computing unit. The controller is used to implement a temperature control method for an autonomous driving vehicle computing unit according to the temperature of the computing unit as described in an embodiment of the autonomous driving vehicle.

Claims

1. A temperature control method for a computing unit of an autonomous driving vehicle, characterized in that: include: Before the vehicle is started, obtain the temperature of the autonomous driving vehicle computing unit; When the temperature is less than a first threshold, the drive motor is controlled to be locked and turned on, and the heat generated by the drive motor is used to heat the autonomous driving vehicle computing unit, and when the temperature of the autonomous driving vehicle computing unit reaches a second threshold, the drive motor is controlled to be locked and turned off and the vehicle is started; The second threshold is the lowest temperature at which the computing unit starts normally, and the first threshold is less than the second threshold; After the vehicle is started, the waste heat generated by the operation of the drive motor and / or other electrical components in the autonomous vehicle is used to continuously heat the computing unit.

2. The temperature control method of the computing unit of the autonomous driving vehicle according to claim 1, characterized in that: In the process of continuously heating the computing unit using the waste heat generated by the operation of the drive motor and / or other electrical components in the autonomous driving vehicle, if it is detected that the temperature of the computing unit of the autonomous driving vehicle is lower than a third threshold, the water heating pipes where the computing unit of the autonomous driving vehicle is located are heated by the electric heating unit, and when the temperature of the computing unit of the autonomous driving vehicle is greater than or equal to a fourth threshold, the electric heating unit is controlled to stop heating the water heating pipes where the computing unit of the autonomous driving vehicle is located; the third threshold is greater than the second threshold and less than the fourth threshold.

3. The temperature control method of the computing unit of the autonomous driving vehicle according to claim 1 or 2, characterized in that: The method further includes: when it is detected that the stall time of the driving motor is greater than the set stall limit time and the temperature of the calculation unit is less than a first threshold, controlling the driving motor to be stalled and shut down.

4. The temperature control method of the computing unit of the autonomous driving vehicle according to claim 1, characterized in that: The temperature of the autonomous driving vehicle computing unit is the temperature of the water inlet of the autonomous driving vehicle computing unit in the water heating pipeline.

5. A temperature control device for a computing unit of an autonomous driving vehicle, comprising a controller and a temperature sensor, characterized in that: The temperature sensor is used to detect the temperature of the autonomous driving vehicle computing unit. The controller is used to obtain the temperature of the autonomous driving vehicle computing unit detected by the temperature sensor before the vehicle is started. When the temperature is less than a first threshold, the drive motor is controlled to be locked and turned on, and the heat generated by the drive motor being locked is used to heat the autonomous driving vehicle computing unit. When the temperature of the autonomous driving vehicle computing unit reaches a second threshold, the drive motor is controlled to be locked and turned off to start the vehicle. After the vehicle is started, the waste heat generated by the drive motor and / or other electrical components in the autonomous driving vehicle is used to continuously heat the computing unit; wherein the second threshold is the lowest temperature for normal startup of the computing unit, and the first threshold is less than the second threshold.

6. The temperature control device of the computing unit of the autonomous driving vehicle according to claim 5, characterized in that: When utilizing the waste heat generated by the operation of the driving motor and / or other electrical components in the autonomous driving vehicle to continuously heat the computing unit, if the controller detects that the temperature of the computing unit of the autonomous driving vehicle is lower than a third threshold, the controller heats the water heating pipes where the computing unit of the autonomous driving vehicle is located through the electric heating unit, and controls the electric heating unit to stop heating the water heating pipes where the computing unit of the autonomous driving vehicle is located when the temperature of the computing unit of the autonomous driving vehicle is greater than or equal to a fourth threshold; the third threshold is greater than the second threshold and less than the fourth threshold.

7. The temperature control device of the autonomous driving vehicle computing unit according to claim 5 or 6, characterized in that: When the controller detects that the stall time of the driving motor is greater than the set stall limit time and the temperature of the calculation unit is less than the first threshold, the driving motor is controlled to be stalled and turned off.

8. The temperature control device of the autonomous driving vehicle computing unit according to claim 5, characterized in that: The controller is a vehicle controller.

9. The temperature control device of the autonomous driving vehicle computing unit according to claim 5, characterized in that: The temperature sensor is arranged at the water inlet of the autonomous driving vehicle computing unit in the water heating pipeline where the autonomous driving vehicle computing unit is located.

10. An automatic driving vehicle, comprising a drive motor, a computing unit, a temperature sensor and a controller, characterized in that: The temperature sensor is used to detect the temperature of the autonomous driving vehicle computing unit, and the controller is used to execute computer program instructions based on the temperature of the autonomous driving vehicle computing unit to implement the steps in the temperature control method of the autonomous driving vehicle computing unit as described in any one of claims 1-4.

Images