Intelligent driving control system of battery changing vehicle and automobile

Abstract

The invention discloses an intelligent driving control system of a battery changing vehicle, the system comprises a battery changing pack, the battery changing pack comprises at least two battery modules, the battery modules are arranged on a chassis, and the distance between the adjacent battery modules is greater than a distance threshold; each battery module corresponds to a battery management system (BMS); the battery module is connected to the motor controller MCU through a power supply bus; the vehicle control unit VCU is connected to the battery management system BMS of each battery module and used for controlling the access state of the battery modules to the power supply bus through the BMS so as to achieve independent or simultaneous power supply of the two battery modules. The method has the advantages that the scheme that the two battery replacement modules supply power to the vehicle is designed, the power-on and power-off control strategy is achieved, and meanwhile the delay power-off strategy is achieved to meet the requirement for data storage.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile battery replacement, and in particular to an intelligent drive control system and method for a battery replacement vehicle. Background Art

[0002] The battery swap package for new energy vehicles is an important part of the new energy vehicle field. It involves the innovation of battery technology, infrastructure construction and the improvement of user experience. The battery swap package is a system or device that provides a quick battery replacement service for new energy vehicles. It allows users to quickly restore the vehicle's driving ability by replacing the battery pack when the battery is exhausted, thereby solving problems such as long charging time and range anxiety. Its core advantage lies in its speed and convenience. Compared with traditional charging methods, battery replacement can be completed in a few minutes, greatly improving the efficiency of vehicle use.

[0003] However, the drive system of the battery-swap vehicle in the prior art generally adopts an integrated solution, which only uses one battery-swap battery. For battery swapping, one battery has high cost, inconvenient maintenance and heavy weight. The battery swap mechanism required for battery swapping has a large load-bearing capacity, which cannot meet the user's requirements for the reliability and ease of replacement of the battery of the battery-swap vehicle. At the same time, the power-on and power-off strategies and control strategies are only designed for a single battery-swap pack, and cannot be applied to the drive control of a battery-swap vehicle with two battery packs. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art, provide an intelligent drive control system for a battery-swap vehicle, design a solution for powering the vehicle with two battery-swap modules, and implement its power-on and power-off control strategy, while also implementing a delayed power-off strategy to meet data storage needs.

[0005] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: an intelligent driving control system for a battery-swap vehicle, the system including a battery-swap pack, the battery-swap pack including at least two battery modules, the battery modules are arranged on the chassis and the distance between adjacent battery modules is greater than a distance threshold; each battery module corresponds to a battery management system BMS; the battery module is connected to the motor controller MCU through a power supply bus; the vehicle controller VCU is connected to the battery management system BMS of each battery module, which is used to control the access status of the battery module to the power supply bus through the BMS to realize power supply of the two battery modules separately or simultaneously.

[0006] The motor controller MCU realizes the limitation of the output torque and the self-protection of the motor controller MCU according to the power supply information on the power supply bus.

[0007] The vehicle controller VCU obtains the power-on signal according to the status information of the on-board state machine; the vehicle controller VCU sends the control instructions corresponding to the power-on to the motor controller MCU, the battery management system BMS and the DC isolation power supply module respectively. The DC isolation power supply module is used to convert the 60V power supply into a voltage corresponding to the wake-up signal and output it to the motor controller MCU to wake up the electric drive system.

[0008] The vehicle controller VCU obtains a power-on signal according to the status information of the vehicle-mounted state machine. When a power-off signal is obtained, the sensor detects an electrical appliance corresponding to a voltage greater than 48V and disconnects its power supply through a relay.

[0009] When the vehicle controller VCU sends a power-off signal to the BMS and motor controller MCU corresponding to the two battery modules when power is off, one of the power-off signals is delayed relative to the other power-off signal; after receiving the power-off signal, the battery management system BMS and motor controller start storing and recording data to meet the data storage needs before power off.

[0010] When performing power-off control, the vehicle controller VCU determines the order of power-off according to the load priority, and issues corresponding power-off control instructions in sequence to complete the power-off control of each load.

[0011] The motor controller MCU determines the current power supply status of the two battery modules by collecting the voltage and current signals on the power supply bus, and determines the current available torque based on the power supply status of the battery modules and the corresponding torque required by the user. When the current available torque determined based on the information collected from the power supply bus is less than the current torque required by the user, the vehicle is controlled with the currently available torque and a corresponding reminder signal is output.

[0012] The on-board state machine representing the operating state or working mode of the electric drive system is pre-set. The vehicle controller VCU controls the working state and working mode of the electric drive system according to preset logic and conditions based on the state machine, vehicle signals and quality collected by on-board sensors.

[0013] The control system also includes a low-voltage delayed power-off energy storage unit, which is connected to the battery module; the low-voltage delayed power-off energy storage unit is connected to the low-voltage electrical appliances, and is used to provide delayed power supply to the low-voltage electrical appliances by the low-voltage delayed power-off energy storage unit after the low-voltage battery or the low-voltage power supply system is powered off and disconnected.

[0014] A car, comprising the intelligent driving control system of the battery-swap vehicle.

[0015] The advantages of the present invention are: designing a solution of two battery replacement modules to power the vehicle, and implementing its power on and off control strategy, while implementing a delayed power off strategy to meet the needs of data storage. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The following is a brief description of the contents expressed in the drawings of the present invention and the symbols in the drawings:

[0017] Figure 1 It is a schematic diagram of the dual power exchange principle of the control system of the present invention. DETAILED DESCRIPTION

[0018] The specific implementation of the present invention will be further explained in detail below by describing the optimal embodiment with reference to the accompanying drawings.

[0019] The present invention is a new intelligent driving system that integrates the improved new energy vehicle state machine, power on / off, and battery replacement package strategies into one, thereby improving cost performance and resource utilization.

[0020] The state machine of new energy vehicles receives instructions and signals from modules such as VCU and sensors, determines the current system state according to preset logic and conditions, and controls related actuators to switch states. For example, during vehicle startup, the state machine switches from offline mode to power-on initialization mode, and then enters the corresponding drive mode according to the torque request of VCU after power-on self-test and waiting mode. The state machine of new energy vehicles can be divided into two categories according to whether it needs to send and receive VCU message instructions: active working mode and passive working mode.

[0021] Active working mode:

[0022] Voltage mode: non-essential mode, the controller controls the current according to the voltage requested by the VCU, and indirectly realizes the torque control function. Commonly used in hybrid vehicles, it supplies power to the low-voltage network when the high-voltage battery cannot work normally.

[0023] Offline mode: The controller is in the off state, usually means that the KL30 power supply is below a certain threshold.

[0024] Power-on initialization: After the motor controller obtains low-voltage power supply, it performs hardware and software initialization, including system power supply, clock configuration, CAN initialization, etc.

[0025] Power-on self-test: A low-voltage self-test mode after initialization is completed to detect whether the voltage, current, position, and temperature sensor signals are abnormal, and update the temperature of related components.

[0026] Waiting mode: After the system initialization and self-test are completed, it waits for VCU commands.

[0027] Post-processing mode: When KL15 loses power, it switches out of the active working mode and prepares for a "rest stop" before powering off, reducing the high voltage and speed.

[0028] Sleep mode: After the post-processing mode, when the CAN BUS power-off command is received, it enters the sleep state. At this time, there is no bus communication and low-voltage de-initialization work will be performed.

[0029] Fault mode: Once a fault occurs, the controller will take corresponding actions as defined in the fault matrix, such as active short circuit, coasting, step zero torque output, etc.

[0030] Passive working mode: In this mode, the state machine switches states mainly based on external instructions or conditions. The specific mode may vary depending on the vehicle model and system design.

[0031] The application of the state machine of new energy vehicles enables the vehicle to operate efficiently and stably under different working conditions. It improves the reliability and safety of the system and reduces the probability of failure. At the same time, by optimizing the state switching logic and condition judgment mechanism, the vehicle's energy efficiency and driving experience can be further improved.

[0032] In this system, data preservation and equipment safety shutdown are completed by delaying power-off of the state machine. The following explanations are made for this:

[0033] Running status: The system is in normal running status.

[0034] Delayed waiting state: After receiving the power-off command, the system enters the delayed waiting state and waits for a certain period of time to complete the necessary operations.

[0035] Power-off state: After the delay ends, the system enters the power-off state and shuts down all power supplies and components.

[0036] From the running state to the delayed waiting state: the system receives a power-off command (such as the user pressing the shutdown button, receiving a remote shutdown signal, etc.).

[0037] From the delay waiting state to the power-off state: the delay time ends.

[0038] A timer (such as a time relay, a built-in timer of a microcontroller, etc.) can be used to implement a time delay. The timer starts counting after receiving the power-off command, and when the set delay time is reached, the trigger state switches to the power-off state. During the delay waiting period, the system can continue to perform necessary background operations, such as saving data, closing files, sending shutdown notifications, etc. After the delay is over, the system shuts down each component and power supply in a predetermined order to ensure safe power off.

[0039] When designing the state machine delayed power-off of this system, the specific requirements and constraints of the system need to be considered, such as the length of the delay time, safety during the power-off process, data integrity, vehicle configuration, and scenario requirements.

[0040] The battery swap package is mainly composed of a battery pack, a battery swap device, a control system and other parts. Among them, the battery pack is the core component of the battery swap package, responsible for storing and providing electrical energy; the battery swap device is used to achieve rapid battery replacement; the control system is responsible for monitoring and managing the entire battery swap process. The battery swap package is designed with full consideration of safety and environmental protection. On the one hand, by adopting high-standard batteries and battery swap equipment, the safety and reliability of the battery swap process are ensured; on the other hand, by realizing the recycling and recovery of batteries, environmental pollution and waste of resources are reduced.

[0041] Battery swap packs are usually divided into single packs and double packs. Single packs usually contain only one battery module, which is integrated with other components (such as BMS battery management system, cooling system, etc.) through a specific connection method (such as parallel or series) to form a complete battery swap unit; double packs contain two battery modules, which are kept at a certain distance and are each equipped with a corresponding connection and management system. When supplying power, the two modules can provide power separately or simultaneously.

[0042] Due to its relatively simple structure and low cost, the single-pack battery swap pack is more suitable for low-power, short-range new energy vehicles, such as small electric vehicles and electric bicycles. These vehicles have relatively low requirements for battery swap speed and range, and the single-pack battery swap pack can meet their basic needs. The double-pack battery swap pack has a higher energy density and stronger power supply capacity, so it is more suitable for high-power, long-range new energy vehicles, such as electric cars and electric buses. These vehicles have higher requirements for battery swap speed and range, and the double-pack battery swap pack can better meet their needs.

[0043] In terms of heat dissipation and safety, double-pack battery packs usually have better heat dissipation performance due to the larger distance between battery cells, thereby improving the safety and stability of the battery. In contrast, single-pack battery packs may be slightly insufficient in heat dissipation.

[0044] In terms of weight and cost, a single-pack battery swap pack is usually lighter and cheaper due to its simple structure and fewer parts. However, a double-pack battery swap pack may be relatively heavier and more expensive because it contains more battery modules and connection systems.

[0045] The single-pack structure is relatively simple, and maintenance and upgrades may be more convenient. When a fault occurs or an upgrade is required, the problem can be located and solved more quickly. However, since the dual-pack battery swap package contains more components and systems, its maintenance and upgrade may be relatively complicated. When a fault occurs, it is necessary to investigate the problem more carefully and take appropriate measures to repair or upgrade it.

[0046] In the present invention, a parallel mode can be used for the dual-swap battery pack, and the MCU protects itself and outputs torque response according to the common bus information. Based on the different current paths, the MCU can delay the response and accept, breaking the time constraints, making driving safer, and more cost-effective than ordinary single packs or fixed packs. On this basis, we have also made innovations on the power on and off issues. When powering on, we use 60V power-on wake-up and add DC isolation; power off directly disconnects long-term power above 48V.

[0047] In this solution, the DC / DC isolated power module is a power conversion module. In a system that requires a 60V voltage for wake-up or startup, the DC isolated power module may play an important role, especially when the system requires electrical isolation between the power input and output. The DC isolated power module is particularly important. It realizes the conversion of DC voltage through electronic components and has electrical isolation function. This module can provide power conversion between power supplies of different voltages while ensuring electrical isolation, thereby avoiding electrical interference and personal safety hazards.

[0048] The DC isolation power module is based on the working principle of the switching power supply and realizes the conversion of DC voltage through electronic components. Its core components include input filter circuit, rectifier circuit, power circuit, voltage regulation circuit, conversion circuit, output filter circuit and feedback circuit. These circuits work together to achieve voltage conversion and electrical isolation.

[0049] In the present invention, it is necessary to select a suitable DC isolated power supply module. This includes determining the input voltage range, output voltage and current, electrical isolation level and other parameters of the module. Then connect the 60V power supply to the input end of the DC isolated power supply module. When the power supply is powered on, the DC isolated power supply module starts to work, converting the 60V voltage into the voltage required by the system, and protecting the system from electrical interference through electrical isolation. After conversion and filtering, the DC isolated power supply module outputs a stable voltage for waking up or starting the system.

[0050] In this system, power-off means disconnecting the power supply or load under certain conditions to protect the system or equipment from damage. This system directly disconnects the long-term power supply above 48V when powering off. When the system voltage is higher than 48V and meets other possible power-off conditions, the system will perform the power-off operation, that is, disconnect the power supply or load. Its principle mainly involves voltage monitoring and control, safety protection strategy and load management in the power system.

[0051] Voltage detection: In this solution, voltage detection circuits or sensors are set up to monitor voltage values ​​in real time. These circuits or sensors can accurately capture voltage changes and convert voltage values ​​into processable electrical signals.

[0052] Relay control: In this solution, relays are often used to realize the on-off control of the circuit. When the control system determines that the power needs to be turned off, it will send a command to the relay, and the relay will disconnect the corresponding circuit to realize the power-off operation.

[0053] Threshold setting: According to the system's safety requirements and load characteristics, a voltage threshold will be preset. When the detected voltage value exceeds this threshold, the system will consider the voltage to be too high, which may cause damage to the device or system.

[0054] Control logic: The voltage detection circuit compares the detected voltage value with the preset threshold value. If the voltage value exceeds the threshold value, the control logic will be triggered. This control logic may be a simple comparator circuit or a complex microprocessor program to determine whether a power-off operation needs to be performed.

[0055] Overvoltage protection: In order to prevent the voltage from being too high and causing damage to the equipment or system, this solution usually sets an overvoltage protection mechanism. When the voltage is detected to be too high, the system will automatically cut off the power supply or load to avoid further damage.

[0056] Direct disconnection: In this system, when the voltage exceeds 48V, the system will directly cut off the long-term power (i.e. the power supply or load that continuously supplies power) to ensure system safety. This direct disconnection method can quickly respond to voltage changes and effectively prevent overvoltage damage.

[0057] Load priority: In this solution, loads may have different priorities. In the power-off operation, the system may decide which loads to disconnect based on their priority. However, in this system, since the voltage has exceeded the safety threshold, all affected loads are usually disconnected directly.

[0058] Load disconnection method: The load disconnection method may include the use of relays, contactors or other switching elements. These elements can quickly cut off the current in the circuit, thereby disconnecting the load.

[0059] Accuracy: The accuracy of voltage detection circuits and sensors is critical to the correct operation of power-down. Therefore, these devices should be calibrated and checked regularly to ensure that they can accurately monitor voltage changes.

[0060] Reliability: The reliability of the control logic and load management system is also a key factor in ensuring the success of the power-off operation. Measures should be taken to improve the reliability of the system, such as using redundant circuits, backup power supplies, etc.

[0061] Safety: During the power-off operation, the safety of the operation should be ensured. For example, before cutting off the power supply or load, it should be ensured that no one is operating the relevant equipment or approaching the potential hazardous area.

[0062] In summary, the power-off principle of this system is based on the comprehensive application of voltage monitoring and control, safety protection strategy and load management. When the system detects that the voltage exceeds the preset threshold, it will automatically trigger the control logic and cut off the long-term power to ensure system safety.

[0063] It can be seen that when the state machine of a normal single-battery swap pack is working, the BMS sends a signal to control the system, which is then transmitted to the MCU to send current to the motor. In this case, according to the scene requirements, there can be a pre-charge state during the signal system control process. Under this solution, the battery swap packs with different configurations, according to different scene requirements, vehicle configurations, etc., send signals from the dual BMS for system control and signal mode verification. They can be sent synchronously to the MCU and then to the motor, or one of the lines can be delayed according to different scene requirements.

[0064] The MCU protects itself and outputs torque response according to the common bus information. And stores information according to the delayed power-off. The two battery packs send signals at the same time, and one of the channels performs a delay process before the MCU receives the signal, and finally reaches the end point at different times. In this process, the relevant data is recorded and saved.

[0065] Power-off delay uses energy storage elements to continue to provide power to the system for a period of time after the power is lost, thereby delaying the shutdown time of the system.

[0066] When the power supply is working normally, the energy storage element is continuously charged by the power supply and stores a certain amount of electrical energy. At the same time, the system works normally and processes various tasks and data. When the power supply is cut off, the system loses its main power source. At this time, the energy storage element begins to release the stored electrical energy and provides power to the system for a period of time. This period of time is enough for the system to perform necessary data preservation operations, such as writing data in the cache to the hard disk and shutting down important services. During the delay period, the system continues to perform necessary shutdown operations with the power support provided by the energy storage element. As the energy storage element gradually releases the electrical energy, the system voltage gradually decreases, and eventually drops to a level that cannot maintain the normal operation of the system. When the energy storage element has released all the electrical energy, the system completely loses power support and eventually shuts down.

[0067] Obviously, the specific implementation of the present invention is not limited to the above-mentioned methods. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention, they are all within the protection scope of the present invention.

Claims

1. An intelligent driving control system for a battery-swapping vehicle, characterized in that: The system includes a battery swap pack, which includes at least two battery modules. The battery modules are arranged on a chassis and the distance between adjacent battery modules is greater than a distance threshold; each battery module corresponds to a battery management system BMS; the battery module is connected to the motor controller MCU through a power supply bus; the vehicle controller VCU is connected to the battery management system BMS of each battery module, which is used to control the access status of the battery module to the power supply bus through the BMS to realize separate or simultaneous power supply of the two battery modules.

2. The intelligent driving control system for a battery-swap vehicle according to claim 1, characterized in that: The motor controller MCU realizes the limitation of the output torque and the self-protection of the motor controller MCU according to the power supply information on the power supply bus.

3. The intelligent driving control system for a battery-swap vehicle according to claim 1, characterized in that: The vehicle controller VCU obtains the power-on signal according to the status information of the on-board state machine; the vehicle controller VCU sends the control instructions corresponding to the power-on to the motor controller MCU, the battery management system BMS and the DC isolation power supply module respectively. The DC isolation power supply module is used to convert the 60V power supply into a voltage corresponding to the wake-up signal and output it to the motor controller MCU to wake up the electric drive system.

4. The intelligent driving control system for a battery-swap vehicle according to claim 3, characterized in that: The vehicle controller VCU obtains a power-on signal according to the status information of the vehicle-mounted state machine. When a power-off signal is obtained, the sensor detects an electrical appliance corresponding to a voltage greater than 48V and disconnects its power supply through a relay.

5. The intelligent driving control system for a battery-swap vehicle according to claim 4, characterized in that: When the vehicle controller VCU sends a power-off signal to the BMS and motor controller MCU corresponding to the two battery modules when power is off, one of the power-off signals is delayed relative to the other power-off signal; after receiving the power-off signal, the battery management system BMS and motor controller start storing and recording data to meet the data storage needs before power off.

6. An intelligent driving control system for a battery-swap vehicle as claimed in any one of claims 1 to 5, characterized in that: When performing power-off control, the vehicle controller VCU determines the order of power-off according to the load priority, and issues corresponding power-off control instructions in sequence to complete the power-off control of each load.

7. An intelligent driving control system for a battery-swap vehicle according to any one of claims 1 to 5, characterized in that: The motor controller MCU determines the current power supply status of the two battery modules by collecting the voltage and current signals on the power supply bus, and determines the current available torque based on the power supply status of the battery modules and the corresponding torque required by the user. When the current available torque determined based on the information collected from the power supply bus is less than the current torque required by the user, the vehicle is controlled with the currently available torque and a corresponding reminder signal is output.

8. An intelligent driving control system for a battery-swap vehicle as claimed in any one of claims 1 to 5, characterized in that: The on-board state machine representing the operating state or working mode of the electric drive system is pre-set. The vehicle controller VCU controls the working state and working mode of the electric drive system according to preset logic and conditions based on the state machine, vehicle signals and quality collected by on-board sensors.

9. The intelligent driving control system for a battery-swap vehicle according to claim 1, characterized in that: The control system also includes a low-voltage delayed power-off energy storage unit, which is connected to the battery module; the low-voltage delayed power-off energy storage unit is connected to the low-voltage electrical appliances, and is used to provide delayed power supply to the low-voltage electrical appliances by the low-voltage delayed power-off energy storage unit after the low-voltage battery or the low-voltage power supply system is powered off and disconnected.

10. An automobile, characterized in that: The automobile includes an intelligent driving control system for a battery-swap vehicle as described in any one of claims 1-9.

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