Sanitation vehicle domain controller fusion control system and method

Abstract

The application provides a sanitation vehicle domain controller fusion control system and method, and relates to the technical field of new energy sanitation vehicle control.The sanitation vehicle domain controller fusion control system comprises a micro control unit, a chassis power distribution management module, an upper installation control module and a fusion module arranged inside the micro control unit; the micro control unit is used for reading fault types and reporting diagnosis information; a plurality of switch chips are connected with the micro control unit in signal; each switch chip is used for independently controlling a low-voltage load loop, and a power switch element and a current detection output end are arranged in each switch chip; and the micro control unit calculates low-voltage system power consumption based on the current value corresponding to the low-voltage load loop.The sanitation vehicle domain controller fusion control system and method solve the technical problem that the three functions of power consumption data, protection judgment and fault information of an electric sanitation vehicle cannot be cooperatively completed in the prior art.

Description

Technical Field

[0001] This invention relates to the field of new energy sanitation vehicle control technology, specifically to a sanitation vehicle domain controller fusion control system and method. Background Technology

[0002] Currently, new energy electric sanitation vehicles employ three independent physical components in their electrical and control system architecture: the chassis fuse box, the superstructure fuse box, and the superstructure controller. Circuit protection relies on traditional fuses, which physically burn out upon overload, requiring manual inspection and replacement. Fault diagnosis information is extremely limited, only indicating which circuit is out of power, without revealing specific causes such as overcurrent, short circuit, or overheating. Furthermore, due to the lack of real-time electrical data monitoring, the power consumption of low-voltage systems (such as lights, solenoid valves, and cooling fans) remains a "black box," allowing only rough estimations.

[0003] Meanwhile, in terms of control coordination, the chassis power distribution system and the superstructure control system operate independently. Their coordination requires "negotiation" of CAN (Controller Area Network) messages between the superstructure controller and the vehicle controller, and then the vehicle controller controls the hard-wired signals. This not only introduces communication delays of tens to hundreds of milliseconds, but also occupies the limited computing resources of the vehicle controller.

[0004] The existing system architecture suffers from three major problems in practical applications: low after-sales efficiency, inaccurate range estimation, and shallow system integration. Specifically, the technical level of sanitation vehicle modification plants varies greatly. Short circuits in wiring or excessive fluctuations in the load on the superstructure often cause fuses to blow, requiring after-sales personnel to go to the site to disassemble the box for troubleshooting and fuse replacement, making remote location and rapid restoration impossible. The remaining range estimation of new energy sanitation vehicles is mainly based on the power consumption of the high-voltage system, while the actual power consumption of the low-voltage system is not accurately included. Taking an 18-ton water sprinkler truck as an example, the heat dissipation part alone consumes about 4.5 kWh of electricity when working for 5 hours a day. The estimation error leads to a large deviation in the range prediction. In addition, in traditional solutions, the chassis and superstructure are controlled by different controllers and fuse boxes. Even with CAN communication, there are still inherent problems such as asynchronous status and delayed response, making it impossible to achieve true deep integration and microsecond-level collaboration.

[0005] Therefore, existing technologies need further development. Summary of the Invention

[0006] The purpose of this invention is to overcome the above-mentioned technical deficiencies and provide a fusion control system and method for sanitation vehicle domain controllers, so as to solve the technical problem that the three functions of power consumption data, protection judgment and fault information of electric sanitation vehicles cannot be completed in a coordinated manner in related technologies.

[0007] To achieve the above technical objectives, the present invention adopts the following technical solution: A fusion control system for a sanitation vehicle domain controller is provided, comprising: a microcontroller unit, which internally deploys a chassis power distribution management module, an upper structure control module, and a fusion module. The fusion module is used to achieve data interaction between the chassis power distribution management module and the upper structure control module through the shared memory area of ​​the microcontroller unit. The microcontroller unit is used to read fault types and report diagnostic information. Multiple switching chips are connected to the microcontroller unit via signals. Each switching chip is used to independently control one low-voltage load circuit. Each switching chip contains a power switching element and a current detection output terminal, which is used to collect the current value corresponding to the low-voltage load circuit. The microcontroller unit calculates the low-voltage system power consumption based on the current value corresponding to the low-voltage load circuit and sends the low-voltage system power consumption to the vehicle controller.

[0008] Furthermore, the microcontroller unit communicates with the switching chip via a serial peripheral interface; the microcontroller unit is used to set the overcurrent protection threshold, fault filtering time, and output signal rise slope of the switching chip; the microcontroller unit is used to read the fault type through the serial peripheral interface status register.

[0009] Furthermore, the switching chip is equipped with a mirror current output pin and multiple semiconductor switches; the mirror current output pin is connected to a sampling resistor, which is used to convert the mirror current into a sampling voltage and send it to the microcontroller unit. The microcontroller unit calculates the accurate current value of the load circuit in reverse according to the sampling voltage and the preset current mirror ratio.

[0010] Furthermore, the shared memory area is equipped with a mutual exclusion access control mechanism to ensure mutual exclusion access to the shared memory area by the chassis power distribution management module and the superstructure control module.

[0011] Furthermore, the microcontroller includes a memory protection component, which divides the microcontroller's memory area into a dedicated area for the chassis power distribution module, a dedicated area for the superstructure control module, and a shared data area. The superstructure control module is prohibited from accessing the dedicated area for the chassis power distribution module. Both the chassis power distribution management module and the superstructure control module are equipped with independent watchdog timers to achieve soft degradation in case of faults.

[0012] Furthermore, the microcontroller also includes a coordination component, which is used to receive controller area network commands from the vehicle controller; and / or, the coordination component is used to receive operating commands from the driver's cab; the coordination component is used to arbitrate the priority of commands arriving simultaneously according to preset priority rules; and the coordination component is used to coordinate the timing of actions that need to be executed sequentially.

[0013] Furthermore, the microcontroller unit is equipped with a task scheduling component, which adopts a priority-based preemptive task scheduling method. The task priority corresponding to the chassis power distribution management module is higher than that corresponding to the task priority of the superstructure control module.

[0014] A fusion control method for sanitation vehicle domain controllers is also provided, applicable to the aforementioned fusion control system for sanitation vehicle domain controllers, comprising: real-time acquisition of the current value and corresponding voltage value of each low-voltage load circuit; calculation of the power consumption of the chassis low-voltage system and the power consumption of the superstructure low-voltage system based on the acquired current and voltage values; and sending the calculated total power consumption of the low-voltage system to the vehicle controller for the vehicle controller to correct the range prediction model.

[0015] Furthermore, the method also includes performing shutdown protection, reading the fault type, and generating and reporting diagnostic information containing the fault location and fault type when the switching chip detects an overcurrent or short-circuit fault.

[0016] Furthermore, the method also includes the chassis power distribution management module and the superstructure control module deployed inside the microcontroller interacting with each other via a shared memory area to achieve coordinated control of chassis power distribution and superstructure operation. The shared memory area includes a dedicated area for the chassis power distribution module, a dedicated area for the superstructure control module, and a shared data area. Both the chassis power distribution management module and the superstructure control module are equipped with independent watchdog timers. Beneficial effects

[0017] 1. The sanitation vehicle domain controller fusion control system of the present invention integrates three functions—chip-level overcurrent / short-circuit protection trigger judgment, real-time accurate power consumption calculation of low-voltage system, and fault diagnosis information generation—through a single domain controller fusion system. Specifically, the current detection signal continuously output by the switching chip under normal operating conditions can be used simultaneously for real-time power consumption calculation and overcurrent threshold monitoring. Furthermore, when the load current abnormally increases but has not yet reached the shutdown threshold, the power consumption calculation module can detect abnormal power consumption fluctuations in advance, providing early warning for the system. Moreover, when a fault triggers shutdown, the status register of the same switching chip can automatically record the fault type and generate accurate fault information without the need for a separate diagnostic circuit. The fusion system of the present invention integrates detection, calculation, protection, and diagnosis, enabling power consumption data, protection judgment, and fault information to support and complement each other. This solves the technical problem in the prior art where the three functions of power consumption data, protection judgment, and fault information in electric sanitation vehicles are performed by separate devices, failing to achieve synergy.

[0018] 2. This invention achieves microsecond-level overload / short-circuit protection through a switching chip, and simultaneously reports diagnostic information such as fault type and location to the after-sales service platform in real time via the vehicle network. This allows after-sales personnel to remotely locate the cause of the fault without going to the site. After the problem is resolved, power can be restored via software commands without replacing any physical components. This forms a systematic solution that integrates protection, diagnosis, and remote processing, addressing the specific pain points of sanitation vehicles, rather than simply replacing fuses with electronic fuses. This significantly improves operational continuity and after-sales maintenance efficiency.

[0019] 3. This invention deploys the chassis power distribution management module and the superstructure control module within the same domain controller's microcontroller unit, and utilizes a shared memory area to achieve direct data interaction between the two. This replaces the traditional method of communication between the independent controllers of the chassis and superstructure via a controller area network bus, eliminating communication delays of tens to hundreds of milliseconds and protocol conversion overhead, and avoiding the risk of state asynchrony. Simultaneously, by using a memory protection component to divide the memory area into a chassis-specific area, a superstructure-specific area, and a shared data area, and configuring an independent watchdog timer, the possibility of superstructure software failures contaminating the chassis's core data is fundamentally eliminated. This achieves microsecond-level collaborative response while ensuring functional safety, and significantly improves the accuracy of the vehicle's range prediction, system reliability, and collaborative operation efficiency. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the fusion control system structure of the sanitation vehicle domain controller used in an embodiment of the present invention; Figure 2 This is a schematic diagram of low-voltage power consumption digital detection used in an embodiment of the present invention; Figure 3 This is a schematic diagram of energy consumption statistics used in an embodiment of the present invention; Figure 4 This is a schematic diagram illustrating the deep integration of software and hardware in an embodiment of the present invention; Figure 5 This is a flowchart of the fusion control method for sanitation vehicle domain controllers used in embodiments of the present invention. Detailed Implementation

[0021] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0022] According to an embodiment of the present invention, a fusion control system for sanitation vehicle domain controllers is provided. Please refer to [link / reference]. Figures 1 to 5 The system includes: a microcontroller unit (MCU), which internally deploys a chassis power distribution management module, an upper structure control module, and a fusion module. The fusion module enables data interaction between the chassis power distribution management module and the upper structure control module through the shared memory area of ​​the MCU. The MCU is used to read fault types and report diagnostic information. Multiple switching chips are connected to the MCU via signals. Each switching chip independently controls a low-voltage load circuit and includes a power switching element and a current detection output terminal. The current detection output terminal is used to collect the current value corresponding to the low-voltage load circuit. The MCU calculates the low-voltage system power consumption based on the current value corresponding to the low-voltage load circuit and sends the low-voltage system power consumption to the vehicle controller.

[0023] With the above configuration, the sanitation vehicle domain controller fusion control system in this embodiment independently controls each low-voltage load circuit through multiple switching chips. Built-in power switching elements replace traditional fuses, achieving microsecond-level shutdown and avoiding the need for manual on-site replacement after fuse blowouts. Simultaneously, the microcontroller unit can read fault types and report diagnostic information, enabling after-sales personnel to remotely locate faults, significantly reducing maintenance costs and downtime. Furthermore, by utilizing the current detection output of the switching chips to collect the current value of each load circuit in real time, the microcontroller unit accurately calculates the total power consumption of the chassis and superstructure low-voltage system and sends the data to the vehicle control system. This device enables the range prediction model to incorporate low-voltage power consumption information, solving the range error problem caused by the "black box" estimation of low-voltage power consumption in traditional solutions. This effectively improves the accuracy of predicting the remaining mileage and working time of new energy sanitation vehicles. At the same time, by deploying the chassis power distribution management module and the superstructure control module in the same microcontroller unit and realizing direct data interaction between the two through a shared memory area, it replaces the CAN bus communication between traditional discrete controllers, eliminating communication delays and protocol conversion overhead of tens to hundreds of milliseconds, avoiding the risk of state asynchrony, achieving microsecond-level collaborative response, and enhancing the consistency and reliability of vehicle control.

[0024] Thus, the sanitation vehicle domain controller fusion control system of the present invention integrates three functions—chip-level overcurrent / short-circuit protection trigger judgment, real-time accurate power consumption calculation of the low-voltage system, and fault diagnosis information generation—into one through a single domain controller fusion system. Specifically, the current detection signal continuously output by the switching chip under normal operating conditions can not only be used simultaneously for real-time power consumption calculation and overcurrent threshold monitoring, but also enable the power consumption calculation module to detect abnormal power consumption fluctuations in advance when the load current abnormally increases but has not yet reached the shutdown threshold, providing early warning for the system. Furthermore, when a fault triggers shutdown, the status register of the same switching chip can automatically record the fault type and generate accurate fault information without the need for a separate diagnostic circuit. The fusion system of the present invention integrates detection, calculation, protection, and diagnosis, making power consumption data, protection judgment, and fault information mutually supportive and complementary. This solves the technical problem in the prior art where the three functions of power consumption data, protection judgment, and fault information in electric sanitation vehicles are performed by separate devices, which cannot form a synergy.

[0025] It is understandable that the sanitation vehicle domain controller fusion control system of this embodiment integrates the vehicle-mounted domain control system of the sanitation vehicle chassis, the power distribution system and the superstructure control system of the sanitation vehicle in the new energy special vehicle, fundamentally solving the "pieced-together status quo" of the sanitation vehicle chassis and superstructure, reducing low-voltage connection points to improve safety, and can also realize fault early warning through data fusion, thereby improving the vehicle's intelligence level.

[0026] Further, see Figure 1 In this embodiment, chip-level protection replaces fuses, transforming "one-time" protection into "programmable protection + fault reporting." "Programmable protection" involves setting the output current for each channel of the domain controller (each channel's setting range is less than the designed maximum current value), including current limiting, open-circuit load detection, over-temperature and over-voltage protection. After processing by software, the output current is reported to the instrument cluster and vehicle controller. The vehicle controller then uploads the data to the T-BOX (vehicle-mounted remote communication terminal), and the platform pushes it to the after-sales department. The after-sales department reviews the specific fault and prepares solutions in advance, addressing the problem proactively.

[0027] Specifically, this embodiment uses a high-end switching chip that integrates two low-on-resistance N-channel MOSFETs (Metal-Oxide-Semiconductor Field-Effect Transistors) as the core power components for controlling the load channel. The microcontroller unit communicates with the high-end switching chip via an SPI (Serial Peripheral Interface) bus, independently controlling the channel's on / off state and configuring overcurrent protection thresholds, fault filtering time, and output signal rise slope. The switching chip synchronously provides a proportional analog current output for the microcontroller unit's ADC (Analog-to-Digital Converter) to read, enabling precise current control. When a fault occurs, the SPI status register reports whether it is an overcurrent, open circuit, short circuit, overtemperature, or voltage abnormality. When the corresponding fault is triggered, it enters the microcontroller unit's software fault diagnosis module. The diagnosis module sends each fault to the T-BOX at 2-second intervals. The T-BOX uploads the corresponding data to the after-sales service platform, which then issues the fault. On-duty after-sales personnel will immediately confirm the actual situation with the customer and handle the issue, resolving it as quickly as possible.

[0028] Further, see Figure 2 and Figure 3 In this embodiment, the low-voltage power consumption is detected digitally, which can accurately read the current and voltage values ​​of each channel in real time, thereby accurately calculating the overall power consumption of the chassis low-voltage system and the superstructure low-voltage system. Then, this power consumption is sent to the vehicle controller through CAN communication. The vehicle controller integrates the power consumption of the low-voltage and high-voltage systems, which more effectively improves the accuracy of range prediction and transforms the data from a "black box" to "transparent".

[0029] Specifically, in this embodiment, the mirror current (Icsns) output by the switching chip is converted into a voltage (Vcsns) that can be read by the ADC of the microcontroller unit. The two selectable current mirror ratios K provided by the switching chip are selected through the SPI register.

[0030] Wherein, ratio 1 (SR1): K=20500, that is, Icsns=Iload / 20500; Ratio 2 (SR2): K=41000, i.e. Icsns=Iload / 41000; If K=20500 is selected, and the maximum load current Iload(max)=10A, then the maximum output current is: Icsns(max)=10A / 20500≈0.488mA.

[0031] Provide the microcontroller with a 3.0V~3.3V signal at 200V, and calculate the sampling resistor: Rcsns=Vadc(max) / Icsns(max)=3.3V / 0.488mA≈0.76kΩ, The final relationship between the voltage Vcsns fed into the ADC pin of the microcontroller and the load current Iload is as follows: Vcsns = Iload / K * Rcsns After the microcontroller reads Vcsns through the ADC, it can perform reverse calculation to obtain the accurate load current value, thereby realizing real-time monitoring, overload judgment or closed-loop control.

[0032] It should be noted that the above example only uses one pin. After we collect the current of each output channel, it enters the software power consumption accumulation module of the microcontroller unit and sends the accumulated power consumption and instantaneous power consumption data to the vehicle controller (VCU) in real time through the CAN channel. The vehicle controller combines this part of the vehicle's low-voltage power consumption with the high-voltage power consumption to more accurately predict the vehicle's remaining range and operating time.

[0033] Further, see Figure 4 This embodiment deeply integrates hardware and software. The existing domain controller eliminates the traditional fuses and relays. In the original solution, the controller output pin controls the relay. After the relay is energized, it controls the corresponding solenoid valve. Now, the domain controller supports control, realizing microsecond-level coordinated response. Through unified scheduling, it avoids power distribution conflicts between the chassis and the superstructure. These are things that the subsystem cannot achieve.

[0034] Specifically, unlike traditional fuse boxes which are physically separate, the integrated domain controller hardware in this embodiment integrates both within the same hardware domain controller. This provides a data foundation for accurate low-voltage power consumption calculations. It offers chip-level protection for core components, a unified hardware platform, and runs converged software.

[0035] The chip-level protection layer includes real-time detection and fault diagnosis.

[0036] Specifically, real-time detection continuously reads the current, voltage, and temperature values ​​of each channel through the microcontroller unit (sampling period can reach microsecond level); fault diagnosis is achieved through overcurrent detection, short circuit detection, and overtemperature detection.

[0037] The actions triggered by a fault include: microsecond-level shutdown: the semiconductor switch shuts off within 50-200 microseconds, while traditional fuses require milliseconds or even longer; fault information encapsulation: generating a complete fault record containing the loop ID, fault type, fault value, and timestamp; and reporting: reporting to the instrument and T-BOX via CAN. When no fault is triggered: data enters the acquisition layer for power consumption calculation and normal control. Furthermore, the data acquisition and preprocessing layer includes: multi-channel electrical parameter acquisition, real-time power consumption calculation of low-voltage systems, and data fusion and caching; Among them, the multi-channel electrical parameter acquisition independently collects current and voltage for each output, with a collection frequency of 10~100ms, meeting the dual requirements of power consumption calculation and real-time protection; the real-time power consumption calculation of the low-voltage system is specifically: each circuit is calculated independently, the total power consumption is accumulated, and the energy consumption calculation is accurate to a single solenoid valve or lamp; data fusion and caching eliminate communication delay by storing all electrical data in a shared cache area for the chassis power distribution module and the superstructure control system to access together.

[0038] Furthermore, the software fusion layer includes: a chassis power distribution management module responsible for the vehicle's low-voltage power distribution strategy and low-voltage start-up / end-stop timing; an upper structure control module responsible for operating mechanism control, operating mode switching, and upper structure interlocking logic; a fusion coordination engine that enables data interaction between modules through shared memory or inter-process communication; and a unified instruction scheduling module that performs priority arbitration and timing coordination for chassis and upper structure instructions.

[0039] In the sanitation vehicle domain controller fusion control system of this embodiment, the microcontroller unit and the switching chip communicate through a serial peripheral interface; the microcontroller unit is used to set the overcurrent protection threshold, fault filtering time and output signal rise slope of the switching chip; the microcontroller unit is used to read the fault type through the serial peripheral interface status register.

[0040] Specifically, in this embodiment, the microcontroller unit and the switching chip communicate via a serial peripheral interface bus. The microcontroller unit can flexibly configure the overcurrent protection threshold, fault filtering time, and output signal rise slope of the switching chip. This allows for adaptive adjustment of protection parameters for different sanitation vehicle models, different load characteristics of the superstructure, and different operating conditions, avoiding the frequent malfunctions or insufficient protection caused by fixed parameters in traditional fuses. Simultaneously, the microcontroller unit can directly and accurately read the fault type through the serial peripheral interface status register, achieving accurate fault diagnosis without additional detection circuitry, further improving the system's configurability, protection flexibility, and diagnostic accuracy.

[0041] In the sanitation vehicle domain controller fusion control system of this embodiment, the switching chip is provided with a mirror current output pin and multiple semiconductor switches; the mirror current output pin is connected to a sampling resistor, which is used to convert the mirror current into a sampling voltage and send it to the microcontroller unit; the microcontroller unit calculates the accurate current value of the load circuit in reverse according to the sampling voltage and a preset current mirror ratio.

[0042] Specifically, this embodiment incorporates a mirror current output pin and multiple semiconductor switches within the switching chip. A sampling resistor is connected to the mirror current output pin, converting the mirror current into a sampling voltage, which is then sent to the microcontroller unit. The microcontroller unit calculates the precise current value of the load circuit based on a preset current mirror ratio. This eliminates the need for external current sensors or Hall effect elements; by utilizing the switching chip's integrated current detection function and a simple resistor sampling circuit, high-precision, low-cost real-time acquisition of the load current for each path can be achieved. This provides an accurate data foundation for low-voltage system power consumption calculation, overcurrent warning, and fault diagnosis, while also simplifying hardware circuit design and reducing system cost and board area.

[0043] In the sanitation vehicle domain controller fusion control system of this embodiment, the shared memory area is equipped with a mutual exclusion access control mechanism to ensure mutual exclusion access of the shared memory area by the chassis power distribution management module and the superstructure control module.

[0044] In this way, the mutual exclusion access mechanism effectively avoids data conflicts and state inconsistencies caused by two modules accessing the same memory address simultaneously, ensuring the integrity and consistency of shared data. Furthermore, the current, voltage, and power consumption parameters updated in real time by the chassis power distribution module can be read by the superstructure control module without delay or conflict, thereby achieving safe, efficient, and reliable data collaboration between the chassis and the superstructure, providing a solid foundation for the precise execution of the vehicle control strategy.

[0045] Specifically, the shared memory communication mechanism in this embodiment is as follows: A shared buffer is allocated in the microcontroller's RAM. The chassis power distribution module continuously collects electrical parameters such as current, voltage, temperature, and switch status, and writes them to this shared buffer in real time. The superstructure control module no longer requests data from the VCU via the CAN bus; instead, it reads the required chassis status and power distribution information directly from the shared buffer with zero latency. Simultaneously, the two modules use mechanisms such as mutexes or semaphores to ensure exclusive access to the shared memory, preventing data conflicts and guaranteeing data consistency.

[0046] In the sanitation vehicle domain controller fusion control system of this embodiment, the microcontroller includes a memory protection component. The memory protection component is used to divide the memory area of ​​the microcontroller into a dedicated area for the chassis power distribution module, a dedicated area for the superstructure control module, and a shared data area. The superstructure control module is prohibited from accessing the dedicated area for the chassis power distribution module. Both the chassis power distribution management module and the superstructure control module are equipped with independent watchdog timers to achieve soft degradation in case of faults.

[0047] In this way, on the one hand, hardware-level memory isolation fundamentally eliminates the possibility of the upper body control module contaminating the core data of the chassis power distribution due to software failures (such as memory out-of-bounds access, illegal pointer access, etc.), ensuring the integrity and reliability of driving safety-related functions; on the other hand, configuring independent watchdog timers for the two modules ensures that when the upper body control module experiences an infinite loop or software abnormality, only the upper body control module is reset or downgraded, while the chassis power distribution management module can continue to operate normally, significantly improving the functional safety level and robustness of the vehicle control system.

[0048] In the sanitation vehicle domain controller fusion control system of this embodiment, the microcontroller unit further includes a coordination component, which is used to receive controller area network instructions from the vehicle controller; and / or, the coordination component is used to receive operating instructions from the driver's cab; the coordination component is used to perform priority arbitration on instructions arriving simultaneously according to preset priority rules; the coordination component is used to perform timing coordination on actions that need to be executed sequentially.

[0049] In this way, when chassis safety-related commands (such as emergency braking and high-voltage power-off) and superstructure operation commands (such as water spraying and sweeper rotation) arrive simultaneously, the coordination component ensures that the higher-safety commands are executed first according to priority rules, avoiding safety risks caused by command conflicts. Simultaneously, for action sequences with dependencies (such as starting the hydraulic pump before driving the sweeper rotation), the coordination component can precisely control the execution timing to prevent mechanical jamming or electrical overload caused by incorrect sequence. This coordination mechanism enables intelligent scheduling and collaboration at the command level between chassis power distribution and superstructure control, sharing the same hardware platform, further improving the safety, smoothness, and automation level of the entire vehicle operation.

[0050] In the sanitation vehicle domain controller fusion control system of this embodiment, the microcontroller is equipped with a task scheduling component. The task scheduling component adopts priority-based preemptive task scheduling, wherein the task priority corresponding to the chassis power distribution management module is higher than the task priority corresponding to the superstructure control module.

[0051] With the above settings, when high-priority chassis power distribution tasks and low-priority superstructure control tasks are both in a ready state, the scheduling component can ensure that the high-priority task can immediately preempt processor resources and execute first, thereby guaranteeing the real-time performance and determinism of chassis power distribution-related functions. In this way, even if the superstructure control module occupies the processor for a long time due to high software complexity or abnormal conditions, the tasks of the chassis power distribution management module can still be scheduled in a timely manner, avoiding the risk of protection delays or power supply failures caused by task blocking. The priority scheduling mechanism in this embodiment, under the architecture of multi-task fusion of a single microcontroller unit, takes into account both the safety level requirements of chassis functions and the operational needs of superstructure functions, providing strong real-time operating system-level support for the reliable operation of the entire vehicle.

[0052] Specifically, this embodiment implements a fusion coordination engine (i.e., a dedicated scheduling task) within the microcontroller unit. The fusion coordination engine receives CAN commands from the VCU (such as "start water spraying operation") and operating commands from the cab (such as "turn on left turn signal"). Based on preset priority rules (e.g., safety-related chassis commands have higher priority than superstructure operation commands), the fusion coordination engine arbitrates commands arriving simultaneously and coordinates actions that need to be executed sequentially. For example, before starting the superstructure high-pressure water pump, it must be ensured that the chassis electrical distribution module has supplied power to the circuit; this logic can be quickly completed using status flags in shared memory without needing to travel across the CAN bus. Through this method, we have merged two originally independent control systems within the same microcontroller unit, achieving data fusion and control fusion.

[0053] It's important to note that the biggest risk of integrating the chassis and superstructure software into the same microcontroller unit is "fault contagion." If the superstructure software (which has relatively complex logic and whose parameters may be adjusted by the user or a third party) encounters problems—such as memory leaks, illegal pointer access, or infinite loops—it could potentially corrupt the microcontroller unit's memory, thereby affecting the execution of the core safety function of chassis power distribution (e.g., causing headlights to turn off, turn signals to malfunction, or even a power outage). This is absolutely unacceptable for chassis systems with extremely high functional safety requirements (ISO 26262). This embodiment introduces a hardware isolation and watchdog monitoring mechanism based on the MPU (Memory Protection Unit).

[0054] Specifically, the MPU hardware isolation works by dividing the memory area into three independent partitions using the MPU built into the microcontroller unit: ① a dedicated area for the chassis power distribution module (high security level, ASIL-B / C), ② a dedicated area for the superstructure control module (lower security level, QM or ASIL-A), and ③ a shared data area. The MPU enforces at the hardware level that the code of the superstructure control module can only access its dedicated area and shared data area. Any attempt to access the dedicated area of ​​the chassis power distribution module will be immediately captured by the MPU and trigger a hardware fault interrupt. This fundamentally eliminates the possibility of superstructure software faults "contaminating" the core chassis data.

[0055] Independent watchdog monitoring specifically involves configuring independent watchdog timers for the chassis power distribution module and the superstructure control module. An infinite loop in the superstructure module will not affect the chassis module's "watchdog feeding" operation, allowing the chassis module to continue operating normally. Simultaneously, the system will report faults in the superstructure module, achieving "soft degradation" rather than "system-wide crash."

[0056] Meanwhile, integrating the chassis and superstructure software into a single microcontroller presents challenges in ensuring both timing determinism and real-time performance. Chassis power distribution needs to handle a large number of rapidly changing hard real-time signals (such as headlight switches and brake signals), requiring response times in the microsecond to millisecond range. Superstructure operation control logic (such as complex water spraying sequences) is relatively time-consuming. Ensuring that long-running superstructure tasks do not block critical chassis power distribution tasks on a single-core microcontroller, and thus guaranteeing system timing determinism, is a significant challenge.

[0057] This embodiment employs priority-based preemptive task scheduling and critical path acceleration. Specifically, priority inversion avoidance involves setting chassis power distribution-related tasks to the highest priority and superstructure operation control tasks to a lower priority in the real-time system. At any given time, a high-priority chassis power distribution task can immediately preempt a low-priority superstructure task, ensuring the real-time performance of core functions. Furthermore, a priority inheritance protocol is designed to prevent priority inversion issues caused by access to shared resources (such as shared memory).

[0058] The hardware implementation of the critical path involves eliminating reliance on software task scheduling for the most urgent protection actions (such as overcurrent in a circuit requiring microsecond-level shutdown). The microcontroller's ADC (analog-to-digital converter) and the interrupt signals from the high-side switching chip are directly connected to a hardware comparator / logic gate. When the current exceeds a preset absolute threshold, the hardware circuit bypasses all software tasks and directly sends a shutdown signal to the power switch. Simultaneously, this hardware event triggers a high-priority interrupt to the microcontroller, which is then recorded and reported by the software. This "hardware-centric, software-assisted" collaborative approach ensures absolute safety while freeing up software computing power.

[0059] See Figure 5 This embodiment also provides a fusion control method for sanitation vehicle domain controllers, including: The S100 acquires the current value and its corresponding voltage value of each low-voltage load circuit in real time. S200 calculates the power consumption of the chassis low-voltage system and the power consumption of the superstructure low-voltage system based on the acquired current value and voltage value. The S300 sends the calculated total power consumption of the low-voltage system to the vehicle controller so that the vehicle controller can correct the range prediction model.

[0060] Furthermore, the sanitation vehicle domain controller fusion control method in this embodiment also includes: when the switching chip detects an overcurrent or short-circuit fault, it performs shutdown protection, reads the fault type, and generates and reports diagnostic information containing the fault location and fault type.

[0061] Furthermore, the sanitation vehicle domain controller fusion control method in this embodiment also includes: the chassis power distribution management module and the superstructure control module deployed inside the microcontroller interact with each other through the shared memory area to achieve coordinated control of chassis power distribution and superstructure operation. The shared memory area includes a dedicated area for the chassis power distribution module, a dedicated area for the superstructure control module, and a shared data area. Both the chassis power distribution management module and the superstructure control module are equipped with independent watchdog timers.

[0062] Using the above method, the current and voltage values ​​of each low-voltage load circuit are acquired in real time. Based on this, the power consumption of the chassis low-voltage system and the superstructure low-voltage system are accurately calculated. The total power consumption of the low-voltage system is then sent to the vehicle controller to correct the range prediction model. This solves the range deviation problem caused by the "black box" estimation of low-voltage power consumption in traditional solutions, significantly improving the prediction accuracy of the remaining mileage and working time of new energy sanitation vehicles. Simultaneously, when the switching chip detects an overcurrent or short-circuit fault, the method immediately executes shutdown protection, reads the fault type, and generates diagnostic information including the fault location and type, achieving microsecond-level fault isolation and accurate remote diagnosis. This avoids the inefficiency of manual on-site inspection and replacement required after a traditional fuse blows. Furthermore, this method enables data interaction between the chassis power distribution management module deployed within the microcontroller unit and the superstructure control module via a shared memory area. Utilizing memory partitions (chassis-specific area, superstructure-specific area, and shared data area) and their respective independent watchdog timers, it ensures real-time and consistent data interaction while achieving hardware-level fault isolation and soft degradation capabilities. This eliminates the risks of latency and state asynchrony in controller area network communication between discrete systems and prevents superstructure software failures from affecting the core safety functions of the chassis. It forms a complete closed-loop control process from data acquisition, power consumption calculation, range correction to fault protection and safety coordination, comprehensively improving the intelligence level, operation and maintenance efficiency, and functional safety level of the low-voltage electrical system of sanitation vehicles. It solves the technical problem in existing technologies where the three functions of power consumption data, protection judgment, and fault information in electric sanitation vehicles are performed independently by discrete components, making coordination impossible.

[0063] This invention can take the form of a computer program product implemented on one or more storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program code. Computer-readable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer-readable storage media include, but are not limited to: novel memories such as phase-change memory / resistive random access memory / magnetic memory / ferroelectric memory (PRAM / RRAM / MRAM / FeRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, read-only optical disc read-only memory (CD-ROM), digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0064] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0065] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments, and will not be repeated here.

[0066] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0067] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0068] The above are merely preferred embodiments of this application. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A fusion control system for sanitation vehicle domain controllers, characterized in that, include: The microcontroller unit internally deploys a chassis power distribution management module, a superstructure control module, and a fusion module. The fusion module is used to enable data interaction between the chassis power distribution management module and the superstructure control module through the shared memory area of ​​the microcontroller unit. The microcontroller unit is used to read fault types and report diagnostic information. Multiple switching chips, all of which are signal-connected to the microcontroller unit; Each of the aforementioned switching chips is used to independently control one low-voltage load circuit. Each of the aforementioned switching chips is equipped with a power switching element and a current detection output terminal. The current detection output terminal is used to collect the current value corresponding to the low-voltage load circuit. The microcontroller unit calculates the low-voltage system power consumption based on the current value corresponding to the low-voltage load circuit. The microcontroller unit is used to send the low-voltage system power consumption to the vehicle controller.

2. The fusion control system for sanitation vehicle domain controllers according to claim 1, characterized in that, The microcontroller unit and the switching chip communicate via a serial peripheral interface; The microcontroller unit is used to set the overcurrent protection threshold, fault filtering time, and output signal rise slope of the switching chip. The microcontroller unit is used to read the fault type through the serial peripheral interface status register.

3. The fusion control system for sanitation vehicle domain controllers according to claim 1, characterized in that, The switching chip is equipped with a mirror current output pin and multiple semiconductor switches. The mirror current output pin is connected to a sampling resistor, which is used to convert the mirror current into a sampling voltage and send it to the microcontroller unit. The microcontroller unit calculates the accurate current value of the load circuit in reverse according to the sampling voltage and the preset current mirror ratio.

4. The fusion control system for sanitation vehicle domain controllers according to claim 1, characterized in that, The shared memory area is equipped with a mutual exclusion access control mechanism to ensure that the chassis power distribution management module and the superstructure control module have mutually exclusive access to the shared memory area.

5. The fusion control system for sanitation vehicle domain controllers according to claim 1, characterized in that, The microcontroller includes a memory protection component, which divides the memory area of ​​the microcontroller into a dedicated area for the chassis power distribution module, a dedicated area for the superstructure control module, and a shared data area. The superstructure control module is prohibited from accessing the dedicated area for the chassis power distribution module. Both the chassis power distribution management module and the superstructure control module are equipped with independent watchdog timers to achieve soft degradation in case of faults.

6. The fusion control system for sanitation vehicle domain controllers according to claim 1, characterized in that, The microcontroller unit further includes a coordination component for receiving controller area network commands from the vehicle controller; and / or, the coordination component for receiving operating commands from the driver's cab. The coordination component is used to arbitrate the priority of simultaneously arriving instructions according to a preset priority rule. The coordination component is used to coordinate the timing of actions that need to be performed sequentially.

7. The fusion control system for sanitation vehicle domain controllers according to claim 1, characterized in that, The microcontroller unit is equipped with a task scheduling component, which adopts a priority-based preemptive task scheduling method, wherein the task priority corresponding to the chassis power distribution management module is higher than the task priority corresponding to the superstructure control module.

8. A fusion control method for sanitation vehicle domain controllers, applicable to the fusion control system for sanitation vehicle domain controllers as described in any one of claims 1-7, characterized in that, include: Real-time acquisition of current values ​​and corresponding voltage values ​​for each low-voltage load circuit; The power consumption of the low-voltage system is calculated based on the obtained current and voltage values. The calculated low-voltage system power consumption is sent to the vehicle controller so that the vehicle controller can correct the range prediction model.

9. The fusion control method for sanitation vehicle domain controllers according to claim 8, characterized in that, The method also includes performing shutdown protection, reading the fault type, and generating and reporting diagnostic information containing the fault location and fault type when the switching chip detects an overcurrent or short-circuit fault.

10. The fusion control method for sanitation vehicle domain controllers according to claim 8, characterized in that, The method also includes the chassis power distribution management module and the superstructure control module deployed inside the microcontroller unit interacting with each other through the shared memory area to achieve coordinated control of chassis power distribution and superstructure operation. The shared memory area includes a dedicated area for the chassis power distribution module, a dedicated area for the superstructure control module, and a shared data area. Both the chassis power distribution management module and the superstructure control module are equipped with independent watchdog timers.

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