阅读说明：本技术 一种无人驾驶电动汽车底层电控系统 (Bottom layer electric control system of unmanned electric vehicle ) 是由 刘奕杉 卢泳康 吴元清 鲁仁全 于 2019-11-18 设计创作，主要内容包括：本发明公开了一种无人驾驶电动汽车底层电控系统,包括控制器模块、供电模块、刹车模块、转向模块、后轮驱动模块、驾驶模式切换模块以及工控机模块；所述供电模块的供电端与控制器模块的电源端相连接,所述控制器模块分别与刹车模块、转向模块、后轮驱动模块、驾驶模式切换模块以及工控机模块相连接。本发明将各个电路进行模块化设计来实现对无人驾驶电动汽车的控制,模块化的设计方案有利于用户对汽车底层电控系统进行安装、拆卸、改造以及升级,在对底层电控系统进行维修升级时不必更换整个底层电控系统,并且各个模块容易获取且价格不高,极大的降低了制造成本。(The invention discloses a bottom layer electric control system of an unmanned electric automobile, which comprises a controller module, a power supply module, a brake module, a steering module, a rear wheel driving module, a driving mode switching module and an industrial personal computer module, wherein the controller module is used for controlling the power supply module and the brake module; the power supply end of the power supply module is connected with the power supply end of the controller module, and the controller module is respectively connected with the brake module, the steering module, the rear wheel driving module, the driving mode switching module and the industrial personal computer module. According to the invention, each circuit is subjected to modular design to realize the control of the unmanned electric vehicle, the modular design scheme is favorable for a user to install, disassemble, reform and upgrade the bottom electric control system of the vehicle, the whole bottom electric control system is not required to be replaced when the bottom electric control system is maintained and upgraded, each module is easy to obtain and low in price, and the manufacturing cost is greatly reduced.)

1. A bottom layer electric control system of an unmanned electric vehicle is characterized by comprising a controller module, a power supply module, a brake module, a steering module, a rear wheel driving module, a driving mode switching module and an industrial personal computer module;

the power supply end of the power supply module is connected with the power supply end of the controller module;

the controller module is respectively connected with the brake module, the steering module, the rear wheel driving module, the driving mode switching module and the industrial personal computer module.

2. The bottom electrical control system of the unmanned electric vehicle of claim 1, wherein the power supply module comprises a battery and a power voltage reduction circuit, an output terminal of the battery is connected to an input terminal of the power voltage reduction circuit, and an output terminal of the power voltage reduction circuit is connected to a power supply terminal of the controller module.

3. The bottom electrical control system of claim 1, wherein the output of the controller module is connected to the input of the electric brake module, the input of the electric steering module, and the input of the rear wheel driver module via a CAN bus.

4. The bottom electrical control system of the unmanned electric vehicle of claim 3, wherein the electric brake module comprises a DC motor driver and a push rod motor, an output end of the controller module is connected with an input end of the DC motor driver through a CAN bus, and an output end of the DC motor driver is connected with an input end of the push rod motor.

5. The bottom layer electric control system of the unmanned electric vehicle is characterized in that the electric steering module comprises an electric lock switch, a steering EPS module, a steering motor and a high-precision absolute encoder; the output of electric lock switch with turn to the first input of EPS module and be connected, turn to the output of EPS module with the input that turns to the motor is connected, turn to the motor the output with the input of high accuracy absolute encoder is connected, the output of high accuracy encoder with the input of controller module is connected, turn to the second input of EPS module through the CAN bus with the output of controller module is connected.

6. The bottom electrical control system of the unmanned electric vehicle of claim 4, wherein the DC motor driver is provided with an encoder interface, the push rod motor is provided with an encoder, and the encoder interface is connected with the encoder through an output line.

7. The bottom electrical control system of the unmanned electric vehicle of claim 6, wherein the controller module is in data transmission with the high-precision encoder through RS485 protocol.

8. The bottom electrical control system of the unmanned electric vehicle of claim 1, wherein the controller module is an ECU controller, and the ECU controller is further connected with a triode amplifier circuit, a triode relay circuit, an output buffer circuit, an indicator light circuit, and a buzzer circuit, respectively;

the triode amplifying circuit is used for driving a large-current signal by using a small-current signal to realize the control of the automobile lamp;

the triode relay circuit is used for controlling the opening and closing of the contact piece by using a small voltage signal so as to control a high-voltage gear signal of the automobile;

the output buffer circuit is used for enhancing a circuit signal;

the indicating lamp circuit is used for controlling the indicating lamp to realize different flashing states;

the buzzer circuit is used for controlling the buzzer to send out different buzzing states.

9. The bottom-layer electric control system of the unmanned electric vehicle as claimed in claim 1, wherein the industrial personal computer module is provided with an unmanned program.

10. The bottom electrical control system of the unmanned electric vehicle of claim 9, further comprising a mobile upper computer, wherein the mobile upper computer is wirelessly connected to the controller module.

Technical Field

The invention relates to the technical field of unmanned automobiles, in particular to a bottom layer electric control system of an unmanned electric automobile.

Background

With the development and promotion of the fields of artificial intelligence, image processing, intelligent perception, motion control and the like, the intelligent unmanned system gradually becomes an object of key research and capital investment of various countries and large-technology companies, and the accelerated development of the unmanned system is promoted by the increase of labor cost, the accelerated aging of population, and the complication of working environment and tasks. Wherein unmanned driving is an important research direction of unmanned systems. The electric automobile has the advantages of no pollution, low energy consumption and the like, and is easier to control, so the electric automobile is more suitable to be used as an unmanned development platform. The unmanned vehicle can be simply divided into a bottom layer electric control system and an upper layer control decision system, wherein the bottom layer electric control system is a hardware guarantee for normal and stable running of the unmanned vehicle and is a basic condition for automatic driving. However, the existing electric control system for the bottom layer of the unmanned vehicle mainly has the technical problem of high cost.

Disclosure of Invention

The invention provides a bottom layer electric control system of an unmanned electric vehicle, which solves the technical problem that the cost of the bottom layer electric control system of the existing unmanned vehicle is overhigh.

The invention provides a bottom layer electric control system of an unmanned electric vehicle, which comprises a controller module, a power supply module, a brake module, a steering module, a rear wheel driving module, a driving mode switching module and an industrial personal computer module, wherein the controller module is used for controlling the power supply module; the power supply end of the power supply module is connected with the power supply end of the controller module, and the controller module is respectively connected with the brake module, the steering module, the rear wheel driving module, the driving mode switching module and the industrial personal computer module.

Preferably, the power supply module comprises a storage battery and a power supply voltage-reducing circuit, an output end of the storage battery is connected with an input end of the power supply voltage-reducing circuit, and an output end of the power supply voltage-reducing circuit is connected with a power supply end of the controller module.

Preferably, the output end of the controller module is connected with the input end of the electric brake module, the input end of the electric steering module and the input end of the rear wheel driver module through a CAN bus.

Preferably, the electric brake module comprises a direct current motor driver and a push rod motor, the output end of the controller module is connected with the input end of the direct current motor driver through a CAN bus, and the output end of the direct current motor driver is connected with the input end of the push rod motor.

Preferably, the electric power steering module comprises an electric lock switch, a steering EPS module, a steering motor and a high-precision absolute encoder; the output of electric lock switch with turn to the first input of EPS module and be connected, turn to the output of EPS module with the input that turns to the motor is connected, turn to the motor the output with the input of high accuracy absolute encoder is connected, the output of high accuracy encoder with the input of controller module is connected, turn to the second input of EPS module through the CAN bus with the output of controller module is connected.

Preferably, the direct current motor driver is provided with an encoder interface, the push rod motor is provided with an encoder, and the encoder interface is connected with the encoder through an output line.

Preferably, the controller module performs data transmission with the high-precision encoder through an RS485 protocol.

Preferably, the controller module is an ECU controller, and the ECU controller is further connected with the triode amplification circuit, the triode relay circuit, the output buffer circuit, the indicator light circuit and the buzzer circuit respectively;

the triode amplifying circuit is used for driving a large-current signal by using a small-current signal to realize the control of the automobile lamp;

the triode relay circuit is used for controlling the opening and closing of the contact piece by using a small voltage signal so as to control a high-voltage gear signal of the automobile;

the output buffer circuit is used for enhancing a circuit signal;

the indicating lamp circuit is used for controlling the indicating lamp to realize different flashing states;

the buzzer circuit is used for controlling the buzzer to send out different buzzing states.

Preferably, the industrial personal computer module is internally provided with an unmanned program.

Preferably, the system further comprises a mobile upper computer, and the mobile upper computer is in wireless connection with the controller module.

According to the technical scheme, the invention has the following advantages:

according to the bottom layer electric control system of the unmanned electric vehicle, the circuits are subjected to modular design to realize control of the unmanned electric vehicle, the modular design scheme is favorable for a user to install, disassemble, reform and upgrade the bottom layer electric control system of the vehicle, the whole bottom layer electric control system is not required to be replaced when the bottom layer electric control system is maintained and upgraded, and the modules are easy to obtain and low in price, so that the manufacturing cost is greatly reduced.

Another embodiment of the invention has the following advantages:

the bottom-layer electric control system of the unmanned electric vehicle is simple in control and convenient to use, multiple communication modes are combined for use, data interaction between system modules is safer and more efficient, the visualization of the motion state of the vehicle is realized through a human-computer interaction interface provided by a mobile upper computer client, and a user can conveniently control the vehicle.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

Fig. 1 is a system framework diagram of a bottom layer electronic control system of an unmanned electric vehicle according to an embodiment of the present invention.

Fig. 2 is a structural diagram of a controller module of a bottom-layer electronic control system of an unmanned electric vehicle according to an embodiment of the present invention.

Fig. 3 is a structural diagram of an electric power steering module of a bottom layer electric control system of an unmanned electric vehicle according to an embodiment of the present invention.

Fig. 4 is a circuit diagram of an electric brake module of a bottom layer electric control system of an unmanned electric vehicle according to an embodiment of the present invention.

Fig. 5 is a mobile upper computer control interface diagram of a bottom layer electronic control system of an unmanned electric vehicle according to an embodiment of the present invention.

Fig. 6 is a system framework diagram of a bottom layer electronic control system of an unmanned electric vehicle according to an embodiment of the present invention.

Detailed Description

The embodiment of the invention provides a bottom layer electric control system of an unmanned electric vehicle, which is used for solving the technical problem that the cost of the existing bottom layer electric control system of the unmanned vehicle is overhigh.

In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, fig. 1 is a system frame diagram of a bottom layer electric control system of an unmanned electric vehicle according to an embodiment of the present invention.

The invention provides a bottom layer electric control system of an unmanned electric vehicle, which comprises a controller module, a power supply module, a brake module, a steering module, a rear wheel driving module, a driving mode switching module and an industrial personal computer module, wherein the controller module is used for controlling the power supply module; the power supply end of the power supply module is connected with the power supply end of the controller module, and the controller module is respectively connected with the brake module, the steering module, the rear wheel driving module, the driving mode switching module and the industrial personal computer module. The controller module controls the brake module to brake when the automobile needs to brake by analyzing data in the driving process of the unmanned automobile, controls the steering module to steer when the automobile needs to steer, controls the rear wheel driving module to accelerate when the automobile needs to be started or accelerated, controls the driving mode switching module to switch when the automobile needs to switch the driving mode, and calls the industrial personal computer module to control driving.

As a preferred embodiment, the power supply module includes a storage battery and a power supply voltage-reducing circuit, an output end of the storage battery is connected to an input end of the power supply voltage-reducing circuit, and an output end of the power supply voltage-reducing circuit is connected to a power supply end of the controller module. The storage battery is powered by a 60V lead storage battery, is provided with a DC-DC power supply to convert the voltage into 12V, and then is converted into 5V by a power supply voltage reduction circuit to be used by the controller module.

As a preferred embodiment, the output terminal of the controller module is connected to the input terminal of the electric brake module, the input terminal of the electric power steering module, and the input terminal of the rear wheel driver module through a CAN bus. In order to realize the communication between the controller module and each module, a CAN transceiver, an RS485 transceiver and a USART peripheral are designed on the controller module.

As a preferred embodiment, as shown in fig. 4, the electric brake module includes a dc motor driver and a push rod motor, an output end of the controller module is connected to an input end of the dc motor driver through a CAN bus, and an output end of the dc motor driver is connected to an input end of the push rod motor.

The controller module sends a driving signal to the direct current motor driver through the CAN bus according to the control instruction, and the direct current motor driver controls the push rod motor according to the driving signal so as to achieve the effect of controlling the automobile brake.

As a preferred embodiment, as shown in fig. 3, the electric power steering module includes an electric lock switch, a steering EPS module, a steering motor, and a high-precision absolute encoder; the output of electric lock switch with turn to the first input of EPS module and be connected, turn to the output of EPS module with the input that turns to the motor is connected, turn to the motor the output with the input of high accuracy absolute encoder is connected, the output of high accuracy encoder with the input of controller module is connected, turn to the second input of EPS module through the CAN bus with the output of controller module is connected.

The controller module judges whether the electric lock switch is turned on or not after receiving the control instruction, and supplies power to a steering EPS module of the electric steering system through an external power supply when the electric lock switch is turned on. The controller module and the EPS module that turns to realize the communication through CAN communication protocol, turn to EPS module and receive controller module's signal control steering motor and rotate, high accuracy absolute encoder gathers steering motor real-time corner simultaneously, and carry out data transfer through RS485 agreement and controller module, controller module obtains after absolute encoder's the angle value, through position formula PID formula calculation control steering motor torque's controlled variable, obtain the correction signal, revise the rotation angle, ECU controller sends control signal to the CAN bus, turn to EPS module and execute corresponding instruction after receiving control signal, thereby realize turning to closed-loop control, accurate turning to.

As a preferred embodiment, an encoder interface is arranged on the dc motor driver, an encoder is arranged on the push rod motor, and the encoder interface is connected with the encoder through an output line. The push rod motor and the direct current motor driver are connected through an encoder to form closed-loop control. In order to achieve accurate brake control, the brake effect is divided into 3 grades, and different brake requirements can be met. The brake module supplies power for an external 12V power supply, the control interface is a CAN bus communication interface, and the CAN bus communication interface is conveniently mounted on the same CAN bus in parallel with other modules and shares the same CAN bus.

As a preferred embodiment, the controller module performs data transmission with the high-precision encoder through an RS485 protocol.

As a preferred embodiment, as shown in fig. 2, the controller module is an ECU controller, and the ECU controller is further connected to the triode amplifying circuit, the triode relay circuit, the output buffer circuit, the indicator light circuit, and the buzzer circuit, respectively;

the triode amplifying circuit is used as an electronic switch and is used for driving a large-current signal by using a small-current signal so as to control the automobile lamp;

the triode relay circuit is used for controlling the opening and closing of the contact piece by using a small voltage signal, and the normally open and normally closed end of the triode relay circuit is used for conducting and cutting off a high-voltage and large-current signal, so that a high-voltage gear signal of an automobile is controlled;

the output buffer circuit is used for enhancing circuit signals, realizing buffer output of data and preventing the influence of the sink current on the microcontroller.

The indicating lamp circuit is used for controlling the indicating lamp to realize different flashing states, and is convenient for a worker to debug the ECU controller.

The buzzer circuit is used for controlling the buzzer to send out different buzzing states, and when the sending frequency of the data frame is less than 50hz, the ECU controller controls the buzzer circuit to send out a buzzing alarm to enter a communication error state.

As a preferred embodiment, the industrial personal computer module is provided with an unmanned program, and when the automobile is switched to the unmanned mode, the controller module calls the unmanned program in the industrial personal computer to realize the unmanned driving of the automobile.

As a preferred embodiment, the system further comprises a mobile upper computer, and the mobile upper computer is in wireless connection with the controller module. The user receives the data in the controller module through the mobile upper computer to master the situation of the unmanned automobile in real time and sends an instruction to control the controller module through the mobile upper computer, so that the remote control of the unmanned automobile is realized.

As shown in fig. 5 and 6, the mobile upper computer and the ECU controller realize data interaction through a bluetooth-to-serial port. The mobile upper computer is provided with a client, a control interface of the client is set to have the functions of braking, steering, advancing, retreating and the like, when a user executes a certain function, the client encapsulates data into a protocol and sends the protocol to the ECU controller, and the ECU controller feeds back data such as the speed, the running mode, the gear position, the angle and the like of the vehicle to the client of the mobile upper computer.

When the upper computer is moved to execute the forward and backward functions, the ECU controller receives a control instruction and converts the control instruction into a motor driving signal to the rear wheel driving module according to the required running speed, so that the forward and backward of the vehicle are realized.

When the mobile upper computer executes a braking function, the ECU controller receives the control instruction, sends a driving signal to the direct current motor driver through the CAN bus according to the control instruction, and the direct current motor driver controls the push rod motor according to the driving signal to achieve the effect of controlling the automobile brake.

When the mobile upper computer executes a steering function, the ECU controller receives a control instruction, after receiving the control instruction, the ECU controller judges whether an electric lock switch is turned on, the controller module and the steering EPS module realize communication through a CAN communication protocol, the steering EPS module receives a signal of the controller module to control the steering motor to rotate, meanwhile, a high-precision absolute encoder collects the real-time rotation angle of the steering motor and transmits data with the controller module through an RS485 protocol, the controller module calculates a control quantity for controlling the torque of the steering motor through a position type PID (proportion integration differentiation) formula after obtaining an angle value of the absolute encoder to obtain a correction signal, corrects the rotation angle, then the ECU controller sends a control signal to a CAN bus, and the steering EPS module executes a corresponding instruction after receiving the control signal, so that the steering closed-loop control and the accurate steering are realized.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.