CN112977433A - Automobile central control system - Google Patents

The invention provides an automobile central control system, which comprises a central controller arranged in the center of an automobile and four slave controllers respectively arranged at the front part, the tail part, the left side and the right side of the automobile; the central controller is used for acquiring the obstacle distance information of the ultrasonic radar arranged around the vehicle from the controller and carrying out automatic parking control by combining the obstacle distance information, the speed of the automobile and the width information of the automobile; the controller is used for acquiring barrier information acquired by the camera and the millimeter wave radar and controlling the motion of the vehicle by combining the camera data, the barrier information, the current speed of the vehicle and the driver demand information; and the information such as the ambient temperature around the vehicle is acquired from the controller, and then the controller controls the actuating components such as the water pump and the fan, so as to manage the vehicle cooling system. By implementing the invention, the wiring harness arrangement of the automobile control system can be simplified while the multifunctional intelligent control of the automobile is kept.

Automobile central control system

Technical Field

The invention relates to the technical field of automobiles, in particular to an automobile central control system.

Background

With the continuous development of the automobile industry and the economic society, automobiles gradually develop in a new and quadruple direction, the electromotion, the intellectualization and the networking are developed into the trend of automobile development, and with the development of the automobiles in the direction of the electromotion, the intellectualization and the networking, more and more controllers on the automobiles comprise traditional automobile body controllers, steering power-assisted controllers and the like, and a whole automobile controller VCU, a thermal management controller TMS and the like in an electric power system are also added, and after the intellectualization, the automobile is additionally provided with an automatic parking controller APA, a controller for assisting in driving an ADAS and the like, the number of the controllers on the automobile is greatly increased due to the increase of the controllers, the wiring harness connection is very complex, and the whole automobile cost is increased; if the prior art is adopted to simplify the automobile control system, the multifunctional intelligent control of the automobile cannot be realized.

Disclosure of Invention

The present invention is directed to providing an automobile central control system to solve the above technical problems, thereby simplifying the wiring harness arrangement of the automobile control system while maintaining the multifunctional intelligent control of the automobile.

In order to solve the technical problem, the invention provides an automobile central control system, which comprises a central controller and a slave controller;

the central controller is used for acquiring obstacle distance information of the ultrasonic radar arranged around the vehicle through the slave controller and carrying out automatic parking control by combining the obstacle distance information, the speed of the automobile and the width information of the automobile; and the controller is used for acquiring barrier information acquired by the camera and the millimeter wave radar and controlling the vehicle motion by combining the camera data, the barrier information, the current vehicle speed of the vehicle and the driver demand information.

Further, the slave controller comprises a front slave controller, a tail slave controller, a left slave controller and a right slave controller.

Further, the obstacle distance information includes front obstacle distance information, tail obstacle distance information, left obstacle distance information, and right obstacle distance information; wherein the acquisition mode of the obstacle distance information includes:

the front slave controller sends an excitation signal to a front ultrasonic radar, and the front ultrasonic radar analyzes an echo fed back by the front ultrasonic radar into front obstacle distance information and forwards the front obstacle distance information to the central processing unit;

the tail slave controller sends an excitation signal to a tail ultrasonic radar, and the tail ultrasonic radar analyzes an echo fed back by the tail ultrasonic radar into tail obstacle distance information and forwards the tail obstacle distance information to the central processing unit;

the left slave controller sends an excitation signal to a left ultrasonic radar, and the left slave controller analyzes an echo fed back by the left ultrasonic radar into the left obstacle distance information and forwards the left obstacle distance information to the central processing unit;

and the right-side slave controller sends an excitation signal to a right-side ultrasonic radar, analyzes the echo fed back by the right-side ultrasonic radar into the right-side obstacle distance information and forwards the right-side obstacle distance information to the central processing unit.

Further, the obstacle information includes visual obstacle information and radar obstacle information; the visual barrier information comprises front visual barrier information, tail visual barrier information, left visual barrier information and right visual barrier information; the radar obstacle information comprises front radar obstacle information and tail radar obstacle information;

the front vision barrier information is obtained by analyzing the front slave controller according to an image collected by a front camera; the tail vision obstacle information is obtained by analyzing the tail slave controller according to an image collected by a tail camera; the left visual barrier information is obtained by analyzing the left slave controller according to the image collected by the left camera; the right visual barrier information is obtained by analyzing the right slave controller according to the image collected by the right camera;

the front radar obstacle information is acquired by the front slave controller through a front millimeter wave radar; and the tail radar obstacle information is acquired by the tail slave controller through a tail millimeter wave radar.

Further, the central controller is further configured to acquire a temperature signal acquired by the front slave controller through a temperature sensor, generate a fan and water pump rotation speed command according to the temperature signal, and issue the fan and water pump rotation speed command to the front slave controller, so that the front slave controller controls the fan rotation speed and the water pump rotation speed according to the fan and water pump rotation speed command.

Further, the central controller is further configured to send a tail gate motor rotation speed instruction to the tail slave controller, so that the tail slave controller controls the tail gate motor according to the tail gate motor rotation speed instruction.

Compared with the prior art, the invention has the following beneficial effects:

the invention provides an automobile central control system, which comprises a central controller arranged in the center of an automobile and four slave controllers respectively arranged at the front part, the tail part, the left side and the right side of the automobile; the central controller is used for acquiring obstacle distance information of the ultrasonic radar arranged around the vehicle through the slave controller and carrying out automatic parking control by combining the obstacle distance information, the speed of the automobile and the width information of the automobile; the controller is used for acquiring barrier information acquired by the camera and the millimeter wave radar and controlling vehicle motion by combining the camera data, the barrier information, the current vehicle speed of the vehicle and the driver demand information; and information such as ambient temperature around the vehicle is acquired through the slave controller, and then the slave controller controls executive components such as a water pump and a fan to manage the vehicle cooling system. By implementing the invention, the wiring harness arrangement of the automobile control system can be simplified while the multifunctional intelligent control of the automobile is kept.

Drawings

Fig. 1 is a schematic structural diagram of an automobile central control system according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments 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, an embodiment of the present invention provides an automobile central control system, which includes a central controller and a slave controller; in the embodiment of the present invention, further, the slave controller includes a front slave controller, a tail slave controller, a left slave controller and a right slave controller;

the central controller is used for acquiring obstacle distance information of the ultrasonic radar arranged around the vehicle through the slave controller and carrying out automatic parking control by combining the obstacle distance information, the speed of the automobile and the width information of the automobile; and the controller is used for acquiring barrier information acquired by the camera and the millimeter wave radar and controlling the vehicle motion by combining the camera data, the barrier information, the current vehicle speed of the vehicle and the driver demand information.

In the embodiment of the present invention, further, the obstacle distance information includes front obstacle distance information, tail obstacle distance information, left obstacle distance information, and right obstacle distance information; wherein the acquisition mode of the obstacle distance information includes:

the front slave controller sends an excitation signal to a front ultrasonic radar, and the front ultrasonic radar analyzes an echo fed back by the front ultrasonic radar into front obstacle distance information and forwards the front obstacle distance information to the central processing unit;

the tail slave controller sends an excitation signal to a tail ultrasonic radar, and the tail ultrasonic radar analyzes an echo fed back by the tail ultrasonic radar into tail obstacle distance information and forwards the tail obstacle distance information to the central processing unit;

the left slave controller sends an excitation signal to a left ultrasonic radar, and the left slave controller analyzes an echo fed back by the left ultrasonic radar into the left obstacle distance information and forwards the left obstacle distance information to the central processing unit;

and the right-side slave controller sends an excitation signal to a right-side ultrasonic radar, analyzes the echo fed back by the right-side ultrasonic radar into the right-side obstacle distance information and forwards the right-side obstacle distance information to the central processing unit.

In the embodiment of the present invention, further, the obstacle information includes visual obstacle information and radar obstacle information; the visual barrier information comprises front visual barrier information, tail visual barrier information, left visual barrier information and right visual barrier information; the radar obstacle information comprises front radar obstacle information and tail radar obstacle information;

the front vision barrier information is obtained by analyzing the front slave controller according to an image collected by a front camera; the tail vision obstacle information is obtained by analyzing the tail slave controller according to an image collected by a tail camera; the left visual barrier information is obtained by analyzing the left slave controller according to the image collected by the left camera; the right visual barrier information is obtained by analyzing the right slave controller according to the image collected by the right camera;

the front radar obstacle information is acquired by the front slave controller through a front millimeter wave radar; and the tail radar obstacle information is acquired by the tail slave controller through a tail millimeter wave radar.

In the embodiment of the present invention, the central controller is further configured to obtain a temperature signal acquired by the front slave controller through a temperature sensor, generate a fan and water pump rotation speed command according to the temperature signal, and issue the fan and water pump rotation speed command to the front slave controller, so that the front slave controller respectively controls the fan rotation speed and the water pump rotation speed according to the fan and water pump rotation speed command.

In the embodiment of the present invention, the central controller is further configured to send a rotation speed instruction of the tail gate motor to the tail slave controller, so that the tail slave controller controls the tail gate motor according to the rotation speed instruction of the tail gate motor.

With continued reference to fig. 1, based on the above solution, in order to better understand the central control system of the automobile provided by the embodiment of the present invention, the following detailed description is provided:

the automobile central control system provided by the embodiment of the invention comprises a central controller arranged in the middle of a vehicle and 4 distributed slave controllers arranged at the front, the back, the left and the right of the vehicle. The system integrates the functions of controllers such as a Vehicle Control Unit (VCU), a thermal management controller (TMS), a vehicle Body Controller (BCM) and the like on the new energy automobile, also combines the ADAS function (including automatic parking APA, self-adaptive cruise ACC and automatic emergency braking AEB) in automatic driving, and is an integrated centralized controller of the automobile.

The 4 slave controllers and the central controller are communicated through a bus, which CAN be a CAN bus or an Ethernet bus.

The front slave controller is connected with a front-view camera, a front ultrasonic radar, a front millimeter wave radar, a fan, a water pump and a temperature sensor. Specifically, the method comprises the following steps: the front slave controller is connected with the front-view camera through a CAN bus and reads front obstacle information, lane line information and traffic sign information acquired by the front-view camera; the front slave controller is connected with the front millimeter wave radar through a CAN bus, reads front obstacle information acquired by the front millimeter wave radar, and forwards vehicle speed information obtained from the central controller to the front millimeter wave radar; the front slave controller is connected with the front ultrasonic radars (4) through IO interfaces, excitation signals required by the front ultrasonic radars are sent out by the front slave controller through the IO interfaces, echoes detected by the front ultrasonic radars are received and analyzed into obstacle distance information, and finally the obstacle distance information is sent to the central controller through a bus; the front slave controller is connected with the fan through a PWM signal, converts a fan rotating speed instruction sent by the central controller into a duty ratio of the PWM signal, and adjusts the rotating speed of the fan through the duty ratio of the PWM signal; the front slave controller is connected with the water pump through a PWM signal, converts a water pump rotating speed instruction sent by the central controller into a duty ratio of the PWM signal, and adjusts the rotating speed of the water pump through the duty ratio of the PWM signal; the temperature sensor is connected with the front slave controller through the IO port, the front slave controller converts an analog quantity signal given by the temperature sensor into a temperature signal, and the temperature signal is sent to the central controller through the bus. In practice, there may be more than one temperature sensor, and there may be a plurality of temperature sensors arranged at different locations of the cooling water circuit.

The tail slave controller is connected with a rearview camera, a tail ultrasonic radar, a tail millimeter wave radar, a tail gate motor and a tail gate switch. Specifically, the method comprises the following steps: the tail slave controller is connected with the rearview camera through a CAN bus and reads rear obstacle information collected by the rearview camera; the tail slave controller is connected with the tail millimeter wave radar through a CAN bus, reads rear obstacle information acquired by the tail millimeter wave radar, and forwards vehicle speed information obtained from the central controller to the tail millimeter wave radar; the tail slave controller is connected with the (4) tail ultrasonic radars through IO interfaces, excitation signals required by the tail ultrasonic radars are sent out by the tail slave controller through the IO interfaces, echoes detected by the tail ultrasonic radars are received and analyzed into obstacle distance information, and finally the obstacle distance information is sent to the central controller through a bus; the tail slave controller is connected with the tail gate motor through a PWM signal, converts a tail gate motor rotating speed instruction sent by the central controller into a duty ratio of the PWM signal, and adjusts the rotating speed of the tail gate motor through the duty ratio of the PWM signal; the tail slave controller is connected with the tail gate switch through an IO, detects the high and low level state of the IO, converts the high and low level state into the opening and closing state of the tail gate, and sends the opening and closing state to the central controller through a bus.

The left side is connected with a left side camera and a left side ultrasonic radar from the controller. Specifically, the method comprises the following steps: the left slave controller is connected with the left camera through a CAN bus and reads left parking space information and left obstacle information acquired by the left camera; the left slave controller is connected with the left ultrasonic radars (2) through IO interfaces, excitation signals required by the left ultrasonic radars are sent out through the IO interfaces from the left slave controller, echoes detected by the left ultrasonic radars are received, the echoes are analyzed into obstacle distance information, and finally the obstacle distance information is sent to the central controller through a bus.

The right side is connected with a right side camera and a right side ultrasonic radar from the controller. Specifically, the method comprises the following steps: the right side is connected with the right side camera from the controller through the CAN bus, reads right side parking stall information and right side obstacle information that right side camera gathered. The right side is linked to each other with right side ultrasonic radar (2) from the controller through the IO interface, and the right side ultrasonic radar needs the excitation signal is sent out through the IO interface from the controller, and the echo of receiving right side ultrasonic radar and surveying to resolve into obstacle distance information with the echo, send this obstacle distance for central controller through the bus finally.

The central controller obtains the temperature collected by the front slave controller through the bus, adjusts the rotating speed commands of the fan and the water pump according to the temperature, sends the commands to the front slave controller through the bus, converts the commands into duty ratios corresponding to PWM signals by the front slave controller, adjusts the rotating speeds of the fan and the water pump, and achieves the heat management function achieved by a heat management controller (TMS) in the traditional architecture.

The central controller can obtain the obstacle distance information of 4 ultrasonic radars which are obtained from the controllers and arranged on the periphery of the vehicle for 12 in total through the bus, and identify the effective parking space according to the obstacle distance information. The distance of the obstacle is detected through the ultrasonic radar arranged on the left side or the right side of the vehicle, if the distance is larger than the length of the vehicle, the vehicle is considered to be an effective parking space, the width of the parking space is obtained through wheel speed integration, and if the width of the parking space is larger than the width of the vehicle, the vehicle is considered to be a parking space. The central controller can calculate an optimal parking path by combining the effective parking space information with the current actual position of the vehicle, control the vehicle to move and realize the automatic parking function of an automatic parking controller (APA) in the traditional architecture.

In addition, the central controller can obtain front obstacle information acquired by the front-view camera and the front millimeter wave radar through the bus, and control the vehicle to move according to the obstacle information and the current speed of the vehicle, the requirement of a driver and the like, so that the functions of adaptive cruise (ACC) and Automatic Emergency Braking (AEB) are realized.

The central controller can obtain the opening and closing state of the tail gate through the bus, and in combination with the opening and closing instruction of a driver to the tail gate, the central controller sends the rotating speed instruction of the tail gate motor to the tail slave controller through the bus, and the tail slave controller converts the instruction into the duty ratio of the PWM signal to adjust the rotating speed of the tail gate motor, so that the opening and closing function of the tail gate is realized.

It should be noted that the embodiment of the present invention provides an automobile central control system, which includes a central controller and 4 distributed slave controllers disposed at front, rear, left and right positions of a vehicle. The system integrates the functions of controllers such as a Vehicle Control Unit (VCU), a thermal management controller (TMS), a vehicle Body Controller (BCM) and the like on the new energy automobile, also combines the ADAS function (including automatic parking APA, self-adaptive cruise ACC and automatic emergency braking AEB) in automatic driving, and is an integrated centralized controller of the automobile. The system defines a brand-new vehicle electrical framework, greatly simplifies the wiring harness arrangement of the vehicle, reduces the vehicle cost, and simultaneously greatly improves the flexibility and the reliability of the system function upgrade.

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.