Patent Application
20250230871
This application relates to the field of control technologies, and in particular, to a control system, a sensor, a controller, and a terminal device.
In the field of automobiles, an accelerator pedal is directly related to safety of a driver and a passenger, and is a key safety component. Therefore, high reliability control of the accelerator pedal becomes increasingly important.
Currently, a system for controlling an accelerator pedal (which may be referred to as an acceleration control system) is shown in
In conclusion, how to improve reliability of a control system is a technical problem to be urgently resolved currently.
This application provides a control system, a sensor, a controller, and a terminal device, to improve reliability of a control system.
According to a first aspect, this application provides a control system. The control system includes a first controller and a second controller. The first controller is connected to a sensor, and the second controller is connected to the sensor. The sensor includes a first sensing module and a second sensing module. The second controller includes a sampling circuit (for example, a multi-connection differential sampling circuit). The sampling circuit includes a first channel and a second channel. The first channel is connected to the first sensing module, and the second channel is connected to the second sensing module. The second controller is configured to: obtain, through the first channel, a first signal detected by the first sensing module, obtain, through the second channel, a second signal detected by the second sensing module, and determine second opening information of a pedal based on the first signal and the second signal.
Based on the foregoing solution, when a fault occurs in the first controller, the second controller may take over an operation of the first controller to continue the operation, to avoid a single-point failure and help improve reliability of the control system. In addition, the second controller includes the first channel and the second channel, so that a single-point failure can be avoided, and accuracy of opening information (for example, the second opening information) obtained from the sensor can be improved.
In one embodiment, the second controller is further configured to send a second control signal to an actuator, where the second control signal is obtained based on the second opening information.
The second controller sends the second control signal to the actuator, so that the actuator may be controlled by using the second controller. For example, if the fault occurs in the first controller, the second controller may take over, helping improve reliability of the control system.
In one embodiment, the first controller is configured to: obtain the first signal detected by the first sensing module and the second signal detected by the second sensing module, determine first opening information of the pedal based on the first signal and the second signal, and send a first control signal to an actuator, where the first control signal is obtained based on the first opening information.
The first opening information of the pedal that is determined by using the first controller may further control the actuator.
In one embodiment, the first channel includes a first analog-to-digital converter (analog to digital converter, ADC), and the second channel includes a second ADC.
Specifically, the first ADC includes a positive input end and a negative input end, and the second ADC includes a positive input end and a negative input end; the positive input end of the first ADC is connected to a first signal output end of the first sensing module, and the negative input end of the first ADC is connected to a first ground end of the first sensing module; and the positive input end of the second ADC is connected to a second signal output end of the second sensing module, and the negative input end of the second ADC is connected to a second ground end of the second sensing module.
In one embodiment, the second controller further includes a first follower and a second follower. The first ADC is connected to the first sensing module through the first follower; and the second ADC is connected to the second sensing module through the second follower.
A voltage follower has features such as high input impedance (for example, several mega ohms) and low output impedance (for example, several ohms). Therefore, the voltage follower may buffer and isolate the sensor. This helps improve a load carrying capability of the sensor, and further helps improve accuracy of the second opening information obtained by the second controller from the sensor.
In one embodiment, the first controller includes a first power supply, and the second controller includes a second power supply; and the first power supply is configured to supply power to the first follower and the second follower; or the second power supply is configured to supply power to the first follower and the second follower.
Power is supplied to the first follower and the second follower by using the first power supply of the first controller, so that it can be ensured that electric potentials of ground ends of the first follower and the second follower are consistent with an electric potential of a ground end of the first controller, and no additional electric potential difference is caused.
In one embodiment, the first controller includes a first power supply, and the second controller includes a second power supply and a power supply detection module; and the power supply detection module is configured to: detect that a fault occurs in the first power supply, and switch to the second power supply to supply power to the first follower and the second follower.
The power supply detection module is used, so that after the fault occurs in the first power supply of the first controller, the second power supply of the second controller may continue to supply power to the first follower and the second follower, and the first follower and the second follower can operate.
In one embodiment, the control system further includes a first combiner module and a second combiner module, the first controller includes the first power supply, and the second controller includes the second power supply. The first combiner module is configured to control the first power supply or the second power supply to supply power to the first sensing module. The second combiner module is configured to control the first power supply or the second power supply to supply power to the second sensing module.
Redundant power supply to the first sensing module may be implemented by using the first combiner module, and redundant power supply to the second sensing module may be implemented by using the second combiner module. If the fault occurs in the first controller or the second controller is abnormal, the control system may further supply power to the sensor, further improving reliability of the control system.
Specifically, the first combiner module includes a first switch and a second switch, a first end of the first switch is connected to the first power supply, a second end of the first switch is connected to a power supply end of the first sensing module, a first end of the second switch is connected to the second power supply, and a second end of the second switch is connected to the power supply end of the first sensing module; and/or the second combiner module includes a third switch and a fourth switch, a first end of the third switch is connected to the first power supply, a second end of the third switch is connected to a power supply end of the second sensing module, a first end of the fourth switch is connected to the second power supply, and a second end of the fourth switch is connected to the power supply end of the second sensing module.
In one embodiment, the first switch includes, for example, a first diode or a first chip; and/or the second switch includes, for example, a second diode or a second chip.
In one embodiment, the first chip has combining and anti-reverse functions, and may provide two power supplies for the first sensing module. The second chip also has the combining and anti-reverse functions, and may provide two power supplies for the second sensing module.
In one embodiment, the first combiner module, the second combiner module, and the second controller are integrated into a same printed circuit board; or at least two of the first combiner module, the second combiner module, and the second controller are integrated into different printed circuit boards; or the first combiner module, the second combiner module, and the first controller are integrated into a same printed circuit board; or at least two of the first combiner module, the second combiner module, and the first controller are integrated into different printed circuit boards.
According to a second aspect, this application provides a controller. The controller includes a sampling circuit. The sampling circuit includes a first channel and a second channel. The first channel is connected to a first sensing module of a sensor, and the second channel is connected to a second sensing module of the sensor. The controller is configured to: obtain, through the first channel, a first signal detected by the first sensing module, obtain, through the second channel, a second signal detected by the second sensing module, and determine based on the first signal and the second signal, second opening information of a pedal that is detected by the sensor.
In one embodiment, the controller is further configured to send a second control signal to an actuator, and the second control signal is obtained based on the second opening information.
In one embodiment, the first channel includes a first ADC, and the second channel includes a second ADC.
In one embodiment, the first ADC includes a positive input end and a negative input end, and the second ADC includes a positive input end and a negative input end; the positive input end of the first ADC is connected to a first signal output end of the first sensing module, and the negative input end of the first ADC is connected to a first ground end of the first sensing module; and the positive input end of the second ADC is connected to a second signal output end of the second sensing module, and the negative input end of the second ADC is connected to a second ground end of the second sensing module.
In one embodiment, the controller further includes a first follower and a second follower. The first ADC is connected to the first sensing module through the first follower; and the second ADC is connected to the second sensing module through the second follower.
For technical effects that can be achieved in any one of the foregoing two aspects, refer to the descriptions of the beneficial effects in the first aspect. Details are not described herein again.
According to a third aspect, this application provides a control system. The control system includes a third controller and a fourth controller. The third controller is connected to a sensor, and the fourth controller is connected to the sensor. The third controller, the fourth controller, and the sensor are connected together and then grounded.
Based on the foregoing solution, the third controller, the fourth controller, and the sensor are connected together and then grounded, so that a ground offset can be eliminated when maintaining compatibility with an existing controller structure, improving control accuracy and reliability of the control system. In addition, the third controller, the fourth controller, and the sensor are connected together and then grounded, to help improve flexibility of component layout of an entire vehicle.
In one embodiment, the control system further includes a first combiner module and a second combiner module, the third controller includes a third power supply, the fourth controller includes a fourth power supply, and the sensor includes a first sensing module and a second sensing module. The first combiner module is configured to control the third power supply or the fourth power supply to supply power to the first sensing module. The second combiner module is configured to control the third power supply or the fourth power supply to supply power to the second sensing module.
In one embodiment, the first combiner module includes a first switch and a second switch, a first end of the first switch is connected to the third power supply, a second end of the first switch is connected to a power supply end of the first sensing module, a first end of the second switch is connected to the fourth power supply, and a second end of the second switch is connected to the power supply end of the first sensing module; and/or the second combiner module includes a third switch and a fourth switch, a first end of the third switch is connected to the third power supply, a second end of the third switch is connected to a power supply end of the second sensing module, a first end of the fourth switch is connected to the fourth power supply, and a second end of the fourth switch is connected to the power supply end of the second sensing module.
In one embodiment, the first switch includes a first diode or a first chip; and/or the second switch includes a second diode or a second chip.
In one embodiment, the first chip has combining and anti-reverse functions, and may provide two power supplies for the first sensing module. The second chip also has the combining and anti-reverse functions, and may provide two power supplies for the second sensing module.
In one embodiment, the first combiner module, the second combiner module, and the third controller are integrated into a same printed circuit board; or at least two of the first combiner module, the second combiner module, and the third controller are integrated into different printed circuit boards; or the first combiner module, the second combiner module, and the fourth controller are integrated into a same printed circuit board; or at least two of the first combiner module, the second combiner module, and the fourth controller are integrated into different printed circuit boards.
For technical effects that can be achieved in any one of the foregoing three aspects, refer to the descriptions of the beneficial effects in the first aspect. Details are not described herein again.
According to a fourth aspect, this application provides a sensor. The sensor includes a first sensing module, a second sensing module, and a processing module. A first end of the processing module is connected to the first sensing module. A second end of the processing module is connected to the second sensing module. A third end and a fourth end of the processing module are connected to a third controller. The first sensing module and the second sensing module are grounded. The processing module is configured to: process a first signal detected by the first sensing module into a first digital signal or a first I/O (input/output, I/O) bus signal, and send the first digital signal or the first I/O bus signal to the third controller through the third end of the processing module; and process a second signal detected by the second sensing module into a second digital signal or a second I/O bus signal, and send the second digital signal or the second I/O bus signal to the third controller through the fourth end of the processing module.
Based on the foregoing solution, the processing module is integrated into the sensor, and the processing module may process the first signal detected by the first sensing module and process the second signal detected by the second sensing module, so that anti-interference performance of a signal output by the sensor is enhanced. In addition, the processing module facilitates connection between the sensor and different controllers, helping reduce a quantity of cables between the sensor and the controllers.
In one embodiment, the processing module includes a third ADC or a fifth MCU.
In one embodiment, the third end and the fourth end of the processing module are further connected to a fourth controller.
The processing module is separately connected to the third controller and the fourth controller, so that reliability of a signal transmitted to the control system can be improved.
In one embodiment, the first sensing module is connected to a first switch and a second switch of a first combiner module, and the second sensing module is connected to a third switch and a fourth switch of a second combiner module.
Redundant power supply to the first sensing module may be implemented by using the first combiner module, and redundant power supply to the second sensing module may be implemented by using the second combiner module. If a fault occurs in the first controller or the second controller is abnormal, the control system may further supply power to the sensor, further improving reliability of the control system.
In one embodiment, the sensor further includes a first combiner module and/or a second combiner module, where the first combiner module is configured to control a third power supply of the third controller or a fourth power supply of the fourth controller to supply power to the first sensing module, and the second combiner module is configured to control the third power supply or the fourth power supply to supply power to the second sensing module.
Specifically, the first combiner module includes a first switch and a second switch, a first end of the first switch is connected to the third power supply, a second end of the first switch is connected to a power supply end of the first sensing module, a first end of the second switch is connected to the fourth power supply, and a second end of the second switch is connected to the power supply end of the first sensing module; and/or the second combiner module includes a third switch and a fourth switch, a first end of the third switch is connected to the third power supply, a second end of the third switch is connected to a power supply end of the second sensing module, a first end of the fourth switch is connected to the fourth power supply, and a second end of the fourth switch is connected to the power supply end of the second sensing module.
In one embodiment, the first switch includes a first diode or a first chip; and/or the second switch includes a second diode or a second chip.
In one embodiment, the first chip has combining and anti-reverse functions, and may provide two power supplies for the first sensing module. The second chip also has the combining and anti-reverse functions, and may provide two power supplies for the second sensing module.
According to a fifth aspect, this application provides a sensor. The sensor includes a first sensing module, a second sensing module, a first combiner module, and a second combiner module. The first combiner module is connected to the first sensing module, and the second combiner module is connected to the second sensing module. The first combiner module is further connected to a first controller and a second controller. The second combiner module is further connected to the first controller and the second controller. The first combiner module is configured to control a first power supply of the first controller or a second power supply of the second controller to supply power to the first sensing module. The second combiner module is configured to control the first power supply or the second power supply to supply power to the second sensing module. Alternatively, the first combiner module is further connected to a third controller and a fourth controller, and the second combiner module is further connected to the third controller and the fourth controller. The first combiner module is configured to control a third power supply of the third controller or a fourth power supply of the fourth controller to supply power to the first sensing module. The second combiner module is configured to control the third power supply or the fourth power supply to supply power to the second sensing module.
Redundant power supply to the first sensing module may be implemented by using the first combiner module, and redundant power supply to the second sensing module may be implemented by using the second combiner module. If a fault occurs in the first controller or the second controller is abnormal, the control system may further supply power to the sensor, further ensuring reliability of power supply to the sensor.
In one embodiment, the first combiner module includes a first switch and a second switch, a first end of the first switch is connected to the first power supply, a second end of the first switch is connected to a power supply end of the first sensing module, a first end of the second switch is connected to the second power supply, and a second end of the second switch is connected to the power supply end of the first sensing module; and/or the second combiner module includes a third switch and a fourth switch, a first end of the third switch is connected to the first power supply, a second end of the third switch is connected to a power supply end of the second sensing module, a first end of the fourth switch is connected to the second power supply, and a second end of the fourth switch is connected to the power supply end of the second sensing module.
In one embodiment, the first switch includes a first diode or a first chip; and/or the second switch includes a second diode or a second chip.
In one embodiment, the first chip has combining and anti-reverse functions, and may provide two power supplies for the first sensing module. The second chip also has the combining and anti-reverse functions, and may provide two power supplies for the second sensing module.
According to a sixth aspect, this application provides a control system. The control system includes a third controller. The third controller is connected to a third end and a fourth end of a processing module of a sensor. The third controller is configured to: receive a first digital signal from the third end of the processing module, receive a second digital signal from the fourth end of the processing module, and send a second control signal to an actuator, where the second control signal is determined based on the first digital signal and the second digital signal; or the third controller is configured to: receive a first I/O bus signal from the third end of the processing module, receive a second I/O bus signal from the fourth end of the processing module, and send a third control signal to an actuator, where the third control signal is determined based on the first I/O bus signal and the second I/O bus signal.
In one embodiment, the control system further includes a fourth controller. The fourth controller is connected to the third end and the fourth end of the processing module. If a fault occurs in the third controller, the fourth controller is configured to receive the first digital signal from the third end of the processing module, receive the second digital signal from the fourth end of the processing module, and send the third control signal to the actuator, where the third control signal is determined based on the first digital signal and the second digital signal; or the fourth controller is configured to: receive the first I/O bus signal from the third end of the processing module, receive the second I/O bus signal from the fourth end of the processing module, and send the third control signal to the actuator, where the third control signal is determined based on the first I/O bus signal and the second I/O bus signal.
For technical effects that can be achieved in any one of the foregoing sixth aspect, refer to the descriptions of the beneficial effects in the fifth aspect. Details are not described herein again.
According to a seventh aspect, this application provides a control system. The control system includes a first combiner module and a second combiner module. The first combiner module is connected to a first sensing module of a sensor, and the second combiner module is connected to a second sensing module of the sensor. The first combiner module is further connected to a first controller and a second controller. The second combiner module is further connected to the first controller and the second controller. The first combiner module is configured to control a first power supply of the first controller or a second power supply of the second controller to supply power to the first sensing module. The second combiner module is configured to control the first power supply or the second power supply to supply power to the second sensing module. Alternatively, the first combiner module is further connected to a third controller and a fourth controller, and the second combiner module is further connected to the third controller and the fourth controller. The first combiner module is configured to control a third power supply of the third controller or a fourth power supply of the fourth controller to supply power to the first sensing module. The second combiner module is configured to control the third power supply or the fourth power supply to supply power to the second sensing module.
Based on the foregoing solution, redundant power supply to the first sensing module may be implemented by using the first combiner module, and redundant power supply to the second sensing module may be implemented by using the second combiner module. If a fault occurs in the first controller or the second controller is abnormal, the control system may further supply power to the sensor, further improving reliability of the control system.
In one embodiment, the first combiner module includes a first switch and a second switch, a first end of the first switch is connected to the first power supply, a second end of the first switch is connected to a power supply end of the first sensing module, a first end of the second switch is connected to the second power supply, and a second end of the second switch is connected to the power supply end of the first sensing module; and/or the second combiner module includes a third switch and a fourth switch, a first end of the third switch is connected to the first power supply, a second end of the third switch is connected to a power supply end of the second sensing module, a first end of the fourth switch is connected to the second power supply, and a second end of the fourth switch is connected to the power supply end of the second sensing module.
In one embodiment, the first switch includes a first diode or a first chip; and/or the second switch includes a second diode or a second chip.
In one embodiment, the first chip has combining and anti-reverse functions, and may provide two power supplies for the first sensing module. The second chip also has the combining and anti-reverse functions, and may provide two power supplies for the second sensing module.
According to an eighth aspect, this application provides a sensing system. The sensing system includes a first sensor and a second sensor. The first sensor includes a first sensing module and a second sensing module. The second sensor includes a third sensing module and a fourth sensing module. Both the first sensing module and the second sensing module are connected to a third controller. Both the third sensing module and the fourth sensing module are connected to a fourth controller. The first sensing module is configured to detect a pedal to obtain a first signal, and send the first signal to the third controller. The second sensing module is configured to detect the pedal to obtain a second signal, and send the second signal to the third controller. The third sensing module is configured to detect the pedal to obtain a third signal, and send the third signal to the fourth controller. The fourth sensing module is configured to detect the pedal to obtain a fourth signal, and send the fourth signal to the fourth controller.
Based on the foregoing solution, two sets of independent sensors are integrated inside the sensing system, and may be independently connected to different controllers. To be specific, the first sensor is connected to a first controller, and the second sensor is connected to a second controller. A redundancy mechanism is formed through dual connection of the first controller (a conventional vehicle control component) and the second controller (a controller used for advanced autonomous driving). Therefore, when the first controller is abnormal, the second controller can still have a control function (for example, acceleration control). The control system can cooperate with a functional module like braking, to integrate a manual driving function. Sampling is not affected by a ground offset, and component layout of an entire vehicle is more flexible.
According to a ninth aspect, a control system is provided. The control system includes a third controller and a fourth controller. The third controller is connected to a first sensing module and a second sensing module of a first sensor. The fourth controller is connected to a third sensing module and a fourth sensing module of a second sensor. The third controller is configured to receive a first signal from the first sensing module, receive a second signal from the second sensing module, and send a third control signal to an actuator, where the third control signal is generated based on the first signal and the second signal. Alternatively, the fourth controller is configured to receive a third signal from the third sensing module and a fourth signal from the fourth sensing module, and send a fourth control signal to the actuator, where the fourth control signal is generated based on the third signal and the fourth signal.
In one embodiment, the third controller includes a third power supply and a fifth power supply, and the fourth controller includes a fourth power supply and a sixth power supply, where the third power supply is configured to supply power to the first sensing module; the fifth power supply is configured to supply power to the second sensing module; the fourth power supply is configured to supply power to the third sensing module; and the sixth power supply is configured to supply power to the fourth sensing module.
For technical effects that can be achieved in any one of the foregoing nine aspects, refer to the descriptions of the beneficial effects in the eighth aspect. Details are not described herein again.
According to a tenth aspect, this application provides a terminal device. The terminal device includes a vehicle frame and any control system in the first aspect or any implementation of the first aspect, or in the third aspect or any implementation of the third aspect, the sixth aspect or any implementation of the sixth aspect, the seventh aspect or any implementation of the seventh aspect. The control system is fastened to the vehicle frame.
In one embodiment, the terminal device further includes a sensor, and the sensor includes a first sensing module and a second sensing module.
The following describes in detail embodiments of this application with reference to accompanying drawings.
The following describes a possible application scenario of this application.
In a possible application scenario, a control system in this application may be integrated into a transportation means. The transportation means includes but is not limited to a vehicle. The vehicle may be, for example, an unmanned vehicle, an intelligent vehicle, an electric vehicle, or a digital vehicle. Specifically, the control system may be a pedal control system or the like in the vehicle. The pedal control system may be configured to control a speed of the vehicle. The foregoing application scenario may be applied to the fields such as self-driving, autonomous driving, assisted driving, intelligent driving, or a connected vehicle.
For a specific circuit schematic of
In view of the foregoing problem, this application provides a control system. The control system can achieve high reliability through a simple circuit.
Based on the foregoing content, the following specifically describes the control system provided in this application with reference to the accompanying drawings.
In one embodiment, the second controller is further configured to send a second control signal to an actuator, to control the actuator to perform a corresponding operation, where the second control signal is obtained based on the second opening information.
In one embodiment, the first controller is configured to: obtain the first signal detected by the first sensing module and the second signal detected by the second sensing module, determine first opening information of the pedal based on the first signal and the second signal, and send a first control signal to an actuator, to control the actuator to perform a corresponding operation, where the first control signal is obtained based on the first opening information.
Based on the foregoing control system, when a fault occurs in the first controller, the second controller may take over an operation of the first controller to continue the operation, to avoid a single-point failure and help improve reliability of the control system. In addition, the second controller includes the first channel and the second channel, so that a single-point failure can be avoided, and a problem that the second opening information obtained from the sensor by the first controller and the second controller is inaccurate due to a ground offset can be further resolved.
The following separately describes functional structures shown in
In one embodiment, the second control unit may include, for example, but is not limited to, a microcontroller unit (microcontroller unit, MCU) (or referred to as a single-chip microcomputer), a field programmable gate array (field programmable gate array, FPGA), or a system on chip (system on chip, SOC) integrating an image signal processor (image signal processor, ISP).
In one embodiment, the second power supply may include, for example, but is not limited to, a low-dropout regulator (low-dropout regulator, LDO). A stable direct current voltage can be provided by using the LDO. In addition, the LDO can operate under a relatively small difference between an output voltage and an input voltage, helping improve detection precision of an input signal.
It should be noted that the first resistor network, the second resistor network, the third resistor network, and the fourth resistor network may be four same resistor networks. Same resistor networks include same structures of the resistor networks and same resistance values included in the resistor networks. Specifically, a structure of the first resistor network, a structure of the second resistor network, and a structure of the third resistor network are the same. In addition, the resistor R1 included in the first resistor network, a resistor R1 included in the second resistor network, a resistor R1 included in the third resistor network, and a resistor R1 included in the fourth resistor network are all the same. The resistor R2 included in the first resistor network, a resistor R2 included in the second resistor network, a resistor R2 included in the third resistor network, and a resistor R2 included in the fourth resistor network are all the same. The resistor R3 included in the first resistor network, a resistor R3 included in the second resistor network, a resistor R3 included in the third resistor network, and a resistor R3 included in the fourth resistor network are all the same. In addition, the foregoing provided structure of the resistor network is merely a possible example. For the structure of the resistor network, refer to
In this application, the control system may further include a combiner module. For details, refer to the following description.
In one embodiment, a control system further includes a first combiner module and a second combiner module. The first combiner module is configured to control the first power supply or the second power supply to supply power to the first sensing module. The second combiner module is configured to control the first power supply or the second power supply to supply power to the second sensing module. Further, power supplies that supply power to the first sensing module and the second sensing module belong to a same controller. For example, the first controller includes two first power supplies: a first power supply A and a first power supply B. The first power supply A supplies power to the first sensing module, the first power supply B supplies power to the second sensing module, and the first power supply A and the first power supply B are two independent power supplies of the first controller. For another example, the second controller includes two second power supplies: a second power supply A and a second power supply B. The second power supply A supplies power to the first sensing module, the second power supply B supplies power to the second sensing module, and the second power supply A and the second power supply B are two independent power supplies. Redundant power supply to the first sensing module may be implemented by using the first combiner module, and redundant power supply to the second sensing module may be implemented by using the second combiner module, further improving reliability of the control system.
Specifically, the first power supply of the first controller supplies power to the first sensing module and the second sensing module by default. If a first MCU in the first controller detects that a fault occurs in the first power supply, the first MCU sends indication information to a second MCU in the second controller, and the second MCU in the second controller receives the indication information, and controls the second power supply to supply power to the first sensing module and the second sensing module. Alternatively, the first power supply of the first controller supplies power to the first sensing module and the second sensing module by default. The second controller further includes a power supply detection module (as shown in
It should be noted that the first power supply that supplies power to the first sensing module and the second sensing module may be two independent first power supplies of the first controller, or the second power supply that supplies power to the first sensing module and the second sensing module may be two independent second power supplies of the second controller.
For example, the first combiner module includes a first switch and a second switch, and the first switch includes, for example, a first diode, a first metal-oxide-semiconductor field-effect transistor (metal-oxide-semiconductor field-effect transistor, MOSFET) (which may be referred to as a MOS transistor for short), or a first chip. The first chip may also be referred to as a first combiner chip. The first chip has combining and anti-reverse functions. The combining function of the first chip means that the first chip may provide two power supplies for the first sensing module. The anti-reverse function of the first chip means preventing a current from flowing from the sensor to the first controller. The second switch includes a second diode, a second MOS transistor, or a second chip. The second chip may also be referred to as a second combiner chip. The second chip has the combining and anti-reverse functions. The combining function of the second chip means that the second chip may provide two power supplies for the second sensing module. The anti-reverse function of the second chip means preventing a current from flowing from the sensor to the second controller. The second combiner module includes a third switch and a fourth switch. For the third switch, refer to the description of the first switch. For the fourth switch, refer to the description of the second switch. Details are not described herein again. It should be understood that structures of the first combiner module and the second combiner module may be the same, or may be different.
It may be understood that the structures of the first combiner module shown in
In one embodiment, the first combiner module, the second combiner module, and the second controller are integrated into a same printed circuit board.
Alternatively, at least two of the first combiner module, the second combiner module, and the second controller are integrated into different printed circuit boards. For example, the first combiner module and the second combiner module may be integrated into a same printed circuit board, which is referred to as a first printed circuit board; and the second controller is integrated into a second printed circuit board. For another example, the first combiner module and the second controller may be integrated into a same printed circuit board, which is referred to as a third printed circuit board; and the second combiner module is integrated into a fourth printed circuit board. For another example, the second combiner module and the second controller may be integrated into a same printed circuit board, which is referred to as a fifth printed circuit board; and the first combiner module is integrated into a sixth printed circuit board.
Alternatively, the first combiner module, the second combiner module, and the second controller are respectively integrated into three different printed circuit boards.
Alternatively, the first combiner module, the second combiner module, and the first controller are integrated into a same printed circuit board.
Alternatively, at least two of the first combiner module, the second combiner module, and the first controller are integrated into different printed circuit boards. For example, the first combiner module and the second combiner module may be integrated into a same printed circuit board, which is referred to as a seventh printed circuit board; and the first controller is integrated into an eighth printed circuit board. For another example, the first combiner module and the first controller may be integrated into a same printed circuit board, which is referred to as a ninth printed circuit board; and the second combiner module is integrated into a tenth printed circuit board. For another example, the second combiner module and the first controller may be integrated into a same printed circuit board, which is referred to as an eleventh printed circuit board; and the first combiner module is integrated into a twelfth printed circuit board.
For ease of description of a connection manner between the control system and the sensor, the following first describes the sensor.
To prevent the sensor from failing to detect a signal of the pedal in a timely manner due to a fault, the sensor may adopt a redundancy design. The redundancy design means configuring some key components or functions repeatedly to ensure safety and reliability. When a fault occurs in a part of components, configured redundant components can be used as standby components, to participate in and undertake functions of the faulty components in a timely manner. This reduces downtime. In one embodiment, the sensor includes a variable resistor sensor using a variable resistor potentiometer, or a Hall effect sensor using a Hall effect non-contact potentiometer. A variable resistor pedal position sensor is usually configured to detect opening information of a contact pedal. The Hall effect sensor is usually configured to detect opening information of a non-contact pedal.
It should be noted that, a sensor for detecting the non-contact pedal may replace the variable resistor potentiometer in
Based on the foregoing content, the following describes a sensor for detecting the pedal in the following cases: The sensor is a contact sensor, or a non-contact sensor. A contact sensor for detecting the pedal may be referred to as a contact sensor. The contact sensor means that a potentiometer included in the sensor is a contact potentiometer, for example, a variable resistor potentiometer. A non-contact sensor for detecting the pedal may be referred to as a non-contact sensor. The non-contact sensor means that a potentiometer included in the sensor is a non-contact potentiometer, for example, a Hall effect non-contact potentiometer. The following uses an example in which the first control unit is the first MCU and the second control unit is the second MCU. It should be noted that the first power supply of the first controller that supplies power to the first sensing module and the second sensing module may be two independent first power supplies, and the second power supply of the second controller that supplies power to the first sensing module and the second sensing module may be two independent second power supplies. For ease of description, power supplies of the first controller in the following embodiment may be collectively referred to as the first power supply, and power supplies of the second controller may be collectively referred to as the second power supply.
Case 1: The sensor for detecting the pedal is a contact sensor.
The first combiner module is configured to control a first power supply or a second power supply to supply power to the first sensing module. Specifically, the first combiner module includes a first switch and a second switch, a first end of the first switch is connected to the first power supply, and a second end of the first switch is connected to the first power supply end 2 of the first sensing module. A first end of the second switch is connected to the second power supply, and a second end of the second switch is connected to the first power supply end 2 of the first sensing module. The second combiner module is configured to control the first power supply or the second power supply to supply power to the second sensing module. Specifically, the second combiner module includes a third switch and a fourth switch. A first end of the third switch is connected to the first power supply, and a second end of the third switch is connected to the second power supply end 3 of the second sensing module. A first end of the fourth switch is connected to the second power supply, and a second end of the fourth switch is connected to the second power supply end 3 of the second sensing module.
The first signal output end 1 of the first sensing module is connected to the first MCU, and the first ground end 5 of the first sensing module is connected to the first MCU. The first signal output end 1 of the first sensing module is connected to the positive input end of the first ADC through a first input end of the first follower. The first ground end 5 of the first sensing module is connected to a second input end of the first follower. The first ground end 5 of the first sensing module is connected to the negative input end of the first ADC. The second signal output end 4 of the second sensing module is connected to the first MCU, and the second ground end 6 of the second sensing module is connected to the first MCU. The second signal output end 4 of the second sensing module is connected to the positive input end of the second ADC through a first input end of the second follower. The second ground end 6 of the second sensing module is connected to a second input end of the second follower. The second ground end 6 of the second sensing module is connected to the negative input end of the second ADC.
In one embodiment, the first follower and the second follower may be supplied with power by the first power supply of the first controller, or may be supplied with power by the second power supply of the second controller. Refer to
In another possible implementation, the second controller further includes a power supply detection module, as shown in
In still another possible implementation, power is supplied to the first follower and the second follower by using the first power supply of the first controller by default. The first MCU in the first controller detects the first power supply. If a fault of the first power supply is determined, the first MCU sends indication information to the second MCU in the second controller. The second MCU in the second controller receives the indication information, and controls the second power supply to supply power to the first follower and the second follower.
In still another possible implementation, power is supplied to the first follower and the second follower by using the second power supply of the second controller by default. The second MCU in the second controller detects the second power supply. If a fault of the second power supply is determined, the second MCU sends indication information to the first MCU in the first controller, and the first MCU in the first controller receives the indication information and controls the first power supply to supply power to the first follower and the second follower.
In still another possible implementation, the first power supply of the first controller and the second power supply of the second controller may supply power to the first follower and the second follower.
It should be noted that,
Case 2: The sensor for detecting the pedal is a non-contact sensor.
The first signal output end 1 of the first sensing module is connected to the first MCU, and the first ground end 5 of the first sensing module is connected to the first MCU. The first signal output end 1 of the first sensing module is connected to the positive input end of the first ADC through a first resistor network. The first signal output end 1 of the first sensing module is connected to a first input end of a first follower. The first ground end 5 of the first sensing module is connected to the negative input end of the first ADC through a third resistor network. The first ground end 5 of the first sensing module is connected to a second input end of the first follower. The second signal output end 4 of the second sensing module is connected to the first MCU, and the second ground end 6 of the second sensing module is connected to the first MCU. The second signal output end 4 of the second sensing module is connected to the positive input end of the second ADC through a second resistor network. The second signal output end 1 of the second sensing module is connected to a first input end of a second follower. The second ground end 6 of the second sensing module is connected to the negative input end of the second ADC through a fourth resistor network. For functions of the first combiner module and the second combiner module, refer to the foregoing related descriptions. Details are not described herein again.
As shown in
An output voltage 1 (Vout_1) boosted through the first resistor network may be indicated by Formula 1. An output voltage 2 (Vout_2) boosted through the third resistor network may be indicated by Formula 2.
VCC indicates a voltage of a power supply. R1, R2, and R3 indicate resistors in the first resistor network (and the second resistor network). Vs1 indicates the voltage of the first signal. GND1 indicates a voltage of a ground signal.
Based on Formula 1 and Formula 2, the output voltages (Vout_1 and Vout_2) may be changed by changing resistance values of the resistors R1, R2, and R3, to eliminate a ground offset.
For example, an input-output relationship may be obtained by configuring R1=20 KΩ, R2=100 KΩ, and R3=100 KΩ, as shown in Formula 3.
Y indicates Vout_1 or Vout_2 that is boosted through the resistor network, and X indicates the voltage of the input first signal or the voltage of the input first ground signal.
Based on Formula 3, if an input voltage is −1 V, an output voltage is 0; if an input voltage is 6 V, an output voltage value is 5 V. Both meet a ±1 V ground offset requirement.
It should be noted that the first ADC in this application may alternatively be an existing ADC, and specifically, the existing ADC performs a subtraction operation based on software to obtain the first actual opening information; the second ADC may alternatively be an existing ADC, and the subtraction operation is performed based on the existing ADC to obtain the second opening information.
The processing module is configured to: process a first signal detected by the first sensing module into a first digital signal or a first I/O bus signal, and send the first digital signal or the first I/O bus signal to the third controller; and process a second signal detected by the second sensing module into a second digital signal or a second I/O bus signal, and send the second digital signal or the second I/O bus signal to the third controller.
Two signals detected by the first sensing module and the second sensing module may be checked first by using the processing module included in the sensor, to eliminate a ground offset in the sensor.
In one embodiment, the processing module may include but is not limited to a third ADC or a fifth MCU. The fifth MCU may be the same as the first MCU. For specific implementation, refer to the description of the first MCU. Details are not described herein again.
Based on the foregoing content,
It should be noted that,
In one embodiment, if a fault occurs in the third controller, the fourth controller is configured to: receive a first digital signal from a third end of the processing module, receive a second digital signal from a fourth end of the processing module, and send a third control signal to an actuator, where the third control signal is determined based on the first digital signal and the second digital signal.
Alternatively, the fourth controller is configured to: receive a first I/O bus signal from the third end of the processing module, receive a second I/O bus signal from the fourth end of the processing module, and send a third control signal to the actuator, where the third control signal is determined based on the first I/O bus signal and the second I/O bus signal.
In one embodiment, a power supply end 2 of the first sensing module and a power supply end 3 of the second sensing module are connected to the third power supply of the third controller, as shown in
Alternatively, the power supply end 2 of the first sensing module and the power supply end 3 of the second sensing module are connected to the fourth power supply of the fourth controller, as shown in
Alternatively, the control system further includes a first combiner module and a second combiner module. Refer to
Further, in one embodiment, the first combiner module, the second combiner module, and the third controller may be integrated into a same printed circuit board. Alternatively, at least two of the first combiner module, the second combiner module, and the third controller are integrated into different printed circuit boards. Alternatively, the first combiner module, the second combiner module, and the fourth controller are integrated into a same printed circuit board. Alternatively, at least two of the first combiner module, the second combiner module, and the fourth controller are integrated into different printed circuit boards.
It may be understood that, the foregoing Embodiment 2 uses an example in which the sensor is configured to detect a non-contact pedal for description.
The third controller, the fourth controller, and the sensor are first connected through the cable and then grounded, so that a ground offset can be effectively eliminated.
The third controller includes a third power supply and a third control unit, and the fourth controller includes a fourth power supply and a fourth control unit. It may be understood that the third controller may be the same as the fourth controller, the third controller may be the same as the first controller, or the fourth controller may be the same as the first controller. Based on this, the third controller and the fourth controller may be compatible with an existing controller structure. For the third controller and the fourth controller, refer to the foregoing description of the first controller. Details are not described herein again.
Further, the control system may further include a first combiner module and a second combiner module. For the first combiner module and the second combiner module, refer to the foregoing related descriptions. Details are not described herein again. Further, for an integration relationship among the first combiner module, the second combiner module, the third controller, and the fourth controller, refer to the related descriptions in the foregoing Embodiment 2, and details are not described herein again.
When a position of a pedal changes, the first sensing module is configured to detect the pedal to obtain a first signal, and send the first signal to a third controller; and the second sensing module is configured to detect the pedal to obtain a second signal, and send the second signal to the third controller. This may also be understood as follows: The third controller may receive the first signal from the first sensing module, and may also receive the second signal from the second sensing module. The third sensing module is configured to detect the pedal to obtain a third signal, and send the third signal to a fourth controller; and the fourth sensing module is configured to detect the pedal to obtain a fourth signal, and send the fourth signal to the fourth controller. This may also be understood as follows: The fourth controller may receive the third signal from the third sensing module, and also receive the fourth signal from the fourth sensing module.
In one embodiment, the first sensor may be the same as the second sensor. Specifically, the first sensing module is the same as the third sensing module, and the second sensing module is the same as the fourth sensing module. This may also be understood as follows: The variable resistor potentiometer 3 is the same as a variable resistor potentiometer 1, and the variable resistor potentiometer 4 is the same as a variable resistor potentiometer 2.
Two sets of independent sensors are integrated inside the sensing system, and may be independently connected to different controllers. To be specific, the first sensor is connected to a first controller, and the second sensor is connected to a second controller. A redundancy mechanism is formed through dual connection of the first controller (a conventional vehicle control component) and the second controller (a controller used for advanced autonomous driving). Therefore, when the first controller is abnormal, the second controller can still have a control function (for example, acceleration control). The control system can cooperate with a functional module like braking, to integrate a manual driving function. Sampling is not affected by a ground offset, and component layout of an entire vehicle is more flexible.
Further, the third controller further includes a fifth power supply, and the fourth controller further includes a sixth power supply. The third power supply of the third controller is configured to supply power to the first sensing module. The fifth power supply of the third controller is configured to supply power to the second sensing module. The fourth power supply of the fourth controller is configured to supply power to the third sensing module. The sixth power supply of the fourth controller is configured to supply power to the fourth sensing module.
In embodiments of this application, unless otherwise stated or there is a logic conflict, terms and/or descriptions between different embodiments are consistent and may be mutually referenced, and technical features in different embodiments may be combined into a new embodiment based on an internal logical relationship thereof.
It should be noted that the third controller or the fourth controller in the foregoing embodiments may further include a follower. The foregoing embodiments use an example in which the third controller or the fourth controller does not include the follower. This is not limited in this application.
Based on the foregoing described architecture and function principles of the control system, this application may further provide a terminal device. The terminal device may include a vehicle frame and the control system in any one of the foregoing embodiments. The vehicle frame is configured to fasten the control system in any one of the foregoing embodiments. For a specific description of the control system, refer to the foregoing related description. Details are not described herein again.
It should be noted that the terminal device may further include another possible functional structure, for example, may further include a pedal. This is not limited in this application.
For example, the terminal device may be, for example, a vehicle (for example, an unmanned vehicle, an intelligent vehicle, an electric vehicle, or a digital vehicle), a robot, a surveying and mapping device, an unmanned aerial vehicle, a smart home device (for example, a television, a robotic vacuum cleaner, a smart desk lamp, an acoustic system, an intelligent lighting system, an electrical control system, home background music, a home theater system, an intercom system, or video surveillance), or an intelligent manufacturing device (for example, an industrial device), an intelligent transportation device (for example, an AGV, an unmanned transport vehicle, or a truck), an intelligent terminal (for example, a mobile phone, a computer, a tablet computer, a palmtop computer, a desktop computer, a headset, an acoustic device, a wearable device, a vehicle-mounted device, a virtual reality device, or an augmented reality device), or the like.
The sensor system 2201 may include several sensors configured to sense information about an environment in which the vehicle 220 is located. For example, the sensors in the sensor system 2201 may include but is not limited to a millimeter-wave radar and/or a lidar and/or a visual apparatus. For functions of the millimeter-wave radar, the lidar, and the visual apparatus, refer to the foregoing related descriptions. Details are not described herein again. Further, the sensor system 2201 may further include a global positioning system (Global Positioning System, GPS), an inertia measurement unit (Inertial Measurement Unit, IMU), and a brake configured to change a position and/or an orientation of the sensor. In some embodiments, the GPS may be any sensor configured to estimate a geographical position of the vehicle 220. Therefore, the GPS may include a transceiver that estimates a position of the vehicle 220 relative to the earth based on satellite positioning data. In some examples, the control system 2202 may use the GPS in combination with map data to estimate a road on which the vehicle 220 travels. The IMU may be configured to sense position and orientation changes of the vehicle 220 based on inertial acceleration and any combination thereof. In some examples, a combination of sensors in the IMU may include, for example, an accelerometer and a gyroscope. In addition, another combination of sensors in the IMU is also possible.
It may be understood that the sensor system 2201 may further include sensors (for example, a vehicle-mounted air quality monitor, a fuel gauge, an oil temperature gauge, and a pedal position sensor) of an internal system of the monitored vehicle 220. Sensor data from one or more of these sensors can be used to detect an object and corresponding features (a position, a shape, an orientation, a speed, and the like) of the object. Such detection and identification are key functions of a safe operation of the vehicle 220. The sensor system 2201 may further include another sensor. This is not specifically limited in this application.
Some or all functions of the vehicle 220 are controlled by the control system 2202. The control system 2202 may include at least one processor 22021. Further, the control system 2202 may further include an interface circuit 22022. The processor 22021 executes instructions stored in a non-transitory computer readable medium like a memory 22023. The control system 2202 may alternatively be a plurality of computing devices that control an individual component or a subsystem of the vehicle 220 in a distributed manner.
The processor 22021 may be a circuit having a signal (or data) processing capability. In an implementation, the processor may be a circuit having an instruction reading and running capability, for example, a central processing unit (central processing unit, CPU), a microprocessor, a graphics processing unit (graphics processing unit, GPU) (which may be understood as a microprocessor), or a digital signal processor (digital signal processor, DSP). In another implementation, the processor may implement a specific function based on a logical relationship of a hardware circuit. The logical relationship of the hardware circuit is fixed or reconfigurable. For example, the processor is a hardware circuit implemented by an application-specific integrated circuit (application-specific integrated circuit, ASIC) or a programmable logic device (programmable logic device, PLD), like a field programmable gate array (field programmable gate array, FPGA). In a reconfigurable hardware circuit, a process in which the processor loads a configuration document to implement hardware circuit configuration may be understood as a process in which the processor loads instructions to implement functions of some or all of the foregoing units. In addition, the reconfigurable hardware circuit may be a hardware circuit designed for artificial intelligence, and may be understood as an ASIC, for example, a neural network processing unit (neural network processing unit, NPU), a tensor processing unit (tensor processing unit, TPU), or a deep learning processing unit (deep learning processing unit, DPU). For example, the reconfigurable hardware circuit may be an application processor (application processor, AP), an image signal processor (image signal processor, ISP), another programmable logic device, a transistor logic device, a hardware component, or any combination thereof.
The propulsion system 2204 may provide power and motion for the vehicle 220. The propulsion system 2204 may include an engine/engine, an energy source, a transmission (transmission), a wheel/tire, and the like. It may be understood that the propulsion system 2204 may additionally or alternatively include another possible component. This is not specifically limited in this application.
Although
In some embodiments, the memory 22023 may include instructions (for example, program logic), and the instructions may be read by the processor 22021 to perform various functions of the vehicle 220, including the functions described above. The memory 22023 may also include additional instructions, including instructions for sending data to, receiving data from, interacting with, and/or controlling one or more of the sensor system 2201, the propulsion system 2204, and the peripheral device 2206. In addition to the instructions, the memory 22023 may further store data, for example, a road map, route information, data detected by a sensor, a position, an orientation, a speed, and other vehicle data of the vehicle, and other information. Such information may be used by the vehicle 220 and the control system 2202 in autonomous, semi-autonomous, and/or manual modes of the vehicle 220.
The memory may be a random access memory (random access memory, RAM), a flash memory, a read-only memory (read-only memory, ROM), a programmable read-only memory (programmable ROM, PROM), an erasable programmable read-only memory (erasable PROM, EPROM), an electrically erasable programmable read-only memory (electrically EPROM, EEPROM), a register, a hard disk, a removable hard disk, a CD-ROM, or any other form of storage medium well known in the art. For example, a storage medium is coupled to a processor, so that the processor can read information from the storage medium and write information into the storage medium. In another example, the storage medium may also be a component of the processor. The processor and the storage medium may be disposed in an ASIC. In addition, the ASIC may be located in the control system. Certainly, the processor and the storage medium may exist in the control system as discrete components.
The control system 2202 may control functions of the vehicle 220 based on inputs received from various subsystems (for example, the sensor system 2201) and from the user interface 2205. For example, the control system 2202 may use an input from the sensor system 2201 to control the vehicle to accelerate or decelerate, to avoid an obstacle detected by an obstacle avoidance system. In some embodiments, the control system 2202 may operate to provide control on the vehicle 220 and the subsystems of the vehicle 220 in many aspects.
In one embodiment, one or more of the foregoing components may be installed separately from or associated with the vehicle 220. For example, the memory 22023 may be partially or completely separated from the vehicle 220. The foregoing components may be communicatively coupled together in a wired and/or wireless manner.
It should be noted that this is not limited in this embodiment of this application. In this application, “connection” may be a direct connection. In one embodiment, in another possible case, the connection may not be a direct connection, but may be performed through some elements. “At least one” means one or more, and “a plurality of” means two or more. The term “and/or” describes an association relationship between associated objects, and indicates that three relationships may exist. For example, A and/or B may indicate the following cases: A exists alone, both A and B exist, and B exists alone, where A and B may be singular or plural. “At least one of the following items (pieces)” or a similar expression thereof means any combination of these items, including any combination of singular items (pieces) or plural items (pieces). For example, at least one item (piece) of a, b, or c may indicate a, b, c, a and b, a and c, b and c, or a, b, and c, where a, b, and c may be singular or plural. In text descriptions of this application, the character “/” generally indicates an “or” relationship between associated objects. In a formula of this application, the character “/” indicates a “division” relationship between associated objects. In addition, in this application, the word “example” is used to indicate giving an example, an illustration, or a description. Any embodiment or design scheme described as an “example” in this application should not be explained as being more preferred or having more advantages than another embodiment or design scheme. Alternatively, it may be understood as that the word “example” is used to present a concept in a specific manner, and does not constitute a limitation on this application.
It may be understood that, in this application, various numeric numbers are distinguished merely for ease of description and are not used to limit the scope of embodiments of this application. The sequence numbers of the foregoing processes do not mean execution sequences, and the execution sequences of the processes should be determined based on functions and internal logic of the processes. The terms “first”, “second”, and the like are used to distinguish between similar objects without having to describe a specific order or sequence. In addition, the terms “include”, “have”, and any variant thereof are intended to cover non-exclusive inclusion, for example, include a series of operations or units. For example, a method, system, product, or device is not necessarily limited to those operations or units expressly listed, but may include other operations or units not expressly listed or inherent to such a process, method, product, or device.
The foregoing descriptions are merely specific implementations of this application, but are not intended to limit the protection scope of this application. Any variation or replacement readily figured out by a person skilled in the art within the technical scope disclosed in this application shall fall within the protection scope of this application. Therefore, the protection scope of this application shall be subject to the protection scope of the claims.
| Number | Date | Country | Kind |
|---|---|---|---|
| 202211229683.9 | Oct 2022 | CN | national |
This application is a continuation of International Application No. PCT/CN2023/099668, filed on Jun. 12, 2023, which claims priority to Chinese Patent Application No. 202211229683.9, filed on Oct. 9, 2022. The disclosures of the aforementioned applications are hereby incorporated by reference in their entireties.
| Number | Date | Country | |
|---|---|---|---|
| Parent | PCT/CN2023/099668 | Jun 2023 | WO |
| Child | 19171926 | US |
