CN116461450A - Redundant power balance control method, device, equipment and storage medium - Google Patents

Abstract

The invention relates to the technical field of power control and discloses a redundant power balance control method, device, equipment and storage medium.

Description

Redundant power balance control method, device, equipment and storage medium

technical field

The present invention relates to the technical field of power control, in particular to a redundant power balance control method, device, equipment and storage medium.

Background technique

With the continuous increase of the power of the vehicle's electrical equipment, the demand for vehicle electricity is also increasing. At present, the main way to ensure the power demand is to design a dual-circuit power supply circuit. Specifically, from the perspective of functional safety, the dual-circuit power supply circuit is divided into main and redundant two-way power supply. As a result, the output power load of DCDC1 or DCDC2 is heavy, affecting the normal running of the vehicle.

Contents of the invention

The main purpose of the present invention is to solve the problem that the single-end power load tends to be too large during the power output control process of the automatic driving vehicle, which affects the driving of the vehicle.

The first aspect of the present invention provides a redundant power balance control method, including:

Acquiring the supply voltage and actual output power of the power supply circuit in the self-driving vehicle, wherein the supply voltage includes a main voltage and a redundant voltage, and the actual output power includes a main output power and a redundant output power;

judging the relationship between the main voltage and the redundant voltage and the main output power and the redundant output power;

Based on the size relationship, it is determined to switch to the main power supply and/or the redundant power supply in the power supply circuit to supply power to a corresponding load.

In this embodiment, in the first implementation manner of the first aspect of the present invention, the judging the magnitude relationship between the main voltage and the redundant voltage and the main output power and the redundant output power includes:

judging whether the main voltage is greater than the redundant voltage, and whether the main output power is greater than the redundant output power;

If the main voltage is greater than the redundant voltage and the main output power is greater than the redundant output power, it is judged whether the main output power is greater than a preset first percentage, wherein the first percentage is the ratio of the minimum power value of the main power overload in the power supply circuit to the rated power;

If the main voltage is not greater than the redundant voltage, and the main output power is not greater than the redundant output power, it is judged whether the redundant output power is greater than a preset second percentage, wherein the second percentage is the ratio of the minimum power value of redundant electrical overload in the power supply circuit to the rated power.

In this embodiment, in the second implementation manner of the first aspect of the present invention, the determination based on the size relationship to switch to the main power and/or redundant power in the power supply circuit to supply power to the corresponding load includes:

If the main output power is greater than a preset first percentage or the redundant output power is not greater than a preset second percentage, then determine a first power supply strategy, and control the main power in the power supply circuit to be disconnected based on the first power supply strategy, and turn on the redundant power in the power supply circuit to supply power to a corresponding load;

If the main output power is not greater than a preset first percentage or the redundant output power is greater than a preset second percentage, a second power supply strategy is determined, and based on the first power supply strategy, the redundant power in the power supply circuit is controlled to be disconnected, and the main power in the power supply circuit is turned on to supply power to a corresponding load.

In this embodiment, in the third implementation manner of the first aspect of the present invention, before the judging the magnitude relationship between the main voltage and the redundant voltage and the main output power and the redundant output power, further includes:

judging whether there is a fault in the main power and redundant power in the power supply circuit;

If it exists, then calculate the remaining output power of one of the main power and the redundant power without failure.

In this embodiment, in the fourth implementation manner of the first aspect of the present invention, the determining, based on the size relationship, to switch to the main power and/or redundant power in the power supply circuit to supply power to the corresponding load further includes:

judging whether the remaining output power meets the power requirement of the corresponding load;

If it is satisfied, then determine a third power supply strategy, and based on the third power supply strategy, disconnect a faulty power supply in the power supply circuit, and connect a faultless power supply circuit in the power supply circuit to supply power to the load;

If not, determine a fourth power supply strategy, and disconnect the main power and redundant power in the power supply circuit based on the fourth power supply strategy.

In this embodiment, in the fifth implementation manner of the first aspect of the present invention, the judging whether there is a fault in the main power supply and the redundant power supply in the power supply circuit includes:

Obtain the status identification of the main power and redundant power in the power supply circuit;

A faulty circuit of electricity is determined based on the state identification.

The second aspect of the present invention provides a redundant power balance control device, including:

The acquisition module is used to obtain the power supply voltage and actual output power of the power supply circuit in the self-driving vehicle, wherein the power supply voltage includes a main voltage and a redundant voltage, and the actual output power includes a main output power and a redundant output power;

A judging module, configured to judge the relationship between the main voltage and the redundant voltage, and the main output power and the redundant output power;

A switching module, configured to determine, based on the size relationship, to switch to the main power and/or redundant power in the power supply circuit to supply power to a corresponding load.

In this embodiment, in the first implementation manner of the second aspect of the present invention, the acquisition module includes a bus communication chip and a communication bus;

One end of the bus communication chip is communicatively connected to the judging module, and the other end is connected to the main power and redundant power of the power supply circuit in the self-driving vehicle through the communication bus for collecting the supply voltage and actual output power of the main power and redundant power.

In this embodiment, in the second implementation manner of the second aspect of the present invention, the judgment module is specifically used to:

judging whether the main voltage is greater than the redundant voltage, and whether the main output power is greater than the redundant output power;

If the main voltage is greater than the redundant voltage and the main output power is greater than the redundant output power, it is judged whether the main output power is greater than a preset first percentage, wherein the first percentage is the ratio of the minimum power value of the main power overload in the power supply circuit to the rated power;

If the main voltage is not greater than the redundant voltage, and the main output power is not greater than the redundant output power, it is judged whether the redundant output power is greater than a preset second percentage, wherein the second percentage is the ratio of the minimum power value of redundant electrical overload in the power supply circuit to the rated power.

In this embodiment, in the third implementation manner of the second aspect of the present invention, the switching module is specifically used for:

If the main output power is greater than a preset first percentage or the redundant output power is not greater than a preset second percentage, then determine a first power supply strategy, and control the main power in the power supply circuit to be disconnected based on the first power supply strategy, and turn on the redundant power in the power supply circuit to supply power to a corresponding load;

If the main output power is not greater than a preset first percentage or the redundant output power is greater than a preset second percentage, a second power supply strategy is determined, and based on the first power supply strategy, the redundant power in the power supply circuit is controlled to be disconnected, and the main power in the power supply circuit is turned on to supply power to a corresponding load.

In this embodiment, in the fourth implementation manner of the second aspect of the present invention, the judgment module is further configured to:

judging whether there is a fault in the main power and redundant power in the power supply circuit;

If it exists, then calculate the remaining output power of one of the main power and the redundant power without failure.

In this embodiment, in the fifth implementation manner of the second aspect of the present invention, the switching module is specifically further configured to:

judging whether the remaining output power meets the power requirement of the corresponding load;

If it is satisfied, then determine a third power supply strategy, and based on the third power supply strategy, disconnect a faulty power supply in the power supply circuit, and connect a faultless power supply circuit in the power supply circuit to supply power to the load;

If not, determine a fourth power supply strategy, and disconnect the main power and redundant power in the power supply circuit based on the fourth power supply strategy.

In this embodiment, in the sixth implementation manner of the second aspect of the present invention, the judgment module is specifically further configured to:

Obtain the status identification of the main power and redundant power in the power supply circuit;

A faulty circuit of electricity is determined based on the state identification.

A third aspect of the present invention provides a computer device, including: a memory and at least one processor, instructions are stored in the memory, and the memory and the at least one processor are interconnected through lines; the at least one processor calls the instructions in the memory, so that the computer device executes the steps of the redundant power balance control method provided above.

A fourth aspect of the present invention provides a computer-readable storage medium, and instructions are stored in the computer-readable storage medium, and when the computer-readable storage medium is run on a computer, it causes the computer to execute each step of the redundant power balance control method provided above.

Beneficial effect:

In the technical solution of the present invention, by obtaining the main voltage, redundant voltage, main output power and redundant output power of the power supply circuit in the automatic driving vehicle; judging the magnitude relationship between the main voltage and the redundant voltage and the main output power and the redundant output power; based on the magnitude relationship, it is determined to switch to the main power and/or redundant power in the power supply circuit to supply power to the corresponding load. That is, it is based on the comparison between the two supply voltages and the two actual output powers to determine whether to switch to the main power or the redundant power to supply power to the load. This implementation avoids using the main power or the redundant power at the same time, resulting in overload work, improves the balance of power between the main power and the redundant power, and improves the service life of the power supply circuit and reduces high power.

Description of drawings

FIG. 1 is a schematic diagram of a first embodiment of a redundant power balance control method provided by an embodiment of the present invention;

FIG. 2 is a schematic diagram of a second embodiment of a redundant power balance control method provided by an embodiment of the present invention;

FIG. 3 is a schematic diagram of a self-balancing control architecture provided by an embodiment of the present invention;

FIG. 4 is a schematic diagram of a main redundant electrical switching circuit in a domain controller provided by an embodiment of the present invention;

FIG. 5 is a flow chart of voltage judgment logic provided by an embodiment of the present invention;

FIG. 6 is another flow chart of the voltage and output power judgment logic provided by the embodiment of the present invention;

FIG. 7 is a flow chart of fault detection provided by an embodiment of the present invention;

FIG. 8 is a schematic diagram of an embodiment of a redundant power balance control device provided by an embodiment of the present invention;

Fig. 9 is a schematic diagram of an embodiment of a computer device provided by an embodiment of the present invention.

Detailed ways

Embodiments of the present invention provide a redundant power balance control method, device, equipment, and storage medium. By adding communication between the main and redundant channels in the existing power supply architecture, real-time monitoring of the voltage and power of the main and redundant channels is realized, and balanced power supply control is performed based on the real-time voltage and power. This implementation avoids the simultaneous use of the main power or the redundant power, resulting in overloaded work, improves the power balance of the main power and the redundant power, and improves the service life of the power supply circuit and reduces high power.

The terms "first", "second", "third", "fourth", etc. (if any) in the description and claims of the present invention and the above drawings are used to distinguish similar objects and not necessarily to describe a specific order or sequence. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" or "having" and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device comprising a series of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not expressly listed or inherent to the process, method, product or device.

For ease of understanding, the specific process of the embodiment of the present invention is described below. Please refer to FIG. 1, the first embodiment of the redundant power balance control method in the embodiment of the present invention. This embodiment is mainly applied to the main redundant power supply circuit on the vehicle. The main redundant power supply circuit includes a main power supply circuit and a redundant power supply circuit. The method includes the following steps:

101. Acquire a power supply voltage and actual output power of a power supply circuit in an automatic driving vehicle, where the power supply voltage includes a main voltage and a redundant voltage, and the actual output power includes a main output power and a redundant output power.

In this embodiment, the communication connection between the control module and the main power supply circuit and the redundant power supply circuit is established through the communication bus, and the main voltage and the redundant voltage are collected from the communication bus in real time, and the output power is also collected from the load terminals of the main power supply circuit and the redundant power supply circuit.

In practical applications, by setting ADC detection circuits at the power supply ends of the main power supply circuit and the redundant power supply circuit, the output voltages of the two are detected by the ADC detection circuit, and the output power of the main power supply circuit and the redundant power supply circuit is collected through the communication bus acquisition IC.

102. Determine the relationship between the main voltage and the redundant voltage, and the main output power and the redundant output power.

In this embodiment, after comparing the voltage values of the main voltage and the redundant voltage, it is judged respectively whether the main output road and the redundant output power meet the conditions for continuing power supply, that is, whether the output power exceeds the preset maximum value, if not, then select and compare the value between the two, and then determine whether to switch based on the comparison result of the two.

In practical applications, when comparing voltages, it also includes obtaining the demand voltage value of the load that needs power supply. Based on the demand voltage value, it is compared with the main voltage and the redundant voltage. If the main voltage and the redundant voltage meet the demand voltage value, select one of the standard voltages to switch. The standard refers to the voltage and the rated voltage of the corresponding power supply circuit.

103. Determine, based on the magnitude relationship, to switch to the main power supply and/or the redundant power supply in the power supply circuit to supply power to a corresponding load.

In this embodiment, when the main voltage is greater than the redundant voltage, the main power supply circuit is used for power supply; when the main voltage is less than the redundant voltage, the redundant power supply circuit is used for power supply; when the main voltage is greater than the redundant voltage and the main output power reaches the threshold value, the redundant power supply circuit is used for power supply; otherwise, the main voltage is greater than the redundant voltage and the main output power is greater than the redundant output power. When it is less than the redundant voltage, use the redundant power supply circuit to supply power. Of course, in order to avoid the output power exceeding the load, on the premise that the voltage meets the required voltage value, as long as the output power is not greater than the threshold value, the power supply circuit corresponding to the smaller one of the main output power and the redundant output power is selected to switch to supply power to the load.

In this embodiment, by obtaining the power supply voltage and actual output power of the main power and redundant power of the power supply circuit in the self-driving vehicle, it is determined based on the comparison between the two power supply voltages and the two actual output powers to switch to the main power or the redundant power to supply power to the load. This implementation avoids using the main power or the redundant power at the same time, resulting in overload work, improves the power balance of the main power and the redundant power, improves the service life of the power supply circuit and reduces high power.

Please refer to Fig. 2-6, Fig. 2 is the second embodiment of the redundant power balance control method in the embodiment of the present invention. Fig. 3 is a power supply architecture with a master domain controller and a slave domain controller. The architecture includes two power supplies DCDC1 and DCDC2, and two major circuits of the master domain controller and the slave domain controller. The two major circuits of the master domain controller and the slave domain controller are connected to DCDC1 and DCDC2. At the same time, a communication bus CAN is provided between the master domain controller and the slave domain controller and DCDC1 and DCDC2. The power supply structure also includes a power switching circuit, as shown in Figure 4, the power switching circuit is respectively connected to DDC1 and DDC2 through the CAN IC of the communication bus, which includes a main control MCU, an ADC detection circuit and two switching devices.

201. Acquire a power supply voltage and actual output power of a power supply circuit in an automatic driving vehicle, where the power supply voltage includes a main voltage and a redundant voltage, and the actual output power includes a main output power and a redundant output power.

In this step, the MCU detects the output voltages of the main power DCDC1 and the redundant power DCDC2 through the ADC detection circuit, and collects the actual output power of the main power DCDC1 and the redundant power DCDC2 through the CANIC.

202. Determine whether the main voltage is greater than the redundant voltage, and whether the main output power is greater than the redundant output power.

In this step, when comparing the magnitudes of the voltages and the magnitudes of the output powers, it is realized by a comparator. The main domain controller and the slave domain controller respectively obtain the main voltage and the redundant voltage, as well as the main output power and the redundant output power. It first compares the magnitude relationship between the main voltage and the redundant voltage, and selects a voltage that meets the demand voltage of the load to be powered based on the magnitude relationship, and then compares the output power corresponding to the selected voltage for comparison.

203. If the main voltage is greater than the redundant voltage and the main output power is greater than the redundant output power, determine whether the main output power is greater than a preset first percentage.

In this embodiment, the first percentage is the ratio of the minimum power value of the overloaded main power in the power supply circuit to the rated power. First calculate the ratio between the main output power and the rated power, and then judge the relationship between the ratio and the first percentage.

204. If the main voltage is not greater than the redundant voltage and the main output power is not greater than the redundant output power, determine whether the redundant output power is greater than a preset second percentage.

In this step, the second percentage is the ratio of the minimum power value of the redundant electrical overload in the power supply circuit to the rated power. First calculate the ratio between the redundant output power and the rated power, and then determine the relationship between the ratio and the second percentage.

In this embodiment, the judging logic for the magnitude of the voltage and output power may be to judge the magnitude of the voltage first, and then select the judgment condition of the output power based on the judging result of the voltage magnitude, so as to continue judging the magnitude relationship of the output power.

As shown in Figure 5, first initialize the judgment logic, collect the main voltage of the main DCDC1 and the redundant voltage of the redundant DCDC2 through the ADC detection circuit, compare the two voltages, and select one of them as the power supply voltage based on the comparison result, that is, when the main voltage VIN1 is greater than the redundant VIN2, Mosfet1 in the control switching circuit is turned on, and Mosfet2 is turned off.

Further, under the premise that the main voltage VIN1 is greater than the redundant VIN2, continue to judge whether the main output power is greater than the redundant output power and whether the main output power reaches 90% of the rated power, and if at least one of the main output power is greater than the redundant output power and whether the main output power reaches 90% of the rated power is not satisfied, then the Mosfet1 in the control switching circuit is turned off, and the Mosfet2 is turned on. Mosfet1 in the circuit is turned on and Mosfet2 is turned off. If the main voltage VIN1 is less than the redundant VIN2, continue to judge whether the main output power is less than the redundant output power and whether the redundant output power reaches 90% of the rated power. If at least one of the main output power is less than the redundant output power and whether the redundant output power reaches 90% of the rated power is not satisfied, then the Mosfet1 in the control switching circuit is turned off and the Mosfet2 is turned on. If it is judged whether the main output power is less than the redundant output power and whether the redundant output power reaches 90% of the rated power. et1 is turned on and Mosfet2 is turned off, as shown in Figure 6.

205. If the main output power is greater than the preset first percentage or the redundant output power is not greater than the preset second percentage, determine the first power supply strategy, and control the main power in the power supply circuit to be disconnected based on the first power supply strategy, and turn on the redundant power in the power supply circuit to supply power to the corresponding load.

In this embodiment, the first power supply strategy is to use redundant power to supply power to the load, and the MCU outputs instructions to control Mosfet1 and Mosfet2, specifically outputting level signals for controlling the availability of redundant power and level signals for controlling the invalidity of main power.

206. If the main output power is not greater than the preset first percentage or the redundant output power is greater than the preset second percentage, determine the second power supply strategy, and control the redundant power in the power supply circuit to be disconnected based on the first power supply strategy, and turn on the main power in the power supply circuit to supply power to the corresponding load.

In this embodiment, the second power supply strategy is to use the main power supply to supply power to the load, and output commands to control Mosfet1 and Mosfet2 through the MCU, specifically to output a level signal for controlling the main power to be valid and a level signal for controlling the redundant power to be invalid.

Further, before comparing the voltage and output power, it also includes:

judging whether there is a fault in the main power and redundant power in the power supply circuit;

If it exists, then calculate the remaining output power of one of the main power and the redundant power without failure.

Specifically, the judging whether there is a fault in the main power supply and the redundant power supply in the power supply circuit includes:

Obtaining the state identification of the main power supply and the redundant power supply in the power supply circuit, wherein the state identification can specifically be 0 and 1 level signals;

A faulty circuit of electricity is determined based on the state identification.

As shown in Figure 7, taking the current redundant DCDC2 power supply as an example, when DCDC1 is faulty and DCDC2 is not faulty, the main power supply is used; when DCDC1 is not faulty and DCDC2 is faulty, the redundant power supply is used; when both DCDC1 and DCDC2 are faulty, Mosfet1 and Mosfet2 are turned off to reduce the loss of the high power of the domain control to the battery.

Further, to ensure that the switched power supply circuit can have a good working state, the determination of switching to the main power and/or redundant power in the power supply circuit to supply power to the corresponding load based on the size relationship also includes:

judging whether the remaining output power meets the power requirement of the corresponding load;

If it is satisfied, then determine a third power supply strategy, and based on the third power supply strategy, disconnect a faulty power supply in the power supply circuit, and connect a faultless power supply circuit in the power supply circuit to supply power to the load;

If not, determine a fourth power supply strategy, and disconnect the main power and redundant power in the power supply circuit based on the fourth power supply strategy.

On the basis of the previous embodiment, this embodiment obtains the power supply voltage and actual output power of the main power and redundant power of the power supply circuit in the self-driving vehicle, and determines whether to switch to the main power or the redundant power to supply power to the load based on the comparison between the two power supply voltages and the two actual output powers, and realizes the power balance control of the redundant power supply circuit, thereby solving the gradually increasing requirements for the electrical equipment and functional safety of the entire vehicle, and solving the DCDC power supply output balance for dual power supply DCDC power requirements, thereby improving the service life of DCDC and reducing the difficulty and cost of high-power DCDC development.

The redundant power balance control method in the embodiment of the present invention is described above, and the redundant power balance control device in the embodiment of the present invention is described below. Please refer to FIG. 8. An embodiment of the redundant power balance control device in the embodiment of the present invention includes:

The collection module 810 is used to obtain the power supply voltage and actual output power of the power supply circuit in the self-driving vehicle, wherein the power supply voltage includes main voltage and redundant voltage, and the actual output power includes main output power and redundant output power;

A judging module 820, configured to judge the magnitude relationship between the main voltage and the redundant voltage and between the main output power and the redundant output power;

The switching module 830 is configured to determine, based on the size relationship, to switch to the main power supply and/or the redundant power pair in the power supply circuit to supply power to a corresponding load.

In this embodiment, the acquisition module 810 includes a bus communication chip and a communication bus;

One end of the bus communication chip is communicatively connected to the judging module 820, and the other end is connected to the main power and redundant power of the power supply circuit in the automatic driving vehicle through the communication bus, and is used to collect the power supply voltage and actual output power of the main power and redundant power.

In this embodiment, the judging module 820 is specifically used for:

judging whether the main voltage is greater than the redundant voltage, and whether the main output power is greater than the redundant output power;

If the main voltage is greater than the redundant voltage and the main output power is greater than the redundant output power, it is judged whether the main output power is greater than a preset first percentage, wherein the first percentage is the ratio of the minimum power value of the main power overload in the power supply circuit to the rated power;

If the main voltage is not greater than the redundant voltage, and the main output power is not greater than the redundant output power, it is judged whether the redundant output power is greater than a preset second percentage, wherein the second percentage is the ratio of the minimum power value of redundant electrical overload in the power supply circuit to the rated power.

In this embodiment, the switching module 830 is specifically used for:

If the main output power is greater than a preset first percentage or the redundant output power is not greater than a preset second percentage, then determine a first power supply strategy, and control the main power in the power supply circuit to be disconnected based on the first power supply strategy, and turn on the redundant power in the power supply circuit to supply power to a corresponding load;

If the main output power is not greater than a preset first percentage or the redundant output power is greater than a preset second percentage, a second power supply strategy is determined, and based on the first power supply strategy, the redundant power in the power supply circuit is controlled to be disconnected, and the main power in the power supply circuit is turned on to supply power to a corresponding load.

In this embodiment, the judging module 820 is specifically further configured to:

judging whether there is a fault in the main power and redundant power in the power supply circuit;

If it exists, then calculate the remaining output power of one of the main power and the redundant power without failure.

In this embodiment, the switching module 830 is specifically further configured to:

judging whether the remaining output power meets the power requirement of the corresponding load;

If it is satisfied, then determine a third power supply strategy, and based on the third power supply strategy, disconnect a faulty power supply in the power supply circuit, and connect a faultless power supply circuit in the power supply circuit to supply power to the load;

If not, determine a fourth power supply strategy, and disconnect the main power and redundant power in the power supply circuit based on the fourth power supply strategy.

In this embodiment, the judging module 820 is specifically further configured to:

Obtain the status identification of the main power and redundant power in the power supply circuit;

A faulty circuit of electricity is determined based on the state identification.

In this embodiment, by obtaining the supply voltage and actual output power of the main power and redundant power of the power supply circuit in the self-driving vehicle, based on the comparison between the two power supply voltages and the two actual output powers, it is determined whether to switch to the main power or the redundant power to supply power to the load. This implementation avoids the simultaneous use of the main power or the redundant power, resulting in overload work, improves the balance of power between the main power and the redundant power, improves the service life of the power supply circuit, and reduces high power.

The above FIG. 8 describes in detail the medium redundancy power balance control device in the embodiment of the present invention from the perspective of modular functional entities, and the following describes the computer equipment in the embodiment of the present invention in detail from the perspective of hardware processing.

9 is a schematic structural diagram of a computer device provided by an embodiment of the present invention. The computer device 700 may have relatively large differences due to different configurations or performances, and may include one or more processors (central processing units, CPU) 710 (for example, one or more processors) and memory 720, and one or more storage media 730 for storing application programs 733 or data 732 (for example, one or more mass storage devices). Wherein, the memory 720 and the storage medium 730 may be temporary storage or persistent storage. The program stored in the storage medium 730 may include one or more modules (not shown in the figure), and each module may include a series of instruction operations on the computer device 700 . Furthermore, the processor 710 may be configured to communicate with the storage medium 730, and execute a series of instruction operations in the storage medium 730 on the computer device 700, so as to implement the steps of the above redundant power balance control method.

The computer device 700 may also include one or more power supplies 740, one or more wired or wireless network interfaces 750, one or more input and output interfaces 760, and/or, one or more operating systems 731, such as Windows Serve, Mac OS X, Unix, Linux, FreeBSD, etc. Those skilled in the art can understand that the structure of the computer device shown in FIG. 9 does not constitute a limitation to the computer device provided by the present invention, and may include more or less components than shown in the figure, or combine some components, or arrange different components.

The present invention also provides a computer-readable storage medium, the computer-readable storage medium can be a non-volatile computer-readable storage medium, and the computer-readable storage medium can also be a volatile computer-readable storage medium, and instructions are stored in the computer-readable storage medium, and when the instructions are run on a computer, the computer is made to execute each step of the redundant power balance control method.

Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process of the system, device, and unit described above can refer to the corresponding process in the foregoing method embodiments, and details are not repeated here.

If the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, the computer software product is stored in a storage medium, and includes several instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in each embodiment of the present invention. The above-mentioned storage medium includes: U disk, mobile hard disk, read-only memory (read-only memory, ROM), random access memory (random access memory, RAM), magnetic disk or optical disk, and other media capable of storing program codes.

As mentioned above, the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims (10)

1. A redundant power balance control method, characterized in that the redundant power balance control method comprises:

acquiring a power supply voltage and an actual output power of a power supply circuit in an automatic driving vehicle, wherein the power supply voltage comprises a main voltage and a redundant voltage, and the actual output power comprises the main output power and the redundant output power;

judging the magnitude relation between the main voltage and the redundant voltage and between the main output power and the redundant output power;

and determining to switch to main power and/or redundant power in the power supply circuit to supply power to the corresponding load based on the magnitude relation.

2. The method according to claim 1, wherein the determining of the magnitude relation between the main voltage and the redundant voltage and between the main output power and the redundant output power includes:

judging whether the main voltage is larger than the redundant voltage and whether the main output power is larger than the redundant output power;

if the main voltage is larger than the redundant voltage and the main output power is larger than the redundant output power, judging whether the main output power is larger than a preset first percentage, wherein the first percentage is the ratio of the minimum power value of main electric overload work in the power supply circuit to the rated power;

and if the main voltage is not greater than the redundant voltage and the main output power is not greater than the redundant output power, judging whether the redundant output power is greater than a preset second percentage, wherein the second percentage is the ratio of the minimum power value to the rated power of redundant electric overload work in the power supply circuit.

3. The method according to claim 2, wherein the determining to switch to the main power and/or the redundant power in the power supply circuit to power the corresponding load based on the magnitude relation includes:

if the main output power is larger than a preset first percentage or the redundant output power is not larger than a preset second percentage, determining a first power supply strategy, controlling main power in the power supply circuit to be disconnected based on the first power supply strategy, and switching on redundant power in the power supply circuit to supply power to a corresponding load;

and if the main output power is not greater than a preset first percentage or the redundant output power is greater than a preset second percentage, determining a second power supply strategy, controlling the redundant power in the power supply circuit to be disconnected based on the first power supply strategy, and switching on the main power in the power supply circuit to supply power to the corresponding load.

4. The method according to claim 3, further comprising, before said determining the magnitude relation between the main voltage and the redundant voltage and between the main output power and the redundant output power:

judging whether the main electricity and the redundant electricity in the power supply circuit have faults or not;

if so, calculating the residual output power of one power path without faults in the main power and the redundant power.

5. The method of claim 4, wherein determining to switch to a primary power and/or redundant power in the power supply circuit to power a corresponding load based on the magnitude relationship, further comprises:

judging whether the residual output power meets the power requirement of a corresponding load or not;

if yes, a third power supply strategy is determined, one path of power with faults in the power supply circuit is disconnected based on the third power supply strategy, and one path of power without faults in the power supply circuit is connected to supply power to the load;

if the power supply voltage is not met, a fourth power supply strategy is determined, and main power and redundant power in the power supply circuit are disconnected based on the fourth power supply strategy.

6. The method of claim 5, wherein determining whether there is a failure in the main power and the redundant power in the power supply circuit comprises:

acquiring state identifiers of main electricity and redundant electricity in a power supply circuit;

and determining that one path of electricity has faults based on the state identification.

7. A redundant power balance control apparatus, the redundant power balance control apparatus comprising:

the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring the power supply voltage and the actual output power of a power supply circuit in an automatic driving vehicle, wherein the power supply voltage comprises a main voltage and a redundant voltage, and the actual output power comprises a main output power and a redundant output power;

the judging module is used for judging the magnitude relation between the main voltage and the redundant voltage and between the main output power and the redundant output power;

and the switching module is used for determining to switch to main electricity and/or redundant electricity in the power supply circuit to supply power to the corresponding load based on the magnitude relation.

8. The redundant power balance control of claim 7, wherein the acquisition module comprises a bus communication chip and a communication bus;

one end of the bus communication chip is in communication connection with the judging module, and the other end of the bus communication chip is in communication connection with main electricity and redundant electricity of a power supply circuit in the automatic driving vehicle through the communication bus and is used for collecting power supply voltage and actual output power of the main electricity and the redundant electricity.

9. A computer device, the computer device comprising: a memory and at least one processor, the memory having instructions stored therein, the memory and the at least one processor being interconnected by a line;

the at least one processor invokes the instructions in the memory to cause the computer device to perform the steps of the redundant power balance control method of any of claims 1-6.

10. A computer readable storage medium having stored thereon a computer program, which when executed by a processor, implements the steps of the redundant power balance control method of any of claims 1-6.