CN110203208A - A kind of Vehicular automatic driving control system with more redundant safety mechanism - Google Patents
A kind of Vehicular automatic driving control system with more redundant safety mechanism Download PDFInfo
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- CN110203208A CN110203208A CN201910367196.0A CN201910367196A CN110203208A CN 110203208 A CN110203208 A CN 110203208A CN 201910367196 A CN201910367196 A CN 201910367196A CN 110203208 A CN110203208 A CN 110203208A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 16
- 238000013507 mapping Methods 0.000 claims abstract description 4
- 238000012544 monitoring process Methods 0.000 claims description 6
- 230000003287 optical effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
- B60W2050/0292—Fail-safe or redundant systems, e.g. limp-home or backup systems
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention relates to a kind of Vehicular automatic driving control systems with more redundant safety mechanism, including vision module, laser radar module, millimeter wave radar module, ultrasonic wave module, central controller, mapping module and the multiple groups sensor unit for being distributed in vehicle body, each sensor unit is connected with corresponding module respectively, each module is directly or indirectly interconnected by Ethernet, and it is connected with central controller, when some module breaks down, other modules can bypass the malfunctioning module and information be transmitted to central controller by other links, the normal work of realization system.Compared with prior art, when some sensor or some functional module fail in present system, normal work configuration can be rapidly completed by covering redundancy scheme in system more, Function for Automatic Pilot is not influenced, to realize the safer more reliable traveling of automobile.
Description
Technical field
The present invention relates to a kind of Vehicular automatic driving control system, more particularly, to a kind of with more redundant safety mechanism
Vehicular automatic driving control system.
Background technique
With the development of modern science and technology, automatic Pilot technology has become research and development focus and frontline technology in recent years.Nowadays,
With laser radar, ultrasonic radar, the continuous renewal of the first-class sensor technology of Multifunctional camera and MCU and SOC etc.
Enriching constantly for chip functions is powerful, and automatic Pilot product just moves towards true use environment from laboratory.It is contemplated that not far
Future, more and more automobiles will be equipped with Function for Automatic Pilot.
The significant challenge of automatic Pilot technology is on the one hand to reduce participation of the people in driving, on the other hand need
Multiple types sensor cooperates, this two big factor all considerably increases the complexity of system.It is securely and reliably automatic Pilot
The core key of system, therefore the Vehicular automatic driving control system framework for how constructing more redundant safety mechanism seems especially heavy
It wants.
Data are directly passed to automatic driving control system framework currently on the market by each sensor as shown in Figure 1:
Central controller, or other modules are first passed to, then pass to central controller by other modules.When center control in system
Device, which changes when something goes wrong by Multifunctional camera head module, executes Fall Back function, so that automobile degraded running is until reach
Safe condition.
Existing system framework, each sensor or functional module are mutually indepedent, data be transmitted to central controller path and
Direction is single, thus causes the robustness of system poor.It is entire to be when some sensor or functional module break down
System will be unable to work normally, to have to enter Fall Back state, influence normal Function for Automatic Pilot.Especially when more function
When energy camera module breaks down, system will be unable to enter Fall Back state, have to be taken over by driver at this time whole
A vehicle is driven., can not be complete it can be seen that although current architecture can realize Function for Automatic Pilot to a certain extent
Occupant is liberated, the other automatic Pilot of lower level is only suitable for.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide one kind to have more redundancies peace
The Vehicular automatic driving control system of full mechanism.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of Vehicular automatic driving control system with more redundant safety mechanism, including vision module, laser radar mould
Block, millimeter wave radar module, ultrasonic wave module, central controller, mapping module and the multiple groups sensor unit for being distributed in vehicle body,
The sensor unit is connected with corresponding module respectively, and each module is directly or indirectly interconnected by Ethernet, and
It is connected with central controller, when some module breaks down, other modules can bypass the malfunctioning module and pass through other links
Information is transmitted to central controller, realizes the normal work of system.
It include laser radar, millimetre-wave radar, ultrasonic radar, multifunctional pick-up head, ring in the sensor unit
Depending on camera, high-precision map, GPS and IMU.
The multifunctional pick-up head is monocular or more mesh cameras.
The sensor unit is equipped with six groups, is separately positioned on front, front left, front right, the dead astern, rear left of vehicle body
With rear right position.
The system further includes ESP and EPS module
It is issued under normal circumstances by central controller and instructs and EPS and EPS module is required to execute instruction, work as central controller
When module breaks down, the control to EPS and EPS module is can be achieved in other modules, to realize Fall Back function.
The system further includes driver's monitoring camera and driver's monitoring module.
Compared with prior art, the system architecture that the present invention is arranged has the perspective of height, with current system architecture
Maximum difference be the sensor function in each layout area not only can complementation can be with redundancy, and it is each to be connected with sensor
A functional module can directly or indirectly be interconnected by Ethernet and each functional module is connected with central controller.This
The framework great advantage of sample is that central control unit is finally transferred to for sensing data provides a variety of paths, when some biography
When sensor or some functional module fail, normal work configuration can be rapidly completed by covering redundancy scheme in system more, do not influenced certainly
It is dynamic to drive function, to realize the safer more reliable traveling of automobile.Technical solution of the present invention can following higher level from
It moves large-scale use when driving and popularizes.
Detailed description of the invention
Fig. 1 is existing automatic driving control system architecture diagram；
Fig. 2 is the automatic driving control system structure chart of the present embodiment.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to
Following embodiments.
Embodiment
In order to increase the robustness of automatic driving control system, the present embodiment provides a kind of with more redundant safety mechanism
Vehicular automatic driving control system will not influence the normal work of system when some sensor or functional module failure, increase
Adding system Fall Back redundancy scheme, improves the functional safety and reliability of system, so that system supports the automatic of higher level
It drives.
A kind of Vehicular automatic driving control system with more redundant safety mechanism, including vision module 2, laser radar mould
Block 3, millimeter wave radar module 9, ultrasonic radar module 4, central controller 7, mapping module 6 and the multiple groups biography for being distributed in vehicle body
Sensor cell 1, sensor unit 1 are connected with corresponding module respectively, and each module is directly or indirectly interconnected by Ethernet,
And be connected with central controller 7, when some module breaks down, other modules can bypass the malfunctioning module and pass through other
Information is transmitted to central controller 7 by link, realizes the normal work of system.
System block diagram is as shown in Figure 2: being respectively set 6 in the front of vehicle, front left, front right, dead astern, rear left and rear right
A sensor unit 1 arranges that area, each arrangement area are respectively arranged 1 multifunctional pick-up head, and 1 is looked around camera, 1 laser thunder
It reaches, 1 millimetre-wave radar, 1 ultrasonic radar, 1 high definition map, 1 GPS and 1 IMU.It is onboard additionally provided with and drives simultaneously
The person's of sailing monitoring camera 10 is connected with driver's monitoring module 5.It is issued under system health by central controller and instructs and want
EPS&EPS module is asked to execute instruction, when operational blocks which partition system (removing central controller module) breaks down, other modules can pass through
Other links are rapidly completed configuration and realize normal work, and when central controller module breaks down, any other module can be right
EPS&EPS module carries out controlling calm realization Fall Back function.
Wherein ESP (Electronic Stability Program) is electric stabilizing system, EPS (Electric
Power Steering) it is electronic power assist steering, IMU (Inertial Measurement Unit) is Inertial Measurement Unit.
Claims (7)
1. a kind of Vehicular automatic driving control system with more redundant safety mechanism, which is characterized in that including vision module, swash
Optical radar module, millimeter wave radar module, ultrasonic wave module, central controller, mapping module and the multiple groups biography for being distributed in vehicle body
Sensor cell, the sensor unit are connected with corresponding module respectively, and each module is directly or indirectly interconnected by Ethernet
Intercommunication, and be connected with central controller, when some module breaks down, other modules can bypass the malfunctioning module and pass through
Information is transmitted to central controller by other links, realizes the normal work of system.
2. a kind of Vehicular automatic driving control system with more redundant safety mechanism according to claim 1, feature
It is, includes laser radar in the sensor unit, millimetre-wave radar, ultrasonic radar, multifunctional pick-up head, looks around and take the photograph
As head, high-precision map, GPS and IMU.
3. a kind of Vehicular automatic driving control system with more redundant safety mechanism according to claim 2, feature
It is, the multifunctional pick-up head is monocular or more mesh cameras.
4. a kind of Vehicular automatic driving control system with more redundant safety mechanism according to claim 1, feature
Be, the sensor unit is equipped with six groups, be separately positioned on the front of vehicle body, front left, front right, dead astern, rear left and
Right position afterwards.
5. a kind of Vehicular automatic driving control system with more redundant safety mechanism according to claim 1, feature
It is, the system further includes ESP and EPS module.
6. a kind of Vehicular automatic driving control system with more redundant safety mechanism according to claim 5, feature
It is, is issued under normal circumstances by central controller and instruct and EPS and EPS module is required to execute instruction, when central controller mould
When block breaks down, the control to EPS and EPS module is can be achieved in other modules, to realize Fall Back function.
7. a kind of Vehicular automatic driving control system with more redundant safety mechanism according to claim 1, feature
It is, the system further includes driver's monitoring camera and driver's monitoring module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910367196.0A CN110203208A (en) | 2019-05-05 | 2019-05-05 | A kind of Vehicular automatic driving control system with more redundant safety mechanism |
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| CN201910367196.0A CN110203208A (en) | 2019-05-05 | 2019-05-05 | A kind of Vehicular automatic driving control system with more redundant safety mechanism |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111231986A (en) * | 2020-03-28 | 2020-06-05 | 芜湖伯特利汽车安全系统股份有限公司 | Redundant wheel speed detection device for motor vehicle and control method thereof |
| CN111366192A (en) * | 2020-03-16 | 2020-07-03 | 华为技术有限公司 | Information acquisition method and device |
| CN112429012A (en) * | 2020-10-30 | 2021-03-02 | 北京新能源汽车技术创新中心有限公司 | Automobile electric control system, automatic driving control method and automobile |
| CN112849055A (en) * | 2021-02-24 | 2021-05-28 | 清华大学 | Intelligent automobile information flow redundancy safety control system based on chassis domain controller |
| CN113093754A (en) * | 2021-04-02 | 2021-07-09 | 苏州挚途科技有限公司 | Automatic driving device and automatic driving system |
| CN113682319A (en) * | 2021-08-05 | 2021-11-23 | 地平线(上海)人工智能技术有限公司 | Camera adjusting method and device, electronic equipment and storage medium |
| CN114013390A (en) * | 2021-11-15 | 2022-02-08 | 奇瑞汽车股份有限公司 | Network architecture of automobile and automobile |
| CN115586772A (en) * | 2022-09-29 | 2023-01-10 | 九识(苏州)智能科技有限公司 | Hierarchical control system and method for automatic driving vehicle |
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Application publication date: 20190906 |