CN114013454B - Control system and method for automatic driving vehicle and vehicle - Google Patents
Control system and method for automatic driving vehicle and vehicle Download PDFInfo
- Publication number
- CN114013454B CN114013454B CN202111274745.3A CN202111274745A CN114013454B CN 114013454 B CN114013454 B CN 114013454B CN 202111274745 A CN202111274745 A CN 202111274745A CN 114013454 B CN114013454 B CN 114013454B
- Authority
- CN
- China
- Prior art keywords
- automatic driving
- data
- piece
- control
- processing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000012545 processing Methods 0.000 claims abstract description 56
- 230000008447 perception Effects 0.000 claims abstract description 30
- 230000007613 environmental effect Effects 0.000 claims abstract description 18
- 238000004891 communication Methods 0.000 claims description 9
- 230000001953 sensory effect Effects 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 abstract description 2
- 230000006870 function Effects 0.000 description 15
- 238000010586 diagram Methods 0.000 description 4
- 238000012360 testing method Methods 0.000 description 4
- 238000003491 array Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000009960 carding Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
Classifications
-
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
-
- 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
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
-
- 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
- B60W50/0225—Failure correction strategy
-
- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- 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
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
- B60W2050/021—Means for detecting failure or malfunction
-
- 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
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
- B60W2050/022—Actuator failures
-
- 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
-
- 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
- B60W2050/0297—Control Giving priority to different actuators or systems
-
- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The application relates to the technical field of vehicles, in particular to a control system and method for an automatic driving vehicle and the vehicle, wherein the control system is provided with a processing part for generating main perception data from collected environment data and a control part for generating an automatic driving instruction from the main perception data, and the control part comprises the following components: a processor for generating secondary awareness data from the environmental data; the judging device is used for judging whether the control piece receives the main sensing data sent by the processing piece and judging that the processing piece is in a failure state when judging that the control piece does not receive the main sensing data; and the controller is used for generating an automatic driving instruction according to the secondary sensing data when the judging device judges that the processing piece is in a failure state, and controlling the automatic driving vehicle to execute automatic driving action by utilizing the automatic driving instruction. Therefore, the problems that an automatic driving vehicle is easy to yaw and cannot avoid obstacles when the second industrial personal computer is in a failure state in the related technology, the reliability and the safety of the automatic driving are low, the user experience is poor and the like are solved.
Description
Technical Field
The present application relates to the field of vehicle technologies, and in particular, to a control system and method for an automatic driving vehicle, and a vehicle.
Background
As shown in fig. 1, the automatic driving vehicle has a first industrial personal computer a and a second industrial personal computer B, and adopts a multi-line laser radar as a main sensing device and a millimeter wave radar, a camera and other auxiliary sensing devices.
When the automatic driving vehicle is automatically driven, the multi-line laser radar, the millimeter wave radar, the camera and other equipment collect the environmental data around the vehicle, the second industrial personal computer B obtains the sensing data after processing a large amount of environmental data, and the first industrial personal computer A receives the sensing data to control the automatic driving vehicle to automatically drive according to the sensing data.
However, once the second industrial personal computer B is in a failure state, the first industrial personal computer a cannot acquire sensing data, so that the problems of yaw, incapability of avoiding obstacles and the like of an automatic driving vehicle are caused easily, the reliability and safety of automatic driving are reduced, and the use experience of a user is reduced.
Disclosure of Invention
The application provides a control system and method for an automatic driving vehicle and the vehicle, and aims to solve the problems that in the prior art, when a second industrial personal computer is in a failure state, the automatic driving vehicle is easy to yaw and cannot avoid an obstacle, the reliability and safety of the automatic driving are low, the user experience is poor and the like.
An embodiment of a first aspect of the present application provides a control system for an autonomous vehicle having a processing element for generating primary sensory data from collected environmental data and a control element for generating an autonomous instruction from the primary sensory data, wherein the control element comprises: a processor for generating secondary awareness data from the environmental data; the judging device is used for judging whether the control piece receives the main sensing data sent by the processing piece or not, and judging that the processing piece is in a failure state when judging that the main sensing data is not received; and the controller is used for generating the automatic driving instruction according to the secondary perception data when the judging device judges that the processing piece is in the failure state, and controlling the automatic driving vehicle to execute automatic driving action by utilizing the automatic driving instruction.
Further, the method further comprises the following steps: and the communication piece is used for respectively sending the environment data to the processing piece and the control piece.
Alternatively, the communication may be a switch.
Further, the method further comprises the following steps: the alarm piece is used for giving an alarm and reminding when the processing piece is in the failure state.
Further, the controller is further configured to generate an alarm instruction when the judger judges that the processing element is in the failure state, and control the alarm element to execute an alarm action by using the alarm instruction.
Optionally, the control element may be a first industrial personal computer, and the processing element may be a second industrial personal computer.
An embodiment of a second aspect of the present application provides a failure control method of an autonomous vehicle, which is applied to the control system of an autonomous vehicle according to the above embodiment, including the steps of: generating secondary perception data according to the environment data; judging whether the control piece receives the main sensing data sent by the processing piece or not, and judging that the processing piece is in a failure state when judging that the main sensing data is not received; and when the processing piece is judged to be in the failure state, generating the automatic driving instruction according to the secondary perception data, and controlling the automatic driving vehicle to execute automatic driving action by utilizing the automatic driving instruction.
Further, before generating secondary perception data according to the environmental data, the method further comprises: the environmental data is received and stored.
Further, the method further comprises the following steps: when the processing part is judged to be in the failure state, an alarm instruction is generated, and the alarm instruction is utilized to control the alarm part to execute an alarm action.
An embodiment of a third aspect of the present application provides an autonomous vehicle comprising the control system of the autonomous vehicle of the above embodiment.
Thus, the application has at least the following effective effects:
the processor of the control member is utilized to generate secondary perception data, so that the control member can still acquire the perception data when the processing member is in a failure state, and the problems of yaw, obstacle avoidance and the like of a vehicle caused by incapability of acquiring the perception data are avoided, thereby effectively improving the reliability and safety of automatic driving when the processing member is in the failure state, and improving the use experience of a user. Therefore, the technical problems that an automatic driving vehicle is easy to yaw and cannot avoid obstacles when the second industrial personal computer is in a failure state in the related art, the reliability and the safety of the automatic driving are low, the user experience is poor and the like are solved.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
Fig. 1 is a schematic structural diagram of a control system of an autonomous vehicle in the related art;
FIG. 2 is a block schematic diagram of a control system for an autonomous vehicle according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a control system for an autonomous vehicle according to an embodiment of the present application;
Fig. 4 is a flowchart of a failure control method of an automatic driving vehicle according to an embodiment of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.
In order to realize functions, tests, demonstration and the like related to automatic driving in the related art, a computing unit and a sensing device are generally configured on an automatic driving vehicle, wherein the computing unit adopts an industrial personal computer or a domain controller, and the sensing device comprises a laser radar, a millimeter wave radar, a camera and the like.
As shown in fig. 1, the computing units of the industrial personal computers are currently adopted, and since the perceived data amount is very large when the vehicle is controlled to automatically drive, two computing units, namely a first industrial personal computer a and a second industrial personal computer B, are generally adopted. For example, in the process of testing and demonstrating an automatic driving power vehicle, two industrial personal computers respectively process corresponding data according to a pre-design, wherein a second industrial personal computer B is used for processing a large amount of sensing data, the processed target data is sent to a first industrial personal computer A through a switch, the first industrial personal computer A processes the target data after receiving the target data, and performs decision planning, motion control, vehicle control and other data carding to generate an automatic driving instruction so as to realize an automatic driving function.
However, when the second industrial personal computer B fails in software and hardware during processing the perceived data, the target data cannot be accurately output or cannot be output, so that the first industrial personal computer a cannot accurately acquire, even cannot acquire the corresponding target data, so that the first industrial personal computer a cannot make a correct decision-making plan, and the modules such as decision-making planning, operation control and the like cannot normally operate, so that an automatic driving vehicle cannot travel along a planned path, obstacles and the like cannot be avoided, and the automatic driving function fails to be realized, and testing, demonstration and the like cannot be completed.
In order to solve the problems, the sensing module is added into the first industrial personal computer, so that data such as a main laser radar, a millimeter wave radar, a camera and the like can be processed, and the first industrial personal computer can still receive the sensing data when the second industrial personal computer fails, so that automatic driving control is realized.
The control system and method of an autonomous vehicle and the vehicle according to the embodiments of the present application will be described below with reference to the accompanying drawings. Aiming at the problems that when the second industrial personal computer mentioned in the background center is in a failure state, an automatic driving vehicle is easy to yaw and cannot avoid obstacles, the reliability and the safety of the automatic driving are low, and the user experience is poor, the application provides a control system of the automatic driving vehicle, wherein a processor of a control piece is utilized to generate secondary perception data, so that the control piece can still acquire perception data when the processing piece is in the failure state, the problems that the vehicle yaw and cannot avoid obstacles are caused by the fact that the perception data cannot be acquired are avoided, the reliability and the safety of the automatic driving can be effectively improved when the processing piece is in the failure state, and the use experience of the user is improved. Therefore, the technical problems that an automatic driving vehicle is easy to yaw and cannot avoid obstacles when the second industrial personal computer is in a failure state in the related art, the reliability and the safety of the automatic driving are low, the user experience is poor and the like are solved.
Specifically, fig. 2 is a block schematic diagram of a control system of an autopilot vehicle according to an embodiment of the present application.
As shown in fig. 2, the control system 10 of the autonomous vehicle has a processing part 100 for generating primary sensory data from collected environmental data and a control part 200 for generating an autonomous instruction from the primary sensory data, wherein the control part 200 includes: processor 210, arbiter 220, and controller 230.
Wherein the processor 210 is configured to generate secondary perception data according to the environmental data; the judging unit 220 is configured to judge whether the control unit receives the primary sensing data sent by the processing unit, and when it is judged that the primary sensing data is not received, judge that the processing unit is in a failure state; the controller 230 is configured to generate an autopilot command according to the secondary awareness data when the determiner determines that the processing element is in a failure state, and control the autopilot vehicle to perform an autopilot action using the autopilot command.
Note that, the control member 200 and the processing member 100 may be an industrial personal computer or a controller, which is not limited in particular. In this embodiment and the following embodiments, taking the control element 200 and the processing element 100 as industrial personal computers as examples, as shown in fig. 3, the control element 200 may be a first industrial personal computer a, and the processing element 100 may be a second industrial personal computer B.
The processor 210 may be a sensing module, and is configured to process environmental data collected by the main lidar, millimeter wave radar, camera, etc.; according to the embodiment of the application, the sensing module is added to the first industrial personal computer, so that when the second industrial personal computer B fails, data processing can be performed through the sensing module to obtain sensing data, the manner of adding the sensing module to the first industrial personal computer to improve the automatic driving reliability is simple and reliable, the development period is short, the cost is low, and the like.
In this embodiment, the system 10 of the embodiment of the present application further includes: and communication pieces. Wherein the communication means is for transmitting the environmental data to the processing means 100 and the control means 200, respectively.
The communication piece may be a device for communication or data exchange, such as a switch. Taking the switch as an example, as shown in fig. 2, the switch is respectively connected with the main laser radar, the millimeter wave radar and the camera equipment, and the switch is further connected with the first industrial personal computer a and the second industrial personal computer B, so that the switch can simultaneously provide the environmental data collected by the main laser radar, the millimeter wave radar, the camera and other equipment for the first industrial personal computer a and the second industrial personal computer B, and the problems that the first industrial personal computer a cannot output or output data such as wrong path planning, positioning, obstacle avoidance and the like when the second industrial personal computer B fails and perceives the data to be absent are solved, and the realization of an automatic driving function is ensured.
In some embodiments, the system 10 of embodiments of the present application further comprises: and an alarm. The alarm part is used for alarming when the processing part 100 is in a failure state; the controller 230 is further configured to generate an alarm command when the determiner 220 determines that the processing unit 100 is in a failure state, and control the alarm unit to perform an alarm action by using the alarm command.
It can be understood that the embodiment of the invention can also timely alarm and remind when the second industrial personal computer B fails, so as to promote the failure of the second industrial personal computer B of a user, thereby effectively promoting the use experience of the user.
The following will describe the operation of the control system of the autopilot vehicle with reference to fig. 3, in which the communication piece is exemplified by a switch, and the control piece 200 and the processing piece 100 are exemplified by an industrial personal computer, specifically as follows:
1) The switch receives data collected by the main laser radar, the millimeter wave radar, the camera and the like and then sends the data to the first industrial personal computer A and the second industrial personal computer B, main perception data is still processed through the second industrial personal computer B under the condition that the second industrial personal computer B is not invalid, main perception data is generated and sent to the first industrial personal computer A, and the first industrial personal computer A controls the operation of modules such as decision planning, motion control and the like according to the perception data, so that an automatic driving function can be normally realized;
2) When the second industrial personal computer B cannot send out sensing data, the sensing module of the first industrial personal computer A can process data collected by equipment such as a main laser radar, a millimeter wave radar, a camera and the like, provide target data for automatic driving path planning, positioning, obstacle avoidance and the like, can complete most functions of automatic driving, and cannot cause the situation that the automatic driving functions cannot be realized at all or even stagnate;
3) In the test and demonstration process of the automatic driving sample car, when the second industrial personal computer B fails, although partial functions cannot be realized or performance is reduced, most functions can still be normally realized, the situation that the automatic driving function cannot be realized at all is effectively avoided, and the reliability and safety of automatic driving can be effectively improved.
In summary, the embodiment of the application provides the data collected by the main laser radar, the millimeter wave radar, the camera and the like for the first industrial personal computer A and the second industrial personal computer B through the switch, and the perception module is added in the first industrial personal computer A, so that when the second industrial personal computer B fails and the perception data is lost, the first industrial personal computer A cannot output or output the data of wrong path planning, positioning, obstacle avoidance and the like, and the realization of an automatic driving function is ensured; and through increasing perception module at first industrial computer A, the switch provides the mode of perception data for first industrial computer A and second industrial computer B simultaneously and solves the problem that second industrial computer B became invalid, has simple easy realization, development cycle is short, advantage such as with low costs.
According to the control system for the automatic driving vehicle, disclosed by the embodiment of the application, the processor of the control piece is utilized to generate the secondary perception data, so that the control piece can still acquire the perception data when the processing piece is in a failure state, and the problems of yaw of the vehicle, incapability of avoiding obstacles and the like caused by incapability of acquiring the perception data are avoided, thereby effectively improving the reliability and safety of automatic driving when the processing piece is in the failure state, and improving the use experience of a user.
Next, a failure control method of an autonomous vehicle according to an embodiment of the present application will be described with reference to the accompanying drawings.
Fig. 4 is a flowchart of a failure control method of an autonomous vehicle according to an embodiment of the present application.
The method is applied to the control system of the automatic driving vehicle according to the above embodiment, and as shown in fig. 4, the failure control method of the automatic driving vehicle includes the following steps:
in step S101, secondary perception data is generated according to the environmental data;
In step S102, it is determined whether the control element receives the primary sensing data sent by the processing element, and when it is determined that the primary sensing data is not received, it is determined that the processing element is in a failure state;
in step S103, when it is determined that the processing element is in the disabled state, an automatic driving instruction is generated according to the secondary awareness data, and the automatic driving action is performed by controlling the automatic driving vehicle using the automatic driving instruction.
Further, before generating the secondary perception data according to the environment data, the method further comprises: environmental data is received and stored.
Further, the method further comprises the following steps: when the processing piece is judged to be in a failure state, an alarm instruction is generated, and the alarm piece is controlled to execute an alarm action by utilizing the alarm instruction.
It should be noted that the foregoing explanation of the embodiment of the control system of the automatic driving vehicle is also applicable to the failure control method of the automatic driving vehicle of the embodiment, and will not be repeated herein.
According to the failure control method for the automatic driving vehicle, disclosed by the embodiment of the application, the processor of the control piece is utilized to generate the secondary sensing data, so that the control piece can still acquire the sensing data when the processing piece is in a failure state, and the problems of yaw of the vehicle, incapability of avoiding obstacles and the like caused by incapability of acquiring the sensing data are avoided, thereby effectively improving the reliability and safety of automatic driving when the processing piece is in the failure state, and improving the use experience of a user.
In addition, the embodiment also provides an automatic driving vehicle, which comprises the control system of the automatic driving vehicle. The automatic driving vehicle can still acquire the perception data when the processing part is in a failure state, so that the problems that the vehicle is yawed and cannot avoid obstacle caused by the fact that the perception data cannot be acquired are avoided.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, for example, two, three, etc., unless specifically defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
Claims (5)
1. A control system for an autonomous vehicle, the control system having a processing element for generating primary sensory data from collected environmental data and a control element for generating an autonomous command from the primary sensory data, wherein the control element comprises:
A processor for generating secondary awareness data from the environmental data;
the judging device is used for judging whether the control piece receives the main sensing data sent by the processing piece or not, and judging that the processing piece is in a failure state when judging that the main sensing data is not received; and
The controller is used for generating the automatic driving instruction according to the secondary perception data when the judging device judges that the processing piece is in the failure state, and controlling the automatic driving vehicle to execute automatic driving action by utilizing the automatic driving instruction; the controller is further used for generating an alarm instruction when the judging device judges that the processing piece is in the failure state, and controlling the alarm piece to execute an alarm action by utilizing the alarm instruction, wherein the control piece is a first industrial personal computer, and the processing piece is a second industrial personal computer;
The communication piece is used for respectively sending the environment data to the processing piece and the control piece, and the communication piece is an exchanger;
the alarm piece is used for giving an alarm and reminding when the processing piece is in the failure state.
2. A failure control method of an autonomous vehicle, characterized in that the method is applied to the control system of an autonomous vehicle according to claim 1, comprising the steps of:
Generating secondary perception data according to the environment data;
judging whether the control piece receives the main sensing data sent by the processing piece or not, and judging that the processing piece is in a failure state when judging that the main sensing data is not received; and
And when the processing piece is judged to be in the failure state, generating the automatic driving instruction according to the secondary perception data, and controlling the automatic driving vehicle to execute automatic driving action by utilizing the automatic driving instruction.
3. The method of claim 2, further comprising, prior to generating secondary awareness data from the environmental data:
The environmental data is received and stored.
4. The method as recited in claim 2, further comprising:
when the processing part is judged to be in the failure state, an alarm instruction is generated, and the alarm instruction is utilized to control the alarm part to execute an alarm action.
5. An autonomous vehicle comprising the control system of the autonomous vehicle of claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111274745.3A CN114013454B (en) | 2021-10-29 | 2021-10-29 | Control system and method for automatic driving vehicle and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111274745.3A CN114013454B (en) | 2021-10-29 | 2021-10-29 | Control system and method for automatic driving vehicle and vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114013454A CN114013454A (en) | 2022-02-08 |
| CN114013454B true CN114013454B (en) | 2024-08-20 |
Family
ID=80059083
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111274745.3A Active CN114013454B (en) | 2021-10-29 | 2021-10-29 | Control system and method for automatic driving vehicle and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114013454B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109229102A (en) * | 2017-07-04 | 2019-01-18 | 百度在线网络技术（北京）有限公司 | Automatic driving vehicle control system, method and apparatus |
| CN112356846A (en) * | 2020-11-19 | 2021-02-12 | 中国第一汽车股份有限公司 | Automatic driving control system and method and vehicle |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110138518A (en) * | 2019-05-20 | 2019-08-16 | 北京百度网讯科技有限公司 | Communication means, device, electronic equipment and the storage medium of automatic driving vehicle |
| CN112572465A (en) * | 2019-09-12 | 2021-03-30 | 中车时代电动汽车股份有限公司 | Fault processing method for intelligent driving automobile sensing system |
| CN113247022A (en) * | 2021-06-23 | 2021-08-13 | 智己汽车科技有限公司 | Automatic driving redundancy control system and method |
| CN113525422B (en) * | 2021-08-23 | 2023-04-25 | 驭势（上海）汽车科技有限公司 | Automatic driving system and method |
-
2021
- 2021-10-29 CN CN202111274745.3A patent/CN114013454B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109229102A (en) * | 2017-07-04 | 2019-01-18 | 百度在线网络技术（北京）有限公司 | Automatic driving vehicle control system, method and apparatus |
| CN112356846A (en) * | 2020-11-19 | 2021-02-12 | 中国第一汽车股份有限公司 | Automatic driving control system and method and vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114013454A (en) | 2022-02-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20200017114A1 (en) | Independent safety monitoring of an automated driving system | |
| CA3174273A1 (en) | Autonomous vehicle computing system with processing assurance | |
| CN110709303A (en) | vehicle control device | |
| US20210155253A1 (en) | Vehicle control system and method | |
| CN108845577A (en) | A kind of embedded auto-pilot controller and its method for safety monitoring | |
| US6351823B1 (en) | Method and device for monitoring a computer system having at least two processors | |
| US11498551B2 (en) | Method and system for operating a vehicle | |
| JP2019511052A (en) | Method, apparatus and system for controlling a vehicle | |
| CN113734193A (en) | System and method for estimating take over time | |
| US20200361478A1 (en) | Vehicle control device and electronic control system | |
| CN113401128B (en) | Vehicle driving mode switching method based on vehicle cloud communication | |
| EP4312345A2 (en) | Control system, method and device for vehicle redundant power supply | |
| CN114407917A (en) | Driving mode switching method and device, vehicle and readable storage medium | |
| CN114013454B (en) | Control system and method for automatic driving vehicle and vehicle | |
| CN109910910B (en) | Vehicle control system and method | |
| CN114237104B (en) | A kind of automatic driving domain controller and vehicle | |
| WO2024230948A1 (en) | Autonomous vehicle system on chip | |
| CN112396183A (en) | Method, device and equipment for automatic driving decision and computer storage medium | |
| CN114217539B (en) | Simulation test method and device for automatic driving function, vehicle and storage medium | |
| CN114124610B (en) | Data processing method, device, equipment and medium based on MCU communication channel | |
| CN115525012A (en) | Vehicle control method, vehicle control device, vehicle and storage medium | |
| CN114622965B (en) | Control method based on continuous variable valve lift mechanism and electronic equipment | |
| US20250192917A1 (en) | Communication apparatus and method for connected autonomous driving | |
| JPWO2019202824A1 (en) | Electronic control device | |
| CN118372676B (en) | Electric drive system control method and device and vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |