CN114274976B - Takeover algorithm module and method after automatic driving program breakdown - Google Patents
Takeover algorithm module and method after automatic driving program breakdown Download PDFInfo
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Abstract
The invention discloses a take-over algorithm module and a method after an automatic driving program is crashed, wherein the take-over algorithm module comprises a temporary take-over module, the input end of the temporary take-over module is connected with an automatic driving program module, the output end of the temporary take-over module is connected with the input end of a vehicle drive-by-wire chassis, and the output end of the vehicle drive-by-wire chassis is respectively connected with the temporary take-over program module and the automatic driving program module; when the thread of the automatic driving program module is crashed or the error is reported, a flag bit for requesting to take over is output to the temporary take over program module, at the moment, the temporary take over program module outputs a control instruction to the vehicle drive-by-wire chassis, and the vehicle is controlled to be decelerated and slowly stopped by the side to exit the take over program. The invention realizes the safe connection pipe when the automatic driving program goes wrong or the thread breaks down, can effectively avoid the damage caused by the out-of-control of the vehicle, reduces the risk of traffic accidents, and simultaneously avoids the collision damage of passengers or articles caused by the emergency braking of the vehicle.
Description
Technical Field
The invention relates to the technical field of intelligent driving programs, in particular to a take-over algorithm module and a take-over algorithm method after an automatic driving program crashes.
Background
With the rapid development of the automobile manufacturing industry, the automatic driving automobile is a current research and development trend. The automatic driving automobile is provided with advanced devices such as an on-board sensor, a controller and an actuator, combines modern communication and network technologies, realizes intelligent information exchange and sharing between the automobile and X (people, automobiles, roads, cloud ends and the like), has the functions of complex environment sensing, intelligent decision making, cooperative control and the like, can realize safe, efficient, comfortable and energy-saving running, and can finally realize a new-generation automobile operated by replacing people.
At present, in the running process of executing the automatic driving function, thread breakdown may occur due to a certain important module (such as a positioning or control module) to cause abnormal running function, and at this time, in order to ensure the safety of the vehicle, the vehicle-mounted automatic driving system executes emergency braking operation to brake the vehicle in the shortest time. Aiming at the problem of the crash of the automatic driving thread, three main solutions are proposed and executed in the prior art:
(1) the SLAM algorithm implements redundancy for positioning: the method mainly aims at the failure of a GPS signal receiving/positioning module, adopts a SLAM positioning parallel to the GPS positioning to realize redundant design of the positioning module, and can still execute automatic driving through laser/visual SLAM positioning when the GPS positioning fails. Disadvantages: the cost is high, and the redundancy of the positioning module is only aimed at, so that the errors of other modules of the automatic driving program are not correspondingly compensated.
(2) Emergency braking is performed, the disadvantage is: the braking deceleration is too large, so that riding experience is reduced, rear-end collision accidents can be caused, and the vehicle is stopped and then runs in the center of a driving track, so that follow-up vehicle passing can be prevented.
(3) Smooth braking parking is performed, the disadvantage is: too long a braking distance may create a risk of collision, and the vehicle may interfere with subsequent vehicle traffic after stopping at the center of the travel path.
Therefore, from the above solution of thread breakdown of automatic driving, whether the SLAM algorithm is adopted or emergency and smooth braking is adopted, the solution has obvious defects, and passengers or goods carried by the automatic driving vehicle are possibly injured, so that poor riding and transportation experience is brought.
Disclosure of Invention
Aiming at the problems, the invention provides a take-over algorithm module and a take-over algorithm method after an autopilot program is crashed, which aim to solve the problems that passengers or goods carried by an autopilot vehicle are injured, poor riding and transporting experience are brought about due to the fact that a main solution is put forward and executed in the prior art after an autopilot thread is crashed.
The invention adopts the following technical scheme to realize the purposes:
the takeover algorithm module after the automatic driving program is crashed comprises a temporary takeover module, wherein the input end of the temporary takeover module is connected with the automatic driving program module, the output end of the temporary takeover module is connected with the input end of a vehicle drive-by-wire chassis, and the output end of the vehicle drive-by-wire chassis is respectively connected with the input end of the temporary takeover program module and the input end of the automatic driving program module;
when the thread of the automatic driving program module is crashed or the error is reported, a flag bit for requesting to take over is output to the temporary take over program module, at the moment, the temporary take over program module outputs a control instruction to the vehicle drive-by-wire chassis, and the vehicle is controlled to be decelerated and slowly stopped by the side to exit the take over program.
The take-over method after the automatic driving program crashes is characterized by comprising the following steps of:
step one: the vehicle is in an automatic driving mode, the automatic driving program module keeps the target vehicle speed tracking running, and the temporary takeover program module is not started;
step two: an automatic driving program module in the intelligent driving system checks the running condition of a vehicle running state module;
executing the return step I when the running state module unit of the vehicle runs normally; if the running state module of the vehicle runs out of order or fails, executing the third step;
step three: the automatic driving program module outputs a flag bit for requesting to take over to the temporary take over program module, and the temporary take over program module starts and outputs a control instruction with the same format as the automatic driving module:
step four: the temporary takeover program module checks the speed of the vehicle, and if the speed of the vehicle is not greater than H, the fifth step is executed; if the speed of the vehicle is greater than H, executing the step six;
step five: the temporary takeover program module sends out an instruction to control the electric appliance driving controller MCU to stop driving the vehicle, starts to execute the sectional braking to reduce the vehicle speed until the vehicle stops, and then executes the step seven;
step six: the temporary takeover program module sends out instructions to control the electronic hydraulic brake controller EHB and the electronic power steering controller EPS, the vehicles are controlled to be steadily and laterally kept at the side and continuously decelerated until stopping, the takeover program control sub-parking controller EPB pulls up the hand brake after the vehicle speed is zero, and then the seventh step is executed;
step seven: after stopping the vehicle, sending parking information to the temporary takeover program module and the automatic driving program module, and exiting the temporary takeover program module from taking over; the automatic driving module sends fault information to the background through the Internet of vehicles to feed back automatic driving errors.
Preferably, the operation state module includes: the system comprises a positioning unit, a control unit, a sensing unit, a map engine unit, a planning unit, a monitoring unit, an end-to-end unit and an HMI unit.
Preferably, in the fourth step, the vehicle speed H is 8-12km/H. Thus, the parking of the vehicle can be better controlled.
The beneficial effects of the invention are as follows:
the takeover algorithm module and the takeover algorithm method after the automatic driving program is crashed can monitor the running state of the automatic driving program in real time, realize the safe takeover when the automatic driving program is in error or the thread is crashed, effectively avoid the damage caused by the out-of-control of the vehicle, reduce the risk of traffic accidents, simultaneously avoid the collision damage of passengers or articles caused by the emergency braking of the vehicle, and improve the safety and the comfort of the automatic driving vehicle.
Drawings
Fig. 1 is: the invention discloses an automatic driving program module and a temporary takeover program module of a takeover algorithm module and a method after the automatic driving program is crashed.
Fig. 2 is: the invention discloses a workflow diagram of a take-over algorithm module and a method after an autopilot program crashes.
In the figure: 1-automatic driving module, 2-temporary take-over module and 3-vehicle drive-by-wire chassis
Detailed Description
The invention will be described in detail below with reference to the drawings and the detailed description.
The automatic driving vehicle is provided with advanced vehicle-mounted sensors, controllers, actuators and other devices, combines modern communication and network technologies, realizes intelligent information exchange and sharing between the vehicle and X (people, vehicles, roads, cloud ends and the like), has the functions of complex environment sensing, intelligent decision, cooperative control and the like, can realize safe, efficient, comfortable and energy-saving running, and can finally realize a new-generation vehicle operated by replacing people.
And the intelligent driving system is a system which is composed of hardware and software and can continuously execute part or all of the dynamic driving tasks and/or execute the dynamic driving task takeover. The system CAN fuse sensor data from cameras, laser radars, ultrasonic waves, millimeter wave radars, GPS/inertial navigation (IMUs) and maps together, position vehicles, sense environment, plan paths, decide driving behaviors and send CAN signals to a drive-by-wire chassis to control the vehicles to execute corresponding driving tasks. The system consists of a hardware part (a main control board, a fusion positioning module, a router and various I/O interfaces) and a software part (an operating system, autopilot software, a configuration file and the like). The intelligent driving system core software layer can be subdivided into three layers: the lowest layer is the RTOS real-time operating system. The middle layer is Runtime Framework, providing data layer support for the modules of the upper layers. The uppermost layer is an implementation part of each functional module of automatic driving, and comprises a map engine, positioning, sensing, planning, monitoring, control, end-to-end, HMI and the like. And wherein the hardware portion includes a vehicle drive-by-wire chassis, the vehicle drive-by-wire chassis consisting essentially of:
(1) an electric appliance driving controller MCU: the drive-by-wire driving of the vehicle is realized by controlling the power, torque and rotation speed output by the motor,
(2) Electronic power steering controller EPS: the steering column is driven by a motor, and the steering wheel angle (wheel angle) of the vehicle is controlled by a wire control;
(3) electro-hydraulic brake controller EHB: the brake-by-wire (braking) is realized by controlling the motor and the pump to build pressure on the vehicle brake pipeline;
(4) electronic parking controller EPB: the brake-by-wire controls the vehicle parking brake.
The intelligent driving system comprises an automatic driving program module, a temporary takeover program module and a vehicle drive-by-wire chassis.
As shown in fig. 1 and fig. 2, in one embodiment of the present invention, a take-over algorithm module after an autopilot crash is provided, which includes a temporary take-over module 2, wherein an input end of the temporary take-over module 2 is connected with an autopilot module 1, an output end of the temporary take-over module 2 is connected with an input end of a vehicle drive-by-wire chassis 3, and an output end of the vehicle drive-by-wire chassis 3 is respectively connected with an input end of the temporary take-over module 2 and an input end of the autopilot module 1;
in the intelligent driving system, when the thread breakdown or error report occurs in the automatic driving program module 1, a flag bit for requesting to take over is output to the temporary take over program module 2, and at the moment, the temporary take over program module 2 outputs a control instruction to the vehicle drive-by-wire chassis 3 to control the vehicle to decelerate and slowly stop by the side and then exit the take over program.
The take-over method after the automatic driving program crashes is characterized by comprising the following steps of:
step one: the vehicle is in an automatic driving mode, the automatic driving program module keeps the target vehicle speed tracking running, and the temporary takeover program module is not started;
step two: an automatic driving program module in the intelligent driving system checks the running condition of a vehicle running state module;
executing the return step I when the running state module unit of the vehicle runs normally; if the running state module of the vehicle runs out of order or fails, executing the third step;
step three: the automatic driving program module outputs a flag bit for requesting to take over to the temporary take over program module, and the temporary take over program module starts and outputs a control instruction with the same format as the automatic driving module:
step four: the temporary takeover program module checks the speed of the vehicle, and if the speed of the vehicle is not greater than H, the fifth step is executed; if the speed of the vehicle is greater than H, executing the step six;
step five: the temporary takeover program module sends out an instruction to control the electric appliance driving controller MCU to stop driving the vehicle, starts to execute the sectional braking to reduce the vehicle speed until the vehicle stops, and then executes the step seven;
step six: the temporary takeover program module sends out instructions to control the electronic hydraulic brake controller EHB and the electronic power steering controller EPS, the vehicles are controlled to be steadily and laterally kept at the side and continuously decelerated until stopping, the takeover program control sub-parking controller EPB pulls up the hand brake after the vehicle speed is zero, and then the seventh step is executed;
step seven: after stopping the vehicle, sending parking information to the temporary takeover program module and the automatic driving program module, and exiting the temporary takeover program module from taking over; the automatic driving module sends fault information to the background through the Internet of vehicles to feed back automatic driving errors.
Further, the operation state module includes: the system comprises a positioning unit, a control unit, a sensing unit, a map engine unit, a planning unit, a monitoring unit, an end-to-end unit and an HMI unit. The input ends of the positioning unit, the control unit, the sensing unit, the map engine unit, the planning unit, the monitoring unit, the end-to-end unit and the HMI unit are respectively connected with the input end of the automatic driving program module.
Further, the vehicle speed H in the fourth step is 8-12km/H. Thus, the parking of the vehicle can be better controlled.
According to the takeover algorithm module and the takeover method after the automatic driving program is crashed, the redundant design scheme parallel to the automatic driving program module is adopted, the running state of the automatic driving program can be monitored in real time, the safe takeover when the automatic driving program is in error or the thread is crashed is realized, the damage caused by the out-of-control of the vehicle can be effectively avoided, the risk of traffic accidents is reduced, meanwhile, the collision damage of passengers or articles caused by the emergency braking of the vehicle is avoided, the safety and the comfort of the automatic driving vehicle are improved, the algorithm operation is temporarily taken over, the program body is in dawn, and the occupied system resource is small.
Claims (4)
1. The take-over method after the automatic driving program crashes is characterized by comprising the following steps of:
step one: the vehicle is in an automatic driving mode, the automatic driving program module keeps the target vehicle speed tracking running, and the temporary takeover program module is not started;
step two: an automatic driving program module in the intelligent driving system checks the running condition of a vehicle running state module;
executing the return step I when the running state module unit of the vehicle runs normally; if the running state module of the vehicle runs out of order or fails, executing the third step;
step three: the automatic driving program module outputs a flag bit for requesting to take over to the temporary take over program module, and the temporary take over program module starts and outputs a control instruction with the same format as the automatic driving module:
step four: the temporary takeover program module checks the speed of the vehicle, and if the speed of the vehicle is not greater than H, the fifth step is executed; if the speed of the vehicle is greater than H, executing the step six;
step five: the temporary takeover program module sends out an instruction to control the electric appliance driving controller MCU to stop driving the vehicle, starts to execute the sectional braking to reduce the vehicle speed until the vehicle stops, and then executes the step seven;
step six: the temporary takeover program module sends out instructions to control the electronic hydraulic brake controller EHB and the electronic power steering controller EPS, the vehicles are controlled to be steadily and laterally kept at the side and continuously decelerated until stopping, the takeover program control sub-parking controller EPB pulls up the hand brake after the vehicle speed is zero, and then the seventh step is executed;
step seven: after stopping the vehicle, sending parking information to the temporary takeover program module and the automatic driving program module, and exiting the temporary takeover program module from taking over; the automatic driving module sends fault information to the background through the Internet of vehicles to feed back automatic driving errors.
2. The automatic steering program crash takeover algorithm module constructed according to the takeover method of claim 1, which is characterized by comprising a temporary takeover module, wherein the input end of the temporary takeover module is connected with the automatic steering program module, the output end of the temporary takeover module is connected with the input end of a vehicle drive-by-wire chassis, and the output end of the vehicle drive-by-wire chassis is respectively connected with the input end of the temporary takeover program module and the input end of the automatic steering program module;
when the thread of the automatic driving program module is crashed or the error is reported, a flag bit for requesting to take over is output to the temporary take over program module, at the moment, the temporary take over program module outputs a control instruction to the vehicle drive-by-wire chassis, and the vehicle is controlled to be decelerated and slowly stopped by the side to exit the take over program.
3. The method for takeover after an autopilot crash of claim 1 wherein said run status module includes: the system comprises a positioning unit, a control unit, a sensing unit, a map engine unit, a planning unit, a monitoring unit, an end-to-end unit or an HMI unit.
4. The takeover method after an autopilot crash of claim 1 wherein in step four the vehicle speed H is 8-12km/H.
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| CN108860125B (en) * | 2017-08-30 | 2020-04-21 | 长城汽车股份有限公司 | Emergency braking control method and device and ECU |
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| CN111132884A (en) * | 2017-09-28 | 2020-05-08 | 伟摩有限责任公司 | Detecting and responding to autonomous vehicle propulsion and steering system errors |
| WO2020133208A1 (en) * | 2018-12-28 | 2020-07-02 | 驭势科技（北京）有限公司 | Control method for self-driving vehicle, and self-driving system |
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