CN109343529A - Control method for vehicle and device - Google Patents
Control method for vehicle and device Download PDFInfo
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- CN109343529A CN109343529A CN201811280894.9A CN201811280894A CN109343529A CN 109343529 A CN109343529 A CN 109343529A CN 201811280894 A CN201811280894 A CN 201811280894A CN 109343529 A CN109343529 A CN 109343529A
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- 238000012163 sequencing technique Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Acoustics & Sound (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention relates to a kind of control method for vehicle and devices, belong to automatic Pilot technical field, which includes: main processing block, from processing module, safety control module, data acquisition module, execution module and power module.Wherein, data acquisition module is used to acquire the environmental information of vehicle periphery；It is electrically connected respectively with data acquisition module, main processing block and safety control module from processing module, for when main processing block breaks down, it is determined according to environmental information for making vehicle deceleration and stopping the routing information travelling, and routing information is sent to safety control module；Safety control module is also used to when receiving from the routing information that processing module is sent, execution module is controlled according to routing information, so as to vehicle deceleration and stop travelling, solve in the related technology when processing module break down when vehicle can not drive safely, the problem of easily causing traffic accident, achieve the effect that improve vehicle safety, has been used for vehicle control.
Description
Technical field
The present invention relates to automatic Pilot technical field, in particular to a kind of control method for vehicle and device.
Background technique
With the rapid development of the automotive industry and continuous improvement of people's living standards, automobile have rapidly entered common family
Front yard, requirement of the people to automobile are higher and higher.More and more electronic equipments are used to provide more intelligent service to people, with
And environment of more comfortably riding, since these electronic equipments are frequently with electronic component, so security risk can be brought, such as
The processing module in controller of vehicle for controlling Vehicular automatic driving.
In the related technology when processing module breaks down, vehicle can not drive safely, easily initiation traffic accident.
Summary of the invention
The embodiment of the invention provides a kind of control method for vehicle and devices, can solve and work as processing module in the related technology
The problem of vehicle can not drive safely when failure, easily cause traffic accident.The technical solution is as follows:
According to a first aspect of the embodiments of the present invention, a kind of controller of vehicle is provided, described device includes: main process task mould
Block, from processing module, safety control module, data acquisition module, execution module and power module,
The data acquisition module is used to acquire the environmental information of vehicle periphery；
The main processing block is electrically connected with the data acquisition module and the safety control module respectively, is used for basis
The environmental information determines the run routing information of the vehicle, and the run routing information is sent to the security control
Module；
The safety control module is electrically connected with the execution module, for according to run routing information control
Execution module, so that the vehicle is according to route indicated by the run routing information；
It is described from processing module respectively with the data acquisition module, the main processing block and the safety control module
Electrical connection, for being determined for making the vehicle deceleration according to the environmental information when the main processing block breaks down
And stop the routing information of traveling, and the routing information is sent to the safety control module；
The safety control module is also used to when receiving the routing information sent from processing module, according to described
Routing information controls the execution module, so as to the vehicle deceleration and stop travelling；
The power module respectively with the main processing block, described be electrically connected from processing module and the safety control module
Connect, for the main processing block, described power from processing module and the safety control module.
Optionally, the main processing block is used for when receiving automatic Pilot instruction, according to the environmental information and institute
The operation information for stating vehicle determines the run routing information of the vehicle.
Optionally, the main processing block and it is described be electrically connected from processing module by transmission line, the transmission line includes
First transmission line and second transmission line,
The main processing block is also used to be sent to pulse width modulation (PWM) signal by the first transmission line described
From processing module, the pwm signal is generated by the main processing block；
The main processing block is also used to send the working frequency of the main processing block by the second transmission line
To described from processing module；
The frequency from processing module for the determining pwm signal received by the first transmission line, and
Whether the difference for detecting determining frequency and the working frequency belongs to preset range；
It is described to be also used to be not belonging to the default model in the difference of determining frequency and the working frequency from processing module
When enclosing, determine that the main processing block breaks down.
Optionally, it is described from processing module be also used to be sent to status information by the second transmission line it is described it is main from
Manage module, the status information is used to indicate described whether break down from processing module；
The main processing block is also used to when determining the failure from processing module according to the state information, hair
First prompt information out, first prompt information are used to indicate described from processing module failure.
Optionally, described to be also used to from processing module when the main processing block breaks down, issue the second prompt letter
Breath, second prompt information are used to indicate the main processing block and break down.
According to a second aspect of the embodiments of the present invention, a kind of control method for vehicle is provided, for vehicle described in first aspect
Control device, which comprises
The environmental information of data collecting module collected vehicle periphery；
Main processing block determines the run routing information of the vehicle according to the environmental information, and by the driving path
Information is sent to safety control module；
The safety control module controls execution module according to the run routing information, so that the vehicle is according to described
Route indicated by run routing information；
From processing module when the main processing block breaks down, determined according to the environmental information for making the vehicle
The routing information for slowing down and stopping traveling, and is sent to the safety control module for the routing information；
The safety control module is believed when receiving the routing information sent from processing module according to the path
Breath controls the execution module, so as to the vehicle deceleration and stop travelling.
Optionally, the main processing block determines the run routing information of the vehicle according to the environmental information, comprising:
The main processing block is when receiving automatic Pilot instruction, according to the operation of the environmental information and the vehicle
Information determines the run routing information of the vehicle.
Optionally, the main processing block and it is described be electrically connected from processing module by transmission line, the transmission line includes
First transmission line and second transmission line,
It is described from processing module when the main processing block breaks down, according to the environmental information determine for making
Before stating vehicle deceleration and stopping the routing information travelling, the method also includes:
Pulse width modulation (PWM) signal is sent to described from processing by the main processing block by the first transmission line
Module, the pwm signal are generated by the main processing block；
The working frequency of the main processing block is sent to described by the main processing block by the second transmission line
From processing module；
The frequency that the pwm signal received by the first transmission line is determined from processing module, and detect
Whether the difference of determining frequency and the working frequency belongs to preset range；
It is described from processing module when the difference of determining frequency and the working frequency is not belonging to the preset range, really
The fixed main processing block breaks down.
Optionally, the method also includes:
It is described that status information is sent to by the main processing block, the shape by the second transmission line from processing module
Whether state information breaks down described in being used to indicate from processing module；
The main processing block issues first when determining the failure from processing module according to the state information
Prompt information, first prompt information are used to indicate described from processing module failure.
Optionally, the method also includes:
It is described from processing module when the main processing block breaks down, issue the second prompt information, described second mentions
Show that information is used to indicate the main processing block and breaks down.
Technical solution provided in an embodiment of the present invention is include at least the following beneficial effects:
The controller of vehicle includes main processing block and from processing module, when main processing block breaks down, from
Managing module can determine according to the environmental information of the vehicle periphery of data collecting module collected for making vehicle deceleration and stopping going
The routing information sailed, and the routing information is sent to safety control module, so that safety control module is according to the routing information
Execution module is controlled, and then controls vehicle deceleration and stops travelling, is so not easy to cause traffic accident, improves vehicle row
Sail safety.
Detailed description of the invention
In order to illustrate more clearly of the embodiment of the present invention, attached drawing needed in embodiment description will be made below
Simply introduce, it should be apparent that, drawings in the following description are only some embodiments of the invention, common for this field
For technical staff, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is implementation environment schematic diagram involved in the embodiment of the present invention；
Fig. 2 is a kind of structural schematic diagram of controller of vehicle provided in an embodiment of the present invention；
Fig. 3 is the structural schematic diagram of another controller of vehicle provided in an embodiment of the present invention；
Fig. 4 is a kind of flow chart of control method for vehicle provided in an embodiment of the present invention；
Fig. 5 is the flow chart of another control method for vehicle provided in an embodiment of the present invention.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
It is described in detail to one step, it is clear that described embodiments are only a part of the embodiments of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
All other embodiment, shall fall within the protection scope of the present invention.
Fig. 1 is implementation environment schematic diagram involved in the embodiment of the present invention.The implementation environment may include vehicle 01, vehicle
01 can travel on height highway, and 01 periphery of vehicle may exist mobile object and stationary object.Exemplary, mobile object can
Think that vehicle 02, stationary object can be railing etc..
In the related technology, when the processing module in the controller of vehicle for controlling Vehicular automatic driving breaks down
When, vehicle can not drive safely, easily initiation traffic accident, and vehicle safety is lower.
And in embodiments of the present invention, controller of vehicle includes main processing block and from processing module, when main process task mould
When block breaks down, it will can be used to make vehicle deceleration from processing module and the routing information for stopping travelling is sent to security control
Module is not easy to cause traffic accident, vehicle driving safety in this way so that safety control module controls vehicle deceleration and stops travelling
Property is higher.
Fig. 2 is a kind of structural schematic diagram of controller of vehicle provided in an embodiment of the present invention.As shown in Fig. 2, the vehicle
Control device include: main processing block 210, from processing module 220, safety control module 230, data acquisition module 240, execute
Module 250 and power module 260.
Wherein, data acquisition module 240 is used to acquire the environmental information of vehicle periphery.
Main processing block 210 is electrically connected with data acquisition module 240 and safety control module 230 respectively.Main processing block
210 for determining the run routing information of vehicle according to environmental information, and the run routing information is sent to security control mould
Block 230.
Safety control module 230 is electrically connected with execution module 250.Safety control module 230 is used for according to main processing block
210 run routing information sent control execution module 250, so that vehicle is according to path row indicated by the run routing information
It sails.
It is electrically connected respectively with data acquisition module 240, main processing block 210 and safety control module 230 from processing module 220
It connects.It is used to be determined according to environmental information for making vehicle deceleration when main processing block 210 breaks down from processing module 220
And stop the routing information of traveling, and the routing information is sent to safety control module 230.
Safety control module 230 is also used to when receiving from the routing information that processing module 220 is sent, according to the path
Information controls execution module 250, so as to vehicle deceleration and stop travelling.When main processing block 210 breaks down, from processing mould
Determining routing information is sent to safety control module 230 by block 220, so that safety control module 230 controls vehicle deceleration simultaneously
Stop traveling, avoids causing traffic accident because processing module breaks down in the case where an only processing module.
Power module 260 is electrically connected with main processing block 210, from processing module 220 and safety control module 230 respectively.
Power module 260 is used to power to main processing block 210, from processing module 220 and safety control module 230, to guarantee main place
Reason module 210 can be worked normally from processing module 220 and safety control module 230.
In conclusion controller of vehicle provided in an embodiment of the present invention, which includes main processing block
With from processing module, can be according to the vehicle of data collecting module collected from processing module when main processing block breaks down
The environmental information of surrounding is determined for making vehicle deceleration and stopping the routing information travelling, and the routing information is sent to safety
Control module so that safety control module controls execution module according to the routing information, and then controls vehicle deceleration and stops going
It sails, is so not easy to cause traffic accident, improves vehicle safety.
Optionally, safety control module, can be according to the path when receiving from the routing information that processing module is sent
Information is executed instruction to execution module transmission is corresponding, and execution module executes instruction control vehicle according to what safety control module was sent
Slow down and stop travelling.
Illustratively, execution module may include body electronics systems stabilisation (Electronic Stability Program,
ESP), electric boosting steering system (Electric Power Steering, EPS), engine management system (Engine
Management System, EMS) and automatic gear-box control unit (Transmission Control Unit, TCU) etc..
Working principle about each component can refer to the relevant technologies, and details are not described herein.
Optionally, data acquisition module may include a plurality of types of sensors.Illustratively, as shown in figure 3, data acquire
Module may include: visual sensor 241, radar sensor 242, laser sensor 243 and sonic sensor 244.
Wherein, visual sensor 241 is used to obtain the image information of vehicle-periphery, which may include vehicle
The lane line of road where and the vehicle of vehicle periphery, pedestrian, barrier and traffic signals (for example traffic lights, are handed over
Logical mark etc.) image information.
Radar sensor 242 is for obtaining the letter such as position, the orientation and velocity of vehicle periphery mobile object relative to this vehicle
The information such as position, the orientation and velocity of breath and vehicle periphery stationary object relative to this vehicle.
Laser sensor 243 is used to obtain range information of the obstacles around the vehicle relative to this vehicle by laser beam, with
And the marginal information of road where vehicle.
Sonic sensor 244 is used to detect the barrier that vehicle periphery belongs to pre-determined distance range at a distance from this vehicle, with
And range information of the barrier relative to this vehicle.
Illustratively, it can be sensed respectively with visual sensor, radar sensor, laser sensor and sound wave from processing module
Device electrical connection.It can be used for from processing module when main processing block breaks down, according to the information that each sensor acquires, in conjunction with vehicle
Kinetic model and kinematics model determine for making vehicle deceleration and stopping the routing information of traveling, and the path are believed
Breath is sent to safety control module.In this achievable mode, the sensor being electrically connected with from processing module is more, determines
Routing information is finer.
Illustratively, as shown in figure 3, from processing module 220 can also respectively with visual sensor 241 and radar sensor
242 electrical connections.It is used for from processing module 220 when main processing block 210 breaks down, according to visual sensor 241 and radar
The information that sensor 242 acquires is determined for making vehicle deceleration and stopping the routing information travelling, and the routing information is sent
To safety control module 230.Specifically, from processing module according to the image information and vehicle periphery object of vehicle-periphery
The information such as position, orientation and velocity of the body (including mobile object and stationary object) relative to this vehicle are determined for subtracting vehicle
Speed and the optimal path information for stopping traveling.In this achievable mode, the sensor being electrically connected with from processing module is less,
It is more easily implemented, and cost is relatively low.
The function of main processing block in the present embodiment can be with reference to the function of processing module in the related technology.It is optional
Ground, main processing block 210 specifically can be used for: when receiving automatic Pilot instruction, according to environmental information and vehicle (i.e. sheet
Vehicle) operation information determine the run routing information of vehicle.The operation information of vehicle may include the running position information of vehicle,
The running position information of vehicle can be according to the global positioning system (Global Positioning System, GPS) of vehicle number
According to Inertial Measurement Unit (Inertial measurement unit, IMU) data and pre-stored high-precision map are true
It is fixed.Illustratively, data acquisition module may include visual sensor, radar sensor, laser sensor and sonic sensor.Number
It is used for according to acquisition module when receiving automatic Pilot instruction, according to the operating position confidence of the information of each sensor acquisition and vehicle
Breath, determines the optimal driving path of vehicle in conjunction with vehicle dynamic model and kinematics model using path planning control algolithm
Information.Wherein, determine that the process of the optimal run routing information of vehicle can be with reference to related skill using path planning control algolithm
Art, details are not described herein.
In the present embodiment, main processing block is electrically connected with automatic Pilot switch, when automatic Pilot switch is pressed, is produced
Dynamic steering instructions are born from, primary processor receives the run routing information that vehicle is determined when automatic Pilot instruction.Security control
Module controls execution module further according to the run routing information, so that vehicle is according to path row indicated by the run routing information
It sails.
Optionally, safety control module can be executed instruction according to run routing information to execution module transmission is corresponding,
Execution module executes instruction control vehicle driving according to what safety control module was sent.Illustratively, execution module may include
ESP, EPS, EMS and TCU etc..
Optionally, when whether breaking down from processing module detection main processing block, as shown in figure 3, main processing block 210
It can be electrically connected by transmission line with from processing module 220, which includes first transmission line 01 and second transmission line 02.
Wherein, first transmission line 01 can be cable or twisted pair, be used for transmission digital signal；Second transmission line 02 is mould
Quasi- signal transmssion line, is used for transmission analog signal.
Main processing block 210 is also used to that pulse width is modulated (Pulse Width by first transmission line 01
Modulation, PWM) signal is sent to from processing module 220, and which generated by main processing block 210, is used for
Reflect the working condition of main processing block.
Main processing block 210 be also used to by second transmission line 02 by the working frequency of main processing block 210 be sent to from
Processing module 220.
From processing module 220 for determining the frequency of the pwm signal received by first transmission line 01, and detect determination
Frequency and the difference of working frequency whether belong to preset range；It is also used to from processing module 220 in determining frequency and work
When the difference of frequency is not belonging to preset range, determine that main processing block 210 breaks down.
When the difference of the working frequency of the frequency and main processing block of pwm signal is larger, which is not belonging to preset range
When, it may be possible to external devices, which have an impact main processing block, makes the working condition of main processing block exception occur, it is also possible to
Main processing block is abnormal because working condition occurs in self reason, in this case, can determine main process task from processing module
Module breaks down.
Illustratively, pwm signal is sent to from processing module 220, from by main processing block 210 by first transmission line 01
It manages module 220 and determines that the frequency of the pwm signal is 1KHz (kHz).Meanwhile main processing block 210 passes through second transmission line 02
The working frequency of main processing block 210 is sent to from processing module 220, which is 1KHz.It is true from processing module 220
The difference of the two fixed frequencies is 0, and difference belongs to preset range, then determines that main processing block 210 does not occur from processing module 220
Failure.For another example, pwm signal is sent to from processing module 220 by main processing block 210 by first transmission line 01, from processing
Module 220 determines that the frequency of the pwm signal is 1KHz.Meanwhile main processing block 210 passes through second transmission line 02 for main process task mould
The working frequency of block 210 is sent to from processing module 220, which is 3KHz, determines the two frequencies from processing module 220
The difference of rate is not belonging to preset range, then determines that main processing block 210 breaks down from processing module 220.At this point, from processing mould
Block 220 determines routing information according to the environmental information of the vehicle periphery of data collecting module collected, which is to make vehicle
Slow down and stop the routing information of traveling.
Optionally, in the present embodiment, when detecting that main processing block breaks down from processing module, from processing module
It can be sent out the second prompt information, specifically can control cue module and issue the second prompt information, to prompt the main place of driver
It manages module to break down, convenient for the working condition of driver's timely learning main processing block, and to master after vehicle stops traveling
The failure of processing module is handled.Illustratively, cue module can control to control display screen in vehicle from processing module
Display screen is controlled in vehicle shows corresponding prompt information to driver.Alternatively, cue module may include buzzer and luminous two
At least one of pole pipe (Light-Emitting Diode, LED) lamp, can control buzzer and LED light from processing module
At least one of show corresponding prompt information to driver.
It optionally, can also be to safety from processing module when detecting that main processing block breaks down from processing module
Control module sends instruction information, which is used to indicate main processing block failure.When safety control module receives
To the instruction information and detect from processing module send routing information when, safety control module according to the routing information control
Execution module, so as to vehicle deceleration and stop travelling.
In the present embodiment, main processing block also can detecte from whether processing module breaks down.Optionally, from processing
Module 220 is also used to that status information is sent to main processing block 210 by second transmission line 02, which is used to indicate
Whether break down from processing module 220；Main processing block 210 is also used to determine according to the status information from processing module
When 220 failure, control cue module issues the first prompt information, which is used to indicate from processing module
220 break down.Whether main processing block detection breaks down from processing module, in order to break down from processing module
When, working condition of driver's timely learning from processing module can be made, and handle from the failure of processing module.It is optional
Ground, main processing block, which can control, to be controlled display screen and to driver shows corresponding prompt information in vehicle.
In the present embodiment, main processing block and the working condition of other side can mutually be monitored in real time from processing module, when
When one of failure, another can issue prompt information, and continue to control vehicle, be not easy to cause traffic thing in this way
Therefore.
Optionally, after vehicle launch, power module is supplied to main processing block, from processing module and safety control module
Electricity, main processing block and from processing module be also used to respectively execution module self-test operations, i.e., the running parameter of itself is examined
It surveys, determines whether running parameter meets normal running conditions.When running parameter meets normal running conditions, main processing block and
Enter normal standby mode from processing module；When running parameter is unsatisfactory for normal running conditions, main processing block can be controlled
Display screen is controlled in vehicle processed and shows corresponding instruction information, to indicate that the running parameter of main processing block is unsatisfactory for working normally item
Part；It can control control display screen in vehicle from processing module and show corresponding instruction information, to indicate the work from processing module
Parameter is unsatisfactory for normal running conditions.
Optionally, as shown in figure 3, for being supplied to main processing block 210, from processing module 220 and safety control module 230
The power module of electricity may include two power supplys: the first power supply 261 and second source 262.When one of power supply breaks down
When, another power supply can continue to power to main processing block 210, from processing module 220 and safety control module 230, in this way
One, main processing block 210 can not be influenced, worked normally from processing module 220 and safety control module 230, power supply is improved
Reliability.
Controller of vehicle provided in an embodiment of the present invention is able to carry out Redundant Control for Vehicular automatic driving process,
It avoids causing traffic accident because processing module breaks down (or failure) in the case where an only processing module, Neng Gouti
The safety of high Vehicular automatic driving.
In conclusion controller of vehicle provided in an embodiment of the present invention, which includes main processing block
With from processing module, can be according to the vehicle of data collecting module collected from processing module when main processing block breaks down
The environmental information of surrounding is determined for making vehicle deceleration and stopping the routing information travelling, and the routing information is sent to safety
Control module so that safety control module controls execution module according to the routing information, and then controls vehicle deceleration and stops going
It sails, is so not easy to cause traffic accident, improves vehicle safety.
Fig. 4 shows a kind of flow chart of control method for vehicle provided in an embodiment of the present invention.The control method for vehicle can
With for controller of vehicle as shown in Figure 2 or Figure 3, as shown in figure 4, the control method for vehicle includes:
The environmental information of step 310, data collecting module collected vehicle periphery.
Step 320, main processing block determine the run routing information of vehicle according to environmental information, and the driving path is believed
Breath is sent to safety control module.
Step 330, safety control module control execution module according to run routing information, so that vehicle is according to driving path
Route indicated by information.
Step 340, from processing module main processing block break down when, according to environmental information determine for subtracting vehicle
Speed and the routing information for stopping traveling, and the routing information is sent to safety control module.
Step 350, safety control module are when receiving from the routing information that processing module is sent, according to the routing information
Execution module is controlled, so as to vehicle deceleration and stop travelling.
Wherein, execution module can be worked based on linear control technique.
Control method for vehicle provided in an embodiment of the present invention can from processing module when main processing block breaks down
It is determined according to the environmental information of the vehicle periphery of data collecting module collected for making vehicle deceleration and stopping the path travelling letter
Breath, and the routing information is sent to safety control module, so that safety control module is controlled according to the routing information executes mould
Block, and then control vehicle deceleration and stop travelling, it is so not easy to cause traffic accident, improves vehicle safety.
Fig. 5 shows the flow chart of another control method for vehicle provided in an embodiment of the present invention.The control method for vehicle
It can be used for controller of vehicle as shown in Figure 2 or Figure 3, as shown in figure 5, the control method for vehicle may include:
The environmental information of step 410, data collecting module collected vehicle periphery.
Step 420, main processing block determine the run routing information of vehicle according to environmental information, and the driving path is believed
Breath is sent to safety control module.
Optionally, main processing block according to environmental information determines that the process of run routing information of vehicle can in step 420
To include: main processing block when receiving automatic Pilot instruction, vehicle is determined according to the operation information of environmental information and vehicle
Run routing information.
Step 430, safety control module control execution module according to run routing information, so that vehicle is according to driving path
Route indicated by information.
Pwm signal is sent to from processing module by step 440, main processing block by first transmission line, pwm signal be by
What main processing block generated.
Optionally, as shown in figure 3, main processing block 210 and from processing module 220 pass through transmission line be electrically connected, the transmission
Line includes first transmission line 01 and second transmission line 02.Pwm signal is sent to by main processing block 210 by first transmission line 01
From processing module.
The working frequency of main processing block is sent to from processing mould by step 450, main processing block by second transmission line
Block.
Referring to Fig. 3, the working frequency of main processing block is sent to from by main processing block 210 by second transmission line 02
Manage module.
Step 460, the frequency that the pwm signal received by first transmission line is determined from processing module, and detect determination
Frequency and the difference of working frequency whether belong to preset range.
Step 470, from processing module when the difference of determining frequency and working frequency is not belonging to preset range, determine master
Processing module breaks down.
By execution step 440 to step 470, it can detecte whether main processing block breaks down from processing module, with
It convenient for when main processing block breaks down, determines for making vehicle deceleration and stopping the routing information of traveling, and by the path
Information is sent to safety control module.
Step 480, from processing module main processing block break down when, issue the second prompt information, this second prompt
Information is used to indicate main processing block failure.
In step 480, when detecting that main processing block breaks down from processing module, it can control from processing module
Cue module issues the second prompt information, to prompt driver's main processing block to break down, is convenient for driver's timely learning master
The working condition of processing module, and the failure of main processing block is handled after vehicle stops traveling.
Step 490, from processing module main processing block break down when, according to environmental information determine for subtracting vehicle
Speed and the routing information for stopping traveling, and the routing information is sent to safety control module.
Step 491, safety control module are when receiving from the routing information that processing module is sent, according to the routing information
Execution module is controlled, so as to vehicle deceleration and stop travelling.
When main processing block 210 breaks down, security control is sent to from processing module 220 by determining routing information
Module, safety control module control vehicle deceleration according to the routing information and stop travelling, avoid in an only processing module
In the case where because processing module break down due to cause traffic accident.
Status information is sent to main processing block from processing module by second transmission line by step 492, the status information
It is used to indicate from whether processing module breaks down.
Step 493, main processing block are determining that sending first prompts when breaking down from processing module according to status information
Information, first prompt information are used to indicate from processing module and break down.
Wherein, main processing block control cue module issues the first prompt information.Optionally, main processing block can control
Display screen is controlled in vehicle shows corresponding prompt information to driver.
By executing step 492 to step 493, main processing block be can detecte from whether processing module breaks down, with
Convenient for working condition of driver's timely learning from processing module when breaking down from processing module, can be made, and to from
The failure of reason module is handled.
Optionally, before step 410, this method can also include: after vehicle launch, and power module gives main process task mould
Block distinguishes execution module self-test operations from processing module and safety control module power supply, main processing block and from processing module, with
Determine whether running parameter meets normal running conditions.When running parameter meets normal running conditions, main processing block and from
Processing module enters normal standby mode；When running parameter is unsatisfactory for normal running conditions, main processing block be can control
Display screen is controlled in vehicle and shows corresponding instruction information, to indicate that the running parameter of main processing block is unsatisfactory for working normally item
Part；It can control control display screen in vehicle from processing module and show corresponding instruction information, to indicate the work from processing module
Parameter is unsatisfactory for normal running conditions.
In conclusion control method for vehicle provided in an embodiment of the present invention, when main processing block breaks down, from processing
Module can be determined according to the environmental information of the vehicle periphery of data collecting module collected for making vehicle deceleration and stopping travelling
Routing information, and the routing information is sent to safety control module, so that safety control module is according to the routing information control
Execution module processed, and then control vehicle deceleration and stop travelling, it is so not easy to cause traffic accident, improves vehicle driving
Safety.
It should be noted that the sequencing of the step of control method for vehicle provided in an embodiment of the present invention can be fitted
Work as adjustment, the step of control method for vehicle according to circumstances can also accordingly be increased and decreased.Any technology for being familiar with the art
In the technical scope disclosed by the present invention, the method that can readily occur in variation should all cover in protection scope of the present invention personnel
Within, therefore repeat no more.
It is apparent to those skilled in the art that for convenience and simplicity of description, the method for foregoing description
Specific steps, can be with reference to the specific work process of device and module in aforementioned device embodiment, details are not described herein.
Those skilled in the art will readily occur to of the invention its after considering specification and the invention invented here of practice
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the invention, these modifications, purposes or
Person's adaptive change follows general principle of the invention and including the undocumented common knowledge in the art of the present invention
Or conventional techniques.The description and examples are only to be considered as illustrative, and true scope and spirit of the invention are wanted by right
It asks and points out.
It should be understood that the present invention is not limited to the precise structure already described above and shown in the accompanying drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present invention is limited only by the attached claims.
Claims (10)
1. a kind of controller of vehicle characterized by comprising main processing block, from processing module, safety control module, number
According to acquisition module, execution module and power module,
The data acquisition module is used to acquire the environmental information of vehicle periphery；
The main processing block is electrically connected with the data acquisition module and the safety control module respectively, for according to
Environmental information determines the run routing information of the vehicle, and the run routing information is sent to the security control mould
Block；
The safety control module is electrically connected with the execution module, for controlling the execution according to the run routing information
Module, so that the vehicle is according to route indicated by the run routing information；
It is described to be electrically connected respectively with the data acquisition module, the main processing block and the safety control module from processing module
It connects, for being determined for making the vehicle deceleration and stopping according to the environmental information when the main processing block breaks down
The routing information only travelled, and the routing information is sent to the safety control module；
The safety control module is also used to when receiving the routing information sent from processing module, according to the path
Information controls the execution module, so as to the vehicle deceleration and stop travelling；
The power module respectively with the main processing block, it is described be electrically connected from processing module and the safety control module,
For to the main processing block, described power from processing module and the safety control module.
2. the apparatus according to claim 1, which is characterized in that
The main processing block is used for when receiving automatic Pilot instruction, according to the operation of the environmental information and the vehicle
Information determines the run routing information of the vehicle.
3. device according to claim 1 or 2, which is characterized in that the main processing block and described logical from processing module
Transmission line electrical connection is crossed, the transmission line includes first transmission line and second transmission line,
The main processing block is also used to be sent to pulse width modulation (PWM) signal by the first transmission line described from
Module is managed, the pwm signal is generated by the main processing block；
The main processing block is also used to that the working frequency of the main processing block is sent to institute by the second transmission line
It states from processing module；
The frequency from processing module for the determining pwm signal received by the first transmission line, and detect
Whether the difference of determining frequency and the working frequency belongs to preset range；
It is described to be also used to from processing module when the difference of determining frequency and the working frequency is not belonging to the preset range,
Determine that the main processing block breaks down.
4. device according to claim 3, which is characterized in that
It is described to be also used to that status information is sent to the main processing block by the second transmission line from processing module, it is described
Whether status information breaks down described in being used to indicate from processing module；
The main processing block be also used to determine according to the state information it is described break down from processing module when, issue the
One prompt information, first prompt information are used to indicate described from processing module failure.
5. the apparatus according to claim 1, which is characterized in that
It is described to be also used to from processing module when the main processing block breaks down, the second prompt information of sending, described second
Prompt information is used to indicate the main processing block and breaks down.
6. a kind of control method for vehicle, which is characterized in that be used for controller of vehicle as claimed in claim 1 to 5, institute
The method of stating includes:
The environmental information of data collecting module collected vehicle periphery；
Main processing block determines the run routing information of the vehicle according to the environmental information, and by the run routing information
It is sent to safety control module；
The safety control module controls execution module according to the run routing information, so that the vehicle is according to the traveling
Route indicated by routing information；
From processing module when the main processing block breaks down, determined according to the environmental information for subtracting the vehicle
Speed and the routing information for stopping traveling, and the routing information is sent to the safety control module；
The safety control module is when receiving the routing information sent from processing module, according to the routing information control
The execution module is made, so as to the vehicle deceleration and stop travelling.
7. according to the method described in claim 6, it is characterized in that, the main processing block determines institute according to the environmental information
State the run routing information of vehicle, comprising:
The main processing block is when receiving automatic Pilot instruction, according to the operation information of the environmental information and the vehicle
Determine the run routing information of the vehicle.
8. method according to claim 6 or 7, which is characterized in that the main processing block and described logical from processing module
Transmission line electrical connection is crossed, the transmission line includes first transmission line and second transmission line,
It is described from processing module when the main processing block breaks down, according to the environmental information determine for making the vehicle
Slow down and stop traveling routing information before, the method also includes:
Pulse width modulation (PWM) signal is sent to described from processing mould by the main processing block by the first transmission line
Block, the pwm signal are generated by the main processing block；
The working frequency of the main processing block is sent to described from by the main processing block by the second transmission line
Manage module；
The frequency that the pwm signal received by the first transmission line is determined from processing module, and detect determination
Frequency and the difference of the working frequency whether belong to preset range；
It is described from processing module when the difference of determining frequency and the working frequency is not belonging to the preset range, determine institute
State main processing block failure.
9. according to the method described in claim 8, it is characterized in that, the method also includes:
It is described that status information is sent to by the main processing block, the state letter by the second transmission line from processing module
Whether breath breaks down described in being used to indicate from processing module；
The main processing block issues the first prompt when determining the failure from processing module according to the state information
Information, first prompt information are used to indicate described from processing module failure.
10. according to the method described in claim 6, it is characterized in that, the method also includes:
It is described from processing module when the main processing block breaks down, issue the second prompt information, it is described second prompt letter
Breath is used to indicate the main processing block and breaks down.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811280894.9A CN109343529A (en) | 2018-10-30 | 2018-10-30 | Control method for vehicle and device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811280894.9A CN109343529A (en) | 2018-10-30 | 2018-10-30 | Control method for vehicle and device |
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| CN201811280894.9A Pending CN109343529A (en) | 2018-10-30 | 2018-10-30 | Control method for vehicle and device |
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| CN (1) | CN109343529A (en) |
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| CN111231987A (en) * | 2020-03-28 | 2020-06-05 | 芜湖伯特利汽车安全***股份有限公司 | Independent wheel speed processing unit for motor vehicle and control method thereof |
| CN111661062A (en) * | 2019-03-05 | 2020-09-15 | 阿里巴巴集团控股有限公司 | Automatic driving control method, device and system |
| CN112622927A (en) * | 2019-10-09 | 2021-04-09 | 宁波吉利汽车研究开发有限公司 | Vehicle driving control method and device, electronic equipment and storage medium |
| CN113173178A (en) * | 2021-06-08 | 2021-07-27 | 浙江吉利控股集团有限公司 | Automatic driving control method and system for vehicle |
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