CN111605562A - Safety control system and method for intelligent driving vehicle - Google Patents
Safety control system and method for intelligent driving vehicle Download PDFInfo
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- CN111605562A CN111605562A CN202010373529.3A CN202010373529A CN111605562A CN 111605562 A CN111605562 A CN 111605562A CN 202010373529 A CN202010373529 A CN 202010373529A CN 111605562 A CN111605562 A CN 111605562A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
- B60W2050/0292—Fail-safe or redundant systems, e.g. limp-home or backup systems
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a safety control system of an intelligent driving vehicle, wherein an automatic driving controller of the safety control system is used for judging abnormal work, the automatic driving controller is also used for carrying out a safety control strategy of a power assembly controller after judging the abnormal work, the power assembly controller is used for reducing the driving torque of a motor to the minimum and simultaneously setting the gear of a gearbox to be neutral. The invention can ensure that the vehicle can be reliably stopped under the condition that the intelligent driving controller is abnormal.
Description
Technical Field
The invention belongs to the technical field of intelligent driving systems, and particularly relates to a safety control system and method for an intelligent driving vehicle.
Technical Field
With the continuous pursuit of people for safe and comfortable driving experience and the continuous development of science and technology, automatic driving becomes a new development direction of automobiles. The automatic driving vehicle is also called as an unmanned vehicle, namely, the vehicle can automatically and safely realize the running, steering and braking of the vehicle without any active operation of human.
The unmanned controller mainly depends on the unmanned operation to send longitudinal and transverse control commands of the vehicle. How to ensure effective driving safety is the key point related to whether the automatic driving technology is mature or not. Especially, under the condition that an unmanned controller decision system has an abnormal problem, safety accidents are easy to occur. After the unmanned controller is abnormal, how to ensure the reliable parking of the vehicle is particularly concerned. The safety control system of the current intelligent driving vehicle adopts the mutual verification inside the controller, does not relate to the condition of failure of the whole controller, and still has the problem of reliability.
Disclosure of Invention
The invention aims to solve the technical problems and provides a safety control system and a safety control method for an intelligent driving vehicle.
In order to achieve the purpose, the safety control system of the intelligent driving vehicle is characterized by comprising an automatic driving controller, a power assembly controller, a brake control device controller and an electronic parking controller;
the automatic driving controller is used for judging the abnormal operation, and the automatic driving controller is judged to be abnormal when any one of the following conditions exists:
condition 1, a power assembly controller, a brake control device controller and an electronic parking controller cannot receive corresponding driving, braking and parking control signals sent by an automatic driving controller on a whole vehicle network;
condition 3, the automatic driving controller receives error reporting information or communication interruption information sent by the vehicle automatic driving perception sensor;
the automatic driving controller is also used for carrying out a safety control strategy of the power assembly controller after judging that the work is abnormal, and the power assembly controller is used for reducing the driving torque of the motor to the minimum and simultaneously setting the gear of the gearbox as a neutral gear.
The invention determines the complete trigger judgment condition of the abnormal work of the automatic driving controller, and sets the safety control strategy through the power assembly controller, the brake control device controller and the electronic parking controller after the automatic driving controller is abnormal, so that the vehicle can be safely and reliably parked, and the running reliability of the intelligent driving vehicle is improved.
Drawings
FIG. 1 is a block diagram of the present invention;
FIG. 2 is a logic flow diagram of the present invention;
the system comprises an automatic driving controller 1, a power assembly controller 2, a brake control device controller 3 and an electronic parking controller 4.
Detailed Description
The invention is described in further detail below with reference to the following figures and examples:
fig. 1 shows a safety control system for an intelligent driving vehicle, which includes an automatic driving controller 1, a powertrain controller 2, a brake control device controller 3, and an electronic parking controller 4;
the automatic driving controller 1 is configured to perform judgment of an operation abnormality, and judge that the automatic driving controller 1 is operated abnormally when any one of the following conditions is present:
the method comprises the following steps that 1, a power assembly controller 2, a brake control device controller 3 and an electronic parking controller 4 cannot receive corresponding driving, braking and parking control signals sent by an automatic driving controller 1 on a whole vehicle network (CAN network);
condition 3, the automatic driving controller 1 receives error reporting information or communication interruption information sent by the vehicle automatic driving perception sensor;
any one of the above 3 judgment conditions is satisfied, which indicates that the upper layer instruction is unreliable and needs to enter a safety strategy, the above three judgment conditions comprehensively contain various causes of possible abnormity of the automatic driving controller 1, and the judgment is strictly carried out according to the above three conditions, so that the accuracy of judging the working abnormity of the automatic driving controller 1 can be ensured;
the automatic driving controller 1 is also used for carrying out a safety control strategy of the power assembly controller 2 after judging that the work is abnormal, and the power assembly controller 2 is used for reducing the driving torque of the motor to the minimum and simultaneously setting the gear of the gearbox as a neutral gear to prepare for timely and safe parking.
In the above technical solution, the automatic driving controller 1 is further configured to implement a safety control strategy of the brake control device controller 3 and the electronic parking controller 4 after the operation is determined to be abnormal, the brake control device controller 3 is configured to read vehicle speed information of the vehicle at the time, if the vehicle has a vehicle speed at the time, the brake control device controller 3 sends a control command to a motor in the brake control device to build a pressure in the brake system, the brake control device controller 3 detects the pressure in the brake system, and when the preset pressure is reached, the pressure is maintained, so that the vehicle is parked according to a certain deceleration. Meanwhile, the brake control device controller 3 sends a control command to a motor in the brake control device, so that the brake tail lamp is lighted while the brake system is pressurized. And prompting the rear driving vehicle to pay attention to avoidance.
After the vehicle is stopped, the brake control device controller 3 sends a parking instruction to the electronic parking controller 4, the automatic driving controller 1 detects whether the parking is finished, and if the parking is finished, the motor control is quitted. The safe and reliable parking of the vehicle when the automatic driving controller 1 works abnormally is ensured.
The automatic driving controller 1 can generate corresponding fault codes for the three conditions. The condition 1 forms an abnormal fault code for communication interruption of the control signal of the automatic driving controller 1, the condition 2 forms an abnormal fault code for non-confidence of the control signal of the automatic driving controller 1, and the condition 3 forms an abnormal fault code for the fault of the automatic driving controller 1, so that corresponding fault maintenance is facilitated.
A safety control method for intelligently driving vehicles is mainly used for safely parking different controllers in time according to a set strategy when an automatic driving controller 1 is abnormal, so that safety accidents are avoided to the maximum extent, and particularly comprises the following steps:
step 1: the automatic driving controller 1 performs the judgment of the operation abnormality in real time, and judges that the automatic driving controller 1 is operated abnormally when any one of the following conditions exists:
the method comprises the following steps that 1, a power assembly controller 2, a brake control device controller 3 and an electronic parking controller 4 cannot receive corresponding driving, braking and parking control signals on a whole vehicle network within preset time (such as 100 ms);
condition 3, the automatic driving controller 1 receives error reporting information or communication interruption information sent by an automatic driving perception sensor (such as a forward laser radar, a front camera and the like) of the vehicle within a preset time (such as 100ms), or an internal MCU of the automatic driving controller 1 reports an error;
step 2: after judging that the automatic driving controller 1 works abnormally, the safety control strategy of the power assembly controller 2 is carried out, the power assembly controller 2 reduces the driving torque of the motor to the lowest (the torque is 0), and meanwhile, the gear of the gearbox is set to be a neutral gear;
and step 3: the automatic driving controller 1 carries out safety control strategies of a brake control device controller 3 and an electronic parking controller 4 after judging that the automatic driving controller is abnormal in work, the brake control device controller 3 is used for reading the speed information of the vehicle at the moment, if the vehicle has the speed at the moment, the brake control device controller 3 sends a control command to a motor in the brake control device to enable the brake system to build pressure, the brake control device controller 3 detects the pressure of the brake system, and when the pressure reaches a preset pressure, the pressure is kept to enable the vehicle to be parked;
and 4, step 4: after the vehicle is stopped, the brake control device controller 3 sends a parking instruction to the electronic parking controller 4, the automatic driving controller 1 detects whether the parking is finished, if so, the motor control is quitted, and after the parking is finished, the safety strategy is finished.
In the embodiment of the present invention, the braking Control device may be an Electronic booster (ebooker), an Electronic Stability Control (ESC), or other devices or devices with active addition.
In the embodiment of the invention, the lighting of the brake tail lamp CAN be realized by a hard wire signal, and other controllers CAN light the brake tail lamp signal through the CAN network signal.
Details not described in this specification are within the skill of the art that are well known to those skilled in the art.
Claims (7)
1. A safety control system of an intelligent driving vehicle is characterized by comprising an automatic driving controller (1), a power assembly controller (2), a brake control device controller (3) and an electronic parking controller (4);
the automatic driving controller (1) is used for judging the abnormal operation, and the automatic driving controller (1) is judged to be abnormal when any one of the following conditions exists:
the method comprises the following steps that 1, a power assembly controller (2), a brake control device controller (3) and an electronic parking controller (4) cannot receive corresponding driving, braking and parking control signals sent by an automatic driving controller (1) on a whole vehicle network;
the method comprises the following steps that (1) condition 2, a powertrain controller (2), a brake control device controller (3) and an electronic parking controller (4) detect that the counting signals of a rolling counter in corresponding driving, braking and parking control signals are not changed and/or check values are wrong in preset time;
condition 3, receiving error reporting information or communication interruption information sent by a vehicle automatic driving perception sensor by an automatic driving controller (1);
the automatic driving controller (1) is also used for carrying out a safety control strategy of the power assembly controller (2) after judging that the automatic driving controller works abnormally, and the power assembly controller (2) is used for reducing the driving torque of the motor to the minimum and simultaneously setting the gear of the gearbox to be neutral.
2. The safety control system of a smart-driven vehicle according to claim 1, characterized in that: the automatic driving controller (1) is also used for carrying out safety control strategies of a brake control device controller (3) and an electronic parking controller (4) after the automatic driving controller (1) is judged to be abnormal in work, the brake control device controller (3) is used for reading the speed information of the vehicle at the moment, if the vehicle has the speed at the moment, the brake control device controller (3) sends a control command to a motor in the brake control device to enable the brake system to build pressure, the brake control device controller (3) detects the pressure of the brake system, and when the pressure reaches a preset pressure, the pressure is maintained to enable the vehicle to be parked.
3. The safety control system of a smart-driven vehicle according to claim 2, characterized in that: the brake control device controller (3) sends a control command to a motor in the brake control device, so that the brake tail lamp is lightened while the brake system is pressurized.
4. The safety control system of a smart-driven vehicle according to claim 2, characterized in that: after the vehicle stops, the brake control device controller (3) sends a parking instruction to the electronic parking controller (4), the automatic driving controller (1) detects whether parking is finished, and if so, the motor control is quitted.
5. The safety control system of a smart-driven vehicle according to claim 2, characterized in that: the automatic driving controller (1) can respectively generate corresponding fault codes according to the three conditions.
6. A safety control method of an intelligent driving vehicle is characterized by comprising the following steps:
step 1: the automatic driving controller (1) judges the abnormal work in real time, and judges that the automatic driving controller (1) works abnormally when any one of the following conditions exists:
the method comprises the following steps that 1, a power assembly controller (2), a brake control device controller (3) and an electronic parking controller (4) cannot receive corresponding driving, braking and parking control signals on a whole vehicle network within preset time;
the method comprises the following steps that (1) condition 2, a powertrain controller (2), a brake control device controller (3) and an electronic parking controller (4) detect that the counting signals of a rolling counter in corresponding driving, braking and parking control signals are not changed and/or check values are wrong in preset time;
condition 3, receiving error reporting information or communication interruption information sent by a vehicle automatic driving perception sensor by an automatic driving controller (1);
step 2: and the automatic driving controller (1) performs a safety control strategy of the power assembly controller (2) after judging that the automatic driving controller works abnormally, and the power assembly controller (2) reduces the driving torque of the motor to the lowest and sets the gear of the gearbox to be neutral.
7. The safety control method of a smart-driven vehicle according to claim 6, characterized in that: step 2 is followed by step 3: the automatic driving controller (1) carries out safety control strategies of a brake control device controller (3) and an electronic parking controller (4) after judging that the automatic driving controller works abnormally, the brake control device controller (3) is used for reading the speed information of the vehicle at the moment, if the vehicle has the speed at the moment, the brake control device controller (3) sends a control command to a motor in the brake control device to enable the brake system to build pressure, the brake control device controller (3) detects the pressure of the brake system, and when the pressure reaches a preset pressure, the pressure is maintained to enable the vehicle to stop;
and 4, step 4: after the vehicle stops, the brake control device controller (3) sends a parking instruction to the electronic parking controller (4), the automatic driving controller (1) detects whether parking is finished, and if so, the motor control is quitted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010373529.3A CN111605562A (en) | 2020-05-06 | 2020-05-06 | Safety control system and method for intelligent driving vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010373529.3A CN111605562A (en) | 2020-05-06 | 2020-05-06 | Safety control system and method for intelligent driving vehicle |
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| CN111605562A true CN111605562A (en) | 2020-09-01 |
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| CN202010373529.3A Pending CN111605562A (en) | 2020-05-06 | 2020-05-06 | Safety control system and method for intelligent driving vehicle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114274976A (en) * | 2021-12-27 | 2022-04-05 | 广西汽车集团有限公司 | Takeover algorithm module and method after crash of automatic driving program |
| CN114348020A (en) * | 2021-12-22 | 2022-04-15 | 东风悦享科技有限公司 | 5G remote and automatic driving safety redundancy system and control method |
| CN114527685A (en) * | 2021-12-13 | 2022-05-24 | 长沙湘电电气技术有限公司 | Unmanned whole-vehicle control method of pure electric mine car |
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Application publication date: 20200901 |