CN113602281A - Redundant backup system for unmanned vehicle - Google Patents
Redundant backup system for unmanned vehicle Download PDFInfo
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- CN113602281A CN113602281A CN202110872783.2A CN202110872783A CN113602281A CN 113602281 A CN113602281 A CN 113602281A CN 202110872783 A CN202110872783 A CN 202110872783A CN 113602281 A CN113602281 A CN 113602281A
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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
- B60W50/023—Avoiding failures by using redundant parts
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/182—Conjoint control of vehicle sub-units of different type or different function including control of braking systems including control of parking brakes
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
- B60W10/192—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes electric brakes
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
- B60W10/26—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means for electrical energy, e.g. batteries or capacitors
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/24—Energy storage means
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- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a redundant backup system for an unmanned vehicle, which belongs to the technical field of unmanned vehicles and provides the following scheme: a redundant backup system for an unmanned vehicle, the unmanned vehicle including a power battery controller, an automatic driving sensor, a high voltage drive motor, a parking control motor, a brake control motor, and a steering control motor, the redundant backup system for the unmanned vehicle comprising: the main central domain controller and the backup central domain controller are used for controlling a power battery controller, an automatic driving sensor, a high-voltage driving motor, a parking control motor, a braking control motor and a steering control motor of the unmanned vehicle; and the main/standby Ethernet bus switch is connected to the main central domain controller and the standby central domain controller, and is switched to the standby central domain controller when the main central domain controller fails so as to control the unmanned vehicle to normally run. The technical scheme of the invention improves the safety of the unmanned vehicle.
Description
Technical Field
The invention relates to the technical field of unmanned vehicles, in particular to a redundancy backup system for an unmanned vehicle.
Background
With the development of automobile technology, intellectualization becomes a development target of each automobile manufacturer, and accordingly unmanned driving of automobiles is more and more concerned. The unmanned technology of the automobile can release both hands of people on one hand, and can avoid traffic accidents caused by fatigue driving of people on the other hand, so that the application prospect of the unmanned automobile is very wide. For example, although a conventional brake system can perform braking through the electric control system, the electric control system is only used as a loop of the brake system, and once the brake system fails, the brake system can only be braked by stepping on a brake pedal by a driver.
In the case of an unmanned vehicle, if a device fails to control the vehicle, the unmanned vehicle may be damaged, and even the lives of a driver in the vehicle and pedestrians walking on a road are threatened.
Disclosure of Invention
The invention mainly aims to provide a redundant backup system for an unmanned vehicle, which aims to solve the problem that a certain device in the unmanned vehicle fails to control the vehicle and improve the safety of the unmanned vehicle.
The basic scheme provided by the invention is as follows:
a redundant backup system for an unmanned vehicle, the unmanned vehicle including a power battery controller, an automatic driving sensor, a high voltage drive motor, a parking control motor, a brake control motor, and a steering control motor, the redundant backup system for an unmanned vehicle comprising:
a main central domain controller for controlling a power battery controller, an automatic driving sensor, a high voltage driving motor, a parking control motor, a braking control motor and a steering control motor of the unmanned vehicle;
a backup central domain controller for performing backup control on a power battery controller, an automatic driving sensor, a high-voltage driving motor, a parking control motor, a braking control motor and a steering control motor of the unmanned vehicle;
and the main/standby Ethernet bus switch is connected to the main central domain controller and the standby central domain controller and used for switching to the standby central domain controller when the main central domain controller fails so as to control the unmanned vehicle to normally run.
The principle and the effect of the basic scheme of the invention are as follows:
in the scheme, the redundancy backup system for the unmanned vehicle comprises a main central domain controller, a backup central domain controller and a main/backup Ethernet bus selector switch, wherein the unmanned vehicle comprises a power battery controller, an automatic driving sensor, a high-voltage driving motor, a parking control motor, a braking control motor and a steering control motor; the main central domain controller and the backup central domain controller control a power battery controller, an automatic driving sensor, a high-voltage driving motor, a parking control motor, a braking control motor and a steering control motor of the unmanned vehicle; therefore, the main central domain controller controls the unmanned vehicle to start and stop, change lanes, accelerate and decelerate and the like to normally run, the backup central domain controller can continuously ensure that the unmanned vehicle can safely and timely stop at the side when the main central domain controller fails, and unsafe working conditions of sudden acceleration or deceleration cannot occur. In a normal state, the backup central domain controller monitors and diagnoses the input and output of the main central domain controller, so that the input and output of the main central domain controller cannot exceed a normal boundary, and timely alarms for the main central domain controller to process when a vehicle fault is found. Therefore, the problem that the vehicle is out of control due to the fault of a certain device in the unmanned vehicle is solved, and the safety of the unmanned vehicle is improved.
In the scheme, the unmanned vehicle can realize comprehensive redundancy backup of the unmanned vehicle automatic driving, such as power supply backup, automatic driving controller backup, actuator backup of braking/steering/parking, communication bus backup and sensor backup, only by a main central domain controller, a backup central domain controller and a main/backup Ethernet bus change-over switch.
The scheme is connected to a main central domain controller and a backup central domain controller through a main/backup Ethernet bus selector switch, and is used for switching to the backup central domain controller when the main central domain controller fails, controlling the communication of a vehicle V2X, upgrading software and collecting the running of road running data of the vehicle, so as to ensure the normal running of the unmanned vehicle.
Furthermore, unmanned vehicle still includes main control storage battery and standby control storage battery, all is used for unmanned vehicle's automatic driving sensor, high-pressure driving motor, parking control motor, braking control motor and steering control motor power supply.
Through the setting of main control storage battery and standby control storage battery, combine power battery controller to when one of them storage battery became invalid, another storage battery can in time supply power, prevents the trouble of unmanned vehicle and takes place, promotes the safe and reliable of unmanned vehicle.
Further, the unmanned vehicle further comprises a high-voltage battery pack, and the high-voltage battery pack is electrically connected with the power battery controller.
The high-voltage battery pack of the power battery controller is directly and electrically connected, the occurrence of faults between the high-voltage battery pack and the power battery controller is reduced due to direct connection, and meanwhile, the whole unmanned vehicle is supplied with power through the control and power conversion of the power battery controller.
Further, the power battery controller is electrically connected with the high-voltage driving motor, and the power battery controller is respectively connected with the main central area controller and the backup central area controller through a high-voltage power CAN bus; and the high-voltage driving motor is respectively connected with the main central domain controller and the backup central domain controller through a high-voltage power CAN bus.
The power battery controller is used for controlling power supply for the high-voltage driving motor, and the main central domain controller and the backup central domain controller are used for controlling and storing data of the high-voltage driving motor, so that the redundancy of the unmanned vehicle on the high-voltage driving motor is improved.
Further, the unmanned vehicle includes a first parking control motor and a second parking control motor;
the first parking control motor is respectively connected to the main central domain controller and the backup central domain controller through a first CAN-FD bus and a second CAN-FD bus;
and the second parking control motor is respectively connected to the main central domain controller and the backup central domain controller through a first CAN-FD bus and a second CAN-FD bus.
Through the connection of the first CAN-FD bus and the second CAN-FD bus, compared with the CAN bus, the transmission rate, the data length and the like are improved, so that the transmission efficiency between the parking control motor and the main central domain controller and between the parking control motor and the backup central domain controller is higher respectively in the same time.
Further, the unmanned vehicle includes a first brake control motor and a second brake control motor;
the first brake control motor is respectively connected to the main central domain controller and the backup central domain controller through a first CAN-FD bus and a second CAN-FD bus;
and the second brake control motor is respectively connected to the main central domain controller and the backup central domain controller through a first CAN-FD bus and a second CAN-FD bus.
Through the connection of the first CAN-FD bus and the second CAN-FD bus, compared with the CAN bus, the transmission rate, the data length and the like are improved, so that the transmission efficiency between the brake control motor and the main central domain controller and between the brake control motor and the backup central domain controller is higher respectively in the same time.
Further, the unmanned vehicle includes a first steering control motor and a second steering control motor;
the first steering control motor is respectively connected to the main central domain controller and the backup central domain controller through a first CAN-FD bus and a second CAN-FD bus;
and the second steering control motor is respectively connected to the main central domain controller and the backup central domain controller through a first CAN-FD bus and a second CAN-FD bus.
Through the connection of the first CAN-FD bus and the second CAN-FD bus, compared with the CAN bus, the transmission rate, the data length and the like are improved, so that the transmission efficiency between the steering control motor and the main central domain controller and between the steering control motor and the backup central domain controller is higher in the same time.
Further, the redundant backup system for the unmanned vehicle further comprises an intelligent cabin domain controller, and the intelligent cabin domain controller is respectively connected with the main central domain controller and the main/standby Ethernet bus selector switch.
The intelligent cabin area controller is also connected with the main central area controller and the standby central area controller respectively through a central area-cabin area CAN-FD bus.
By arranging the intelligent cockpit area controller in the redundant backup system for the unmanned vehicle and connecting the main central area controller and the backup central area controller through a central area-cockpit area CAN-FD bus, the automatic driving data of the main central area controller and the backup central area controller CAN be conveniently returned for cloud management and monitoring.
Further, the main central domain controller and the standby central domain controller are respectively connected with the automatic driving sensor.
Therefore, the data of the automatic driving sensor of the unmanned vehicle are transmitted and controlled by the main central domain controller and the standby central domain controller, the failure of any central domain controller is avoided, and the reliability of the unmanned vehicle is improved.
Drawings
FIG. 1 is a schematic diagram of a redundant backup system for an unmanned vehicle according to an embodiment of the present invention.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The following is further detailed by way of specific embodiments:
in one embodiment, referring to fig. 1, a redundant backup system for an unmanned vehicle including a power battery controller, an automatic driving sensor, a high voltage driving motor, a parking control motor, a brake control motor, and a steering control motor, includes:
a main central domain controller for controlling a power battery controller, an automatic driving sensor, a high voltage driving motor, a parking control motor, a braking control motor and a steering control motor of the unmanned vehicle;
a backup central domain controller for performing backup control on a power battery controller, an automatic driving sensor, a high-voltage driving motor, a parking control motor, a braking control motor and a steering control motor of the unmanned vehicle;
and the main/standby Ethernet bus switch is connected to the main central domain controller and the standby central domain controller and used for switching to the standby central domain controller when the main central domain controller fails so as to control the unmanned vehicle to normally run.
In this embodiment, the high-voltage battery pack is directly electrically connected with the power battery controller to output a high-voltage power supply, and the power battery controller is connected with the high-voltage driving motor to distribute the high-voltage power supply to the high-voltage driving motor, so that the high-voltage driving motor works normally; the power battery controller controls a main control power supply and a standby control power supply, the main control power supply is respectively connected to the main central domain controller and the standby central domain controller, and the standby control power supply is respectively connected to the main central domain controller and the standby central domain controller; the power battery controller is communicated with the main central domain controller or the backup central domain controller through a high-voltage power CAN bus, and the high-voltage driving motor is communicated with the main central domain controller or the backup central domain controller through the high-voltage power CAN bus; the main central domain controller and the standby central domain controller are respectively connected with an automatic driving sensor. It should be noted that the power battery controller may also be a power conversion distributor, and the automatic driving sensors may be respective driving sensor signal combinations disposed on the unmanned vehicle, and are respectively connected with the main central control domain and the backup central control domain, so as to implement backup control on the respective driving sensors on the unmanned vehicle, and improve the driving safety of the unmanned vehicle. It will be appreciated that each autopilot sensor connected to the primary central domain controller is powered by the primary control power supply and each autopilot sensor connected to the backup central domain controller is powered by the backup control power supply.
In this embodiment, the central domain controller and the backup central domain controller are connected by two heartbeat CAN buses, and are combined by two heartbeat signal CAN buses, so that whether the main central domain controller fails or not is determined under the condition that the preset frequency and duty ratio definition are not met, short circuit and open circuit in the unmanned vehicle are avoided, and safety is improved. The control of the network switching signal can switch the communication line between the main central domain controller and the intelligent cabin domain controller and between the backup central domain controller and the intelligent cabin domain controller under the condition that the high and low levels of the two lines are combined differently; if the main central domain controller has important sensor failure conditions, such as radar or a camera, and the backup central domain controller monitors the failure, the network is switched to the backup central domain controller, so that the failure is reported, and then the connection with the main central domain controller is switched.
Further, the redundant backup system for the unmanned vehicle further comprises a first CAN-FD control bus and a second CAN-FD control bus; a normal state transmitting bus of the first parking control motor, a normal state transmitting bus of the second parking control motor, a normal state transmitting bus of the first brake control motor, a normal state transmitting bus of the second brake control motor, a normal state transmitting bus of the first steering control motor and a normal state transmitting bus of the second steering control motor are all connected with the first CAN-FD control bus, and a normal state receiving bus of the main central domain controller and a standby transmitting bus of the standby central domain controller are respectively connected with the second CAN-FD control bus; the normal state receiving bus of the first parking control motor, the normal state receiving bus of the second parking control motor, the normal state receiving bus of the first brake control motor, the normal state receiving bus of the second brake control motor, the normal state receiving bus of the first steering control motor and the normal state receiving bus of the second steering control motor are all connected with the second CAN-FD control bus, the normal state transmitting bus of the main central domain controller and the standby transmitting bus of the standby central domain controller are respectively connected with the second CAN-FD control bus, and the standby receiving bus of the main/standby Ethernet bus changeover switch is connected with the second CAN-FD control bus. Furthermore, the first parking control motor, the first braking control motor and the first steering control motor are powered by a main control power supply, and the second parking control motor, the second braking control motor and the second steering control motor are powered by a standby control power supply.
It should be noted that the actual feedback value of the control motor is output to the main central area controller through the first CAN-FD control bus, and the torque command of the control motor is output to the second CAN-FD control bus through the main central area controller.
In the above embodiment, except for the existing necessary BMS and power motor controllers, only three main controllers are needed for the entire vehicle, and the full redundant backup of the automatic driving can be realized: power supply backup, automatic driving sensor backup, brake/steering/parking control motor backup, communication bus backup and the like, and the required cost is lower. The sensors configured by the main central area controller are combined more comprehensively, and the cost is higher. The backup central domain controller can ensure that the unmanned vehicle can timely stop at the side when the unmanned vehicle has a fault when the main central domain controller fails, and unsafe working conditions of sudden acceleration or deceleration cannot occur. In a normal state, the backup central domain controller monitors and diagnoses the input and output of the main central domain controller, so that the input and output of the main central domain controller cannot exceed a normal boundary, and timely alarming and processing are performed when a fault problem is found.
Furthermore, the brake/steering/parking actuator in the unmanned vehicle is not divided into a master and a slave, namely the brake control motor, the steering control motor and the parking control motor in the scheme are not divided into the master and the slave, and all the motors work in a normal state, so that fault diagnosis is facilitated, the current of a single-way driving circuit is reduced, and the service life of each component in the unmanned vehicle is prolonged. When one power supply fails, the steering and braking torque of the system can reach 50% of that of the normal state, and normal running of the unmanned vehicle is guaranteed. In a normal state, the motor control instruction is sent by using one CAN-FD control bus, and the feedback signal of the actuator uses the other CAN-FD control bus. When any CAN-FD control bus for actuator control fails, all the receiving and transmitting communication is transferred to the other CAN-FD control bus, so that the system work of the unmanned vehicle is not affected. According to the scheme, when the bus redundancy backup is met, the types of the data frame IDs on any path of CAN-FD control bus are reduced, the probability of needing to arbitrate the ID priority when the bus sends the data frame is the lowest, the bus occupancy rate is the lowest, and the real-time performance of controlling the unmanned vehicle is guaranteed.
In this embodiment, the control command signal for controlling the motor is a torque command signal for controlling the motor, which can decouple the execution of the upper control algorithm and the lower control algorithm, thereby facilitating the generalization and cost reduction of the motor.
In one embodiment, referring to fig. 1, the intelligent cockpit area controller sends a cockpit controller reset signal to the main central area controller while being interconnected with the main/standby ethernet bus switch, and the intelligent cockpit area controller is further connected with the main central area controller and the backup central area controller through the central area-cockpit area CAN-FD bus, respectively. It should be noted that the intelligent cockpit area controller is connected with each control switch and connected with a touch screen through LVDS and USB buses; the intelligent cockpit area controller integrates the automobile body control, the external 4G/5G network connection and the internal WiFi connection.
In this embodiment, central domain controller and intelligent passenger cabin domain controller use the high-speed ethernet to connect between, are convenient for pass back autopilot's data, carry out high in the clouds management and control. When the backup central domain controller judges that the main central domain controller fails, the Ethernet line is switched to the backup central domain controller, and communication in an emergency state is carried out. Therefore, a relatively expensive vehicle-mounted Ethernet exchange chip is not needed, and the cost of a communication line is greatly reduced.
When the intelligent cockpit area controller fails, the central area controller judges firstly, then resets and restarts the intelligent cockpit area controller, informs passengers on the unmanned vehicle when the restarting fails, and automatically selects a safe path to stop the vehicle. The central domain controller can be networked and upgrade an automatic driving software system, return data, cloud management and control and the like through 4G/5G/Wifi signals of the intelligent cabin domain controller.
The foregoing are merely exemplary embodiments of the present invention, and no attempt is made to show structural details of the invention in more detail than is necessary for the fundamental understanding of the art, the description taken with the drawings making apparent to those skilled in the art how the several forms of the invention may be embodied in practice with the teachings of the invention. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (10)
1. A redundant backup system for an unmanned vehicle, the unmanned vehicle comprising a power battery controller, an automatic driving sensor, a high voltage drive motor, a parking control motor, a brake control motor, and a steering control motor, the redundant backup system for an unmanned vehicle comprising:
a main central domain controller for controlling a power battery controller, an automatic driving sensor, a high voltage driving motor, a parking control motor, a braking control motor and a steering control motor of the unmanned vehicle;
a backup central domain controller for performing backup control on a power battery controller, an automatic driving sensor, a high-voltage driving motor, a parking control motor, a braking control motor and a steering control motor of the unmanned vehicle;
and the main/standby Ethernet bus switch is connected to the main central domain controller and the standby central domain controller and used for switching to the standby central domain controller when the main central domain controller fails so as to control the unmanned vehicle to normally run.
2. The redundant backup system for an unmanned vehicle of claim 1, further comprising a primary control battery and a backup control battery, each for powering an autopilot sensor, a high voltage drive motor, a parking control motor, a brake control motor, and a steering control motor of the unmanned vehicle.
3. A redundant backup system for an unmanned vehicle according to claim 2, further comprising a high voltage battery pack electrically connected to the power battery controller.
4. A redundant backup system for an unmanned vehicle according to claim 1, wherein said power battery controller is electrically connected to said high voltage drive motor, said power battery controller being connected to said main central domain controller and said backup central domain controller respectively by high voltage power CAN buses; and the high-voltage driving motor is respectively connected with the main central domain controller and the backup central domain controller through a high-voltage power CAN bus.
5. A redundant backup system for an unmanned vehicle according to claim 1, wherein the unmanned vehicle comprises a first parking control motor and a second parking control motor;
the first parking control motor is respectively connected to the main central domain controller and the backup central domain controller through a first CAN-FD bus and a second CAN-FD bus;
and the second parking control motor is respectively connected to the main central domain controller and the backup central domain controller through a first CAN-FD bus and a second CAN-FD bus.
6. A redundant backup system for an unmanned vehicle according to claim 1, wherein the unmanned vehicle comprises a first brake control motor and a second brake control motor;
the first brake control motor is respectively connected to the main central domain controller and the backup central domain controller through a first CAN-FD bus and a second CAN-FD bus;
and the second brake control motor is respectively connected to the main central domain controller and the backup central domain controller through a first CAN-FD bus and a second CAN-FD bus.
7. A redundant backup system for an unmanned vehicle according to claim 1, wherein the unmanned vehicle comprises a first steering control motor and a second steering control motor;
the first steering control motor is respectively connected to the main central domain controller and the backup central domain controller through a first CAN-FD bus and a second CAN-FD bus;
and the second steering control motor is respectively connected to the main central domain controller and the backup central domain controller through a first CAN-FD bus and a second CAN-FD bus.
8. The redundant backup system for an unmanned vehicle of claim 1, further comprising an intelligent cockpit domain controller connected to the primary central domain controller and the primary/backup ethernet bus switch, respectively.
9. The redundant backup system for an unmanned vehicle of claim 8, wherein said intelligent cockpit domain controller is further connected to said primary central domain controller and said backup central domain controller, respectively, via a central domain-to-cockpit domain CAN-FD bus.
10. A redundant backup system for an unmanned vehicle according to claim 1, wherein said autonomous driving sensors are connected to said primary central domain controller and said backup central domain controller respectively.
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| CN202110872783.2A CN113602281A (en) | 2021-07-30 | 2021-07-30 | Redundant backup system for unmanned vehicle |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114104002A (en) * | 2021-12-21 | 2022-03-01 | 华人运通(江苏)技术有限公司 | Automatic driving system monitoring method, device, equipment and storage medium |
| CN114442475A (en) * | 2021-12-30 | 2022-05-06 | 杭州宏景智驾科技有限公司 | Unmanned data acquisition device and method based on double-domain controller |
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