CN116691729A - Automatic driving vehicle control system and redundant control system - Google Patents
Automatic driving vehicle control system and redundant control system Download PDFInfo
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- CN116691729A CN116691729A CN202210456337.8A CN202210456337A CN116691729A CN 116691729 A CN116691729 A CN 116691729A CN 202210456337 A CN202210456337 A CN 202210456337A CN 116691729 A CN116691729 A CN 116691729A
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- aebs
- automatic driving
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- FXNSVEQMUYPYJS-UHFFFAOYSA-N 4-(2-aminoethyl)benzenesulfonamide Chemical compound NCCC1=CC=C(S(N)(=O)=O)C=C1 FXNSVEQMUYPYJS-UHFFFAOYSA-N 0.000 claims abstract description 85
- 230000002159 abnormal effect Effects 0.000 claims description 22
- 230000007613 environmental effect Effects 0.000 claims description 8
- 238000013500 data storage Methods 0.000 claims description 5
- 230000005856 abnormality Effects 0.000 claims description 4
- 230000004913 activation Effects 0.000 claims 2
- 230000000694 effects Effects 0.000 claims 1
- 230000003213 activating effect Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006855 networking Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Classifications
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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
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- 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
-
- 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
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention provides an automatic driving vehicle control system and a redundant control system, and belongs to the technical field of automatic driving vehicle safety. The invention adopts a set of AEBS systems which are mutually irrelevant to the existing automatic driving sensor and automatic driving controller of the vehicle, and comprises an AEBS controller and an AEBS sensor; when the automatic driving sensor or the automatic driving controller of the vehicle fails, the AEBS controller judges whether the vehicle has collision risk according to the data acquired by the AEBS sensor, and when the collision risk exists, the AEBS controller issues a braking request to realize vehicle braking control. According to the invention, under the condition that the vehicle is out of control due to the fact that the obstacle in the environment cannot be effectively identified or the vehicle cannot normally communicate with the vehicle due to the failure of the original vehicle sensor or the failure of the automatic driving controller, the AEBS system can normally work, the possible collision can be detected in real time, the vehicle can be timely controlled to carry out emergency braking before the collision occurs, and the running safety performance of the vehicle is improved.
Description
Technical Field
The invention relates to an automatic driving vehicle control system and a redundant control system, and belongs to the technical field of automatic driving vehicle safety.
Background
At present, the trend in the intelligent networking automobile industry is electronic, intelligent and networking. With the efficient development of automatic driving vehicles, it is necessary to ensure that potential risks can still be continuously detected when an automatic driving control system fails, and to ensure the safety of vehicles and personnel. Because manual auxiliary operation is needed in the existing automatic driving vehicle below the L4 level, an independent AEBS system is installed for guaranteeing safety of the vehicle and a driver so as to ensure that when the collision risk exists in the vehicle, the driver can not take measures in time and the collision risk is further increased, the system sends out an emergency braking request and actively carries out emergency braking, so that the collision is avoided or reduced; or when the driver takes braking measures but applies smaller force, the system sends out an auxiliary braking request to control the vehicle to safely stop.
The existing L4-level automatic driving vehicle can realize full-automatic driving without manual assistance, an emergency braking function is provided in an automatic driving control system, the safety of the vehicle is difficult to ensure in order to avoid faults of the control system, a redundant chip is added, the redundant chip completely backs up a main chip, and the same set of sensing equipment is used with a main chip control sensor, so that when the sensor equipment breaks down, the surrounding environment information of the vehicle is still difficult to transfer in time, the purpose of safe driving cannot be achieved, meanwhile, the control logic of the redundant chip and the control logic of the main chip are completely consistent, and the possibility of faults is also very high.
Disclosure of Invention
The invention aims to provide an automatic driving vehicle control system and a redundant control system, which are used for solving the problem of low safety guarantee performance of a full-automatic driving vehicle in the prior art.
The invention provides an automatic driving vehicle control system which comprises an automatic driving sensor, an automatic driving controller and a whole vehicle controller, and further comprises an ABES sensor and an AEBS controller, wherein the AEBS controller is used for judging whether a collision risk exists in a vehicle according to data received by the ABES sensor when the automatic driving sensor or the automatic driving controller fails and sending a braking request to brake the vehicle when the collision risk is judged to exist.
According to the automatic driving vehicle control system, the ABES sensor is used for receiving the environmental data in front of the vehicle, so that the potential collision risk of the vehicle is difficult to be early warned when the original sensor equipment of the vehicle fails; and judging whether the vehicle has collision risk or not according to the data received by the ABES receiver through the ABES controller, and sending a braking request by the AEBS controller when the potential collision risk exists, so that the emergency braking of the vehicle is realized, and the safety of the vehicle is ensured. The invention adopts a set of completely independent emergency braking control system, consists of independent sensors and controllers, does not interfere with the existing automatic driving controller of the vehicle and the existing sensors of the vehicle, ensures that the AEBS system can normally work, detects possible collision in real time and can timely control the vehicle to carry out emergency braking before the collision occurs under the condition that the vehicle is out of control due to the fact that the obstacle in the environment cannot be effectively identified or the vehicle cannot normally communicate with the vehicle due to the failure of the original vehicle sensor or the failure of the automatic driving controller, and improves the safety performance of the vehicle operation.
Further, in order to accurately detect whether there is a risk of collision in front of the vehicle, the AEBS sensor includes a radar and a camera provided at a front end of the vehicle for acquiring vehicle front environment information.
Further, in order to ensure that emergency braking can still be achieved under abnormal brake states, the AEBS controller sends a braking request to the whole vehicle controller, and when the whole vehicle controller detects that the brake states are abnormal, the whole vehicle controller sends an activating instruction to the EPB, and vehicle braking is achieved through the EPB.
Further, in order to avoid the service life reduction caused by long-time operation of the brake, when the whole vehicle controller detects that the brake state is normal, the vehicle is braked by the brake, and the whole vehicle controller activates the EPB after the vehicle is braked.
Further, in order to ensure that emergency braking can still be achieved under the condition that the state of the whole vehicle controller is abnormal, before the AEBS controller sends a braking request to the whole vehicle controller, if the state of the whole vehicle controller is detected to be abnormal, the AEBS controller directly sends the braking request to a brake, meanwhile judges whether the state of the brake is abnormal, and when the state of the brake is abnormal, the EPB is activated to achieve vehicle braking.
Further, in order to avoid a reduction in life caused by a long-time operation of the brake, the AEBS controller controls the vehicle braking through the brake when the brake state is normal, and activates the EPB after the vehicle braking.
The invention also provides an automatic driving vehicle redundant control system, which comprises an AEBS controller and an AEBS sensor, wherein the AEBS controller is used for being connected with the whole vehicle controller, and the AEBS sensor is used for receiving the environment information in front of the vehicle; when the automatic driving sensor or the automatic driving controller fails, the AEBS controller judges whether the vehicle has collision risk according to the data received by the ABES sensor, and sends a braking request to brake and control the vehicle when judging that the vehicle has collision risk.
The redundant system of the automatic driving vehicle completely adopts a set of independent AEBS control system to realize the emergency braking of the vehicle, avoids the risk of braking control failure caused by the consistent control logic of the main control chip and the redundant chip in the prior art, consists of independent sensors and controllers, does not interfere with the existing automatic driving controller of the vehicle and the existing sensors of the vehicle, ensures that the AEBS system can normally work under the condition that the prior vehicle sensor fails or the automatic driving controller fails to effectively identify obstacles in the environment or can not normally communicate with the vehicle to cause the vehicle to lose control, detects the possible collision in real time, and can timely control the vehicle to perform emergency braking before the collision occurs, thereby improving the safety performance of the vehicle operation.
Further, in order to ensure that emergency braking can still be realized when the state of the whole vehicle control system is abnormal, the AEBS controller is also connected with a brake, and when the AEBS controller detects that the state of the whole vehicle controller is abnormal before sending a braking request to the whole vehicle controller, the AEBS controller directly sends the braking request to the brake and judges whether the state of the brake is abnormal or not, and when the state of the brake is abnormal, the EPB is activated to brake the vehicle; when the brake state is normal, the vehicle brake is controlled by the brake, and the EPB is activated after the vehicle brake.
Further, in order to ensure that emergency braking is realized when the state of the whole vehicle controller is normal, the AEBS controller sends braking information to the whole vehicle controller, and when the whole vehicle controller detects that the state of the brake is abnormal, the whole vehicle controller sends an activating instruction to the EPB, and vehicle braking is realized through the EPB; when the brake state is normal, the vehicle brake is controlled by the brake, and the EPB is activated after the vehicle brake.
Further, to store the control information, the system also includes a data storage medium for storing the control information sent by the AEBS.
Drawings
FIG. 1 is a block diagram of an autonomous vehicle control system of the present invention;
FIG. 2 is a specific flow chart of the autonomous vehicle AEBS controller of the present invention controlling vehicle braking;
FIG. 3 is a diagram of the architecture of the redundant control system of the present invention.
Detailed Description
The following describes the embodiments of the present invention further with reference to the drawings.
The following two types of faults may occur when an autopilot system vehicle is in operation: firstly, detecting collision risks of an automatic driving control track and obstacles in the environment caused by abnormality of an automatic driving system sensor or abnormality of other modules; second, the autopilot system loses communication entirely with the vehicle. Aiming at the first fault, the redundant AEBS system can detect whether the vehicle has collision risk with the front obstacle in real time, if the collision risk exists, the automatic driving system is considered to be faulty, the emergency braking function is actively activated, and the safe parking of the vehicle is ensured; for the second type of faults, when the redundant AEBS system detects that an automatic driving system message is lost, the redundant AEBS system controls the vehicle to keep the current steering wheel angle and stop at a comfortable deceleration, and if collision risk is detected in the process, an emergency braking function is activated to ensure that the vehicle is safely stopped.
Vehicle control system embodiment
The invention provides an automatic driving vehicle control system, and the specific architecture of the system is shown in fig. 1. The system comprises an automatic driving sensor, an automatic driving controller, a whole vehicle controller and a redundant AEBS system, wherein the redundant AEBS system comprises an ABES sensor and an AEBS controller and is used for judging whether the vehicle has collision risk according to data received by the ABES sensor when the automatic driving sensor or the automatic driving controller fails and sending a braking request to brake and control the vehicle when judging that the collision risk exists. According to the invention, by arranging the set of completely independent AEBS sensor and the AEBS controller, the potential collision risk of the vehicle can be still detected in real time under the condition that the vehicle is out of control due to the fact that the obstacle in the environment cannot be effectively identified or the vehicle cannot normally communicate with the vehicle due to the failure of the original vehicle sensor or the failure of the automatic driving controller, and the emergency braking can be carried out before the collision occurs, so that the running safety of the vehicle is ensured.
When the states of the automatic driving sensor and the automatic driving controller of the vehicle are normal, as shown in fig. 1, the automatic driving sensor is adopted to acquire the information of the vehicle and the information of the surrounding environment of the vehicle, the acquired information is sent to the automatic driving controller, and the automatic driving controller performs automatic driving control according to the acquired data. However, if the autopilot sensor or the autopilot controller fails, the surrounding scene cannot be effectively identified or normal communication with the vehicle is impossible, and the vehicle has a safety risk, and at this time, the AEBS sensor and the AEBS controller are adopted for collision risk detection and emergency braking. The AEBS controller and the AEBS sensor are not interfered with the existing automatic driving sensor and automatic driving controller of the vehicle, and are a set of completely independent AEBS systems.
According to the invention, the AEBS sensor consists of a radar and a camera which are arranged at the front end of a vehicle and is used for acquiring environmental data in front of the vehicle, wherein the distance between the vehicle and an obstacle is acquired in real time through the radar, and the actual image in front of the vehicle is acquired in real time through the camera; and then the acquired environmental information data is transmitted to an AEBS controller, obstacle information is calculated by combining the information such as the speed of a vehicle body, the angle of a steering wheel, the yaw rate and the like, control information is generated when the collision risk is judged, and a control request is sent to control the braking of the vehicle. Meanwhile, the transmitted control information is stored in real time through the data storage medium. In the present embodiment, the AEBS sensor employs millimeter wave radar and a vision camera for detecting environmental data within 100 meters in front of the vehicle. As another embodiment, a laser radar may be used to detect the distance between the vehicle body and the target obstacle.
The invention adopts the AEBS controller to control the concrete flow of vehicle braking as shown in figure 2, when the automatic driving sensor of the vehicle or the automatic driving controller fails, the AEBS controller judges whether the vehicle has collision risk according to the information of the vehicle and the data acquired by the AEBS sensor, when judging that the vehicle has collision risk, the AEBS controller sends a braking request to the whole vehicle controller and detects whether the state of the whole vehicle controller is abnormal, when the AEBS controller detects that the state of the whole vehicle controller is normal, the whole vehicle controller sends the braking request to a brake and detects whether the state of the brake is abnormal, when the state of the brake is normal, the brake brakes the vehicle, and in order to avoid the service life reduction caused by long-time work of the brake, and when the vehicle is determined to be stationary, the EPB is activated to perform electronic braking; when the whole vehicle controller detects that the brake has a fault, the EPB is directly activated, and the EPB realizes the emergency braking of the vehicle. When the AEBS controller detects that the state of the whole vehicle controller is abnormal, the AEBS controller directly transmits a braking request to a brake, and meanwhile judges whether the state of the brake is abnormal or not; when the state of the brake is abnormal, the AEBS controller directly activates the EPB, and the emergency braking of the vehicle is realized through the EPB.
Through the mode, the AEBS controller is adopted, collision risk is judged according to the data acquired by the AEBS sensor, a braking request is sent out to brake and control the vehicle when the collision risk is judged, and the safety of the vehicle and personnel can be better ensured when the automatic driving sensor or the automatic driving controller of the vehicle breaks down, so that the running safety performance of the vehicle is improved.
Redundant control System embodiment
The invention also provides a redundant control system, which specifically comprises an AEBS controller and an AEBS sensor, as shown in fig. 3, wherein the AEBS sensor is used for acquiring environmental data in front of a vehicle, the AEBS controller is connected with the whole vehicle controller, when the automatic driving sensor or the automatic driving controller of the vehicle breaks down, the AEBS controller judges whether the vehicle has collision risk according to the data acquired by the AEBS sensor, and sends a braking request to brake and control the vehicle when judging that the collision risk exists. Because the redundant control system is completely independent, collision risk can be timely detected when the existing automatic driving sensor and the existing automatic driving controller of the vehicle fail, and when an obstacle which has potential collision with the vehicle exists in the environment, the AEBS system can send out early warning information and braking requests when the function of the AEBS system is activated, so that the safety of the vehicle and personnel is guaranteed. The early warning information prompts personnel in the vehicle in a sound or picture display mode through the man-machine interaction interface.
Wherein the AEBS sensor includes a radar and a camera disposed at a front end of the vehicle for acquiring environmental information in front of the vehicle. In the present embodiment, the AEBS sensor employs millimeter wave radar and a vision camera for detecting environmental data within 100 meters in front of the vehicle. As another embodiment, a laser radar may be used to detect the distance between the vehicle and the target obstacle.
The system is also connected with a brake, and is used for directly sending a braking request to the brake by the AEBS system when the whole vehicle controller fails, and realizing emergency braking of the vehicle by the brake. The system also comprises a data storage medium, and the control information sent by the AEBS control is stored in real time by adopting a magnetic disk medium. As other embodiments, data storage may also take place in electrical or optical form. When collision risk detection is performed, vehicle information is also required to be sent to the AEBS controller, wherein the vehicle information comprises information such as vehicle speed, steering wheel rotation angle, yaw rate and the like.
The specific flow of controlling the vehicle brake by using the AEBS controller is described in detail in the above-mentioned vehicle control system embodiment, and will not be described herein.
Claims (10)
1. The automatic driving vehicle control system comprises an automatic driving sensor, an automatic driving controller and a whole vehicle controller, and is characterized by further comprising an ABES sensor and an AEBS controller, wherein the AEBS controller is used for judging whether the vehicle has collision risk according to data received by the ABES sensor when the automatic driving sensor or the automatic driving controller fails and sending a braking request to brake and control the vehicle when judging that the collision risk exists.
2. The autonomous vehicle control system of claim 1, wherein the AEBS sensor comprises a radar and camera disposed at a front end of the vehicle for acquiring vehicle front environmental information.
3. The autonomous vehicle control system of claim 1, wherein the AEBS controller sends a brake request to the vehicle controller, and when the vehicle controller detects an abnormal brake condition, the vehicle controller sends an activation command to the EPB to effect vehicle braking by the EPB.
4. The automated driving vehicle control system of claim 3, wherein the vehicle controller implements vehicle braking via the brake when the vehicle controller detects that the brake condition is normal, and activates the EPB after the vehicle braking is completed.
5. The autonomous vehicle control system of claim 1, wherein the AEBS controller directly transmits a brake request to the brake when the abnormality of the vehicle controller is detected before transmitting the brake request to the vehicle controller, and determines whether the state of the brake is abnormal, and when the state of the brake is abnormal, the EPB is activated to brake the vehicle.
6. The autonomous vehicle control system of claim 5, wherein the AEBS controller controls vehicle braking via a brake when the brake condition is normal, and activates EPB after vehicle braking.
7. An autonomous vehicle redundancy control system is characterized by comprising an AEBS controller and an AEBS sensor, wherein the AEBS controller is used for being connected with a whole vehicle controller, and the AEBS sensor is used for receiving the environment information in front of a vehicle; when the automatic driving sensor or the automatic driving controller fails, the AEBS controller judges whether the vehicle has collision risk according to the data received by the ABES sensor, and sends a braking request to brake and control the vehicle when judging that the vehicle has collision risk.
8. The redundant control system of an autonomous vehicle of claim 7, wherein the AEBS controller is further coupled to a brake, and wherein the AEBS controller, when detecting an abnormality in the state of the entire vehicle controller before sending a brake request to the entire vehicle controller, directly sends the brake request to the brake while determining whether the state of the brake is abnormal, and when the state of the brake is abnormal, activates the EPB to brake the vehicle; when the brake state is normal, the vehicle brake is controlled by the brake, and the EPB is activated after the vehicle brake.
9. The autonomous vehicle redundancy control system of claim 7, wherein the AEBS controller transmits braking information to the vehicle controller, and when the vehicle controller detects that the brake status is abnormal, the vehicle controller transmits an activation instruction to the EPB, and the vehicle is braked by the EPB; when the brake state is normal, the vehicle brake is controlled by the brake, and the EPB is activated after the vehicle brake.
10. The autonomous vehicle redundancy control system of claim 7, further comprising a data storage medium for storing control information sent by the AEBS.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210456337.8A CN116691729A (en) | 2022-04-27 | 2022-04-27 | Automatic driving vehicle control system and redundant control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210456337.8A CN116691729A (en) | 2022-04-27 | 2022-04-27 | Automatic driving vehicle control system and redundant control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116691729A true CN116691729A (en) | 2023-09-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210456337.8A Pending CN116691729A (en) | 2022-04-27 | 2022-04-27 | Automatic driving vehicle control system and redundant control system |
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| Country | Link |
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| CN (1) | CN116691729A (en) |
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2022
- 2022-04-27 CN CN202210456337.8A patent/CN116691729A/en active Pending
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