CN109334590B - Unmanned vehicle chassis control method, device, equipment and storage medium - Google Patents
Unmanned vehicle chassis control method, device, equipment and storage medium Download PDFInfo
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- CN109334590B CN109334590B CN201811008847.9A CN201811008847A CN109334590B CN 109334590 B CN109334590 B CN 109334590B CN 201811008847 A CN201811008847 A CN 201811008847A CN 109334590 B CN109334590 B CN 109334590B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
Abstract
The invention provides a chassis control method, a chassis control device, chassis control equipment and a chassis control storage medium for an unmanned vehicle. The method can control the hot standby system to take over the main system to control the chassis system in time when the main system is abnormal, and has higher safety. In addition, the control right of the main system to the chassis system can be timely recovered when the main system is recovered.
Description
Technical Field
The invention relates to the technical field of communication, in particular to a method, a device, equipment and a storage medium for controlling a chassis of an unmanned automobile.
Background
The unmanned automobile is an automobile which is unmanned by means of intelligent equipment which is mainly based on a computer system in the automobile, integrates a plurality of technologies such as automatic control, a system structure, artificial intelligence, visual calculation and the like, is a product of high development of computer science, mode recognition and intelligent control technology, is an important mark for measuring national research strength and industrial level, and has wide application prospect in the fields of national defense and national economy. Unmanned vehicles have been widely studied by countries around the world as a development direction of future automobiles.
In the prior art, in order to ensure the reliability of the unmanned vehicle system, a hot standby system is usually configured to monitor the abnormal condition of a main system, and when the main system is abnormal, the main system is taken over to control a chassis system so as to control the operation of the vehicle. However, when the control of the vehicle chassis by the main system is taken over by the hot standby system and when the control right of the main system is recovered in the prior art, the control cannot be accurately performed, and therefore, the problem needs to be solved.
Disclosure of Invention
The invention provides a chassis control method, device, equipment and storage medium for an unmanned automobile, which can control a hot standby system to take over a main system to control a chassis system in time when the main system is abnormal and have higher safety.
A first aspect of the present invention provides a chassis control method for an unmanned vehicle, the unmanned vehicle being provided with a main system, a hot standby system, and a control unit, the method comprising:
the control unit receives a truncation instruction sent by the hot standby system when detecting that a module with an abnormal state exists in the main system, wherein the truncation instruction comprises a module identifier and truncation content of the module;
the control unit judges whether the truncation instruction belongs to a preset instruction set or not;
if the specific data belongs to the preset range, the control unit intercepts the specific data sent to the chassis system by the module corresponding to the module identifier in the main system according to the module identifier, wherein the specific data is the data corresponding to the intercepted content.
A second aspect of the present invention provides a method for providing a host system, a hot standby system, and a control unit for an unmanned vehicle, the method comprising:
the hot standby system detects the states of all modules of the main system;
when the hot standby system detects that any module of the main system is abnormal in state, a truncation instruction is sent to the control unit, wherein the truncation instruction comprises a module identifier and truncation content of the module, so that the control unit judges whether the truncation instruction belongs to a preset instruction set or not, if the truncation instruction belongs to the preset instruction set, specific data sent to a chassis system by a module corresponding to the module identifier in the main system is truncated according to the module identifier, and the specific data are data corresponding to the truncation content.
A third aspect of the present invention is to provide an unmanned automobile chassis control device provided with a main system, a hot standby system, and a control unit, the device including:
the system comprises a receiving module and a processing module, wherein the receiving module is used for receiving a truncation instruction sent by the hot standby system when a module with abnormal state is detected in the main system, and the truncation instruction comprises a module identifier and truncation content of the module;
the judging module is used for judging whether the truncation instruction belongs to a preset instruction set or not;
and the processing module is used for intercepting specific data sent to a chassis system by a module corresponding to the module identifier in the main system according to the module identifier if the specific data belongs to the preset instruction set, wherein the specific data is data corresponding to the intercepted content.
A fourth aspect of the present invention is to provide a chassis control device for an unmanned vehicle, the unmanned vehicle being provided with a main system, a hot standby system, and a control unit, the device comprising:
the detection module is used for detecting the states of all modules of the main system;
and the sending module is used for sending a truncation instruction to the control unit when detecting that any module of the main system is abnormal in state, wherein the truncation instruction comprises a module identifier and truncation content of the module, so that the control unit judges whether the truncation instruction belongs to a preset instruction set or not, if the truncation instruction belongs to the preset instruction set, specific data sent to a chassis system by a module corresponding to the module identifier in the main system is truncated according to the module identifier, and the specific data is data corresponding to the truncation content.
A fifth aspect of the present invention provides a control unit comprising:
a memory;
a processor; and
a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method of the first aspect.
A sixth aspect of the present invention provides a hot standby system, including:
a memory;
a processor; and
a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method of the second aspect.
A seventh aspect of the present invention is to provide a computer-readable storage medium having a computer program stored thereon;
which when executed by a processor implements the method according to the first aspect.
An eighth aspect of the present invention is to provide a computer-readable storage medium having stored thereon a computer program;
which when executed by a processor implements the method according to the second aspect.
According to the chassis control method, device, equipment and storage medium of the unmanned automobile, when the hot standby system detects that the main system has the module with the abnormal state, the cut-off instruction is sent to the control unit, so that the control unit judges whether the cut-off instruction belongs to the preset instruction set, and if the cut-off instruction belongs to the preset instruction set, the specific data sent to the chassis system by the abnormal module of the main system is cut off according to the cut-off instruction. The method can control the hot standby system to take over the main system to control the chassis system in time when the main system is abnormal, and has higher safety.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a flow chart of a method for controlling a chassis of an unmanned vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method for controlling a chassis of an unmanned vehicle according to another embodiment of the present invention;
FIG. 3 is a flow chart of a method for controlling a chassis of an unmanned vehicle according to another embodiment of the present invention;
FIG. 4 is a block diagram of an unmanned vehicle chassis control apparatus according to an embodiment of the present invention;
FIG. 5 is a block diagram of an apparatus for controlling a chassis of an unmanned vehicle according to another embodiment of the present invention;
FIG. 6 is a block diagram of a control unit provided in an embodiment of the present invention;
fig. 7 is a structural diagram of a hot standby system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The chassis control method of the unmanned automobile provided by the invention can be suitable for an unmanned automobile system, wherein the unmanned automobile is provided with a main system, a hot standby system and a control unit, the main system and the hot standby system can both send control data to the chassis system, and the hot standby system is used for monitoring the state of the main system and taking over the main system to control the chassis when the main system is abnormal. The unmanned vehicle System may be based on an ROS (Robot Operating System) communication framework, and of course, other communication frameworks may also be adopted, which are not described herein again. The chassis control process of the unmanned vehicle will be described in detail with reference to specific embodiments.
Fig. 1 is a flowchart of a method for controlling a chassis of an unmanned vehicle according to an embodiment of the present invention. The embodiment provides a chassis control method of an unmanned automobile, wherein an execution main body is a control unit, and the method comprises the following specific steps:
s101, the control unit receives a truncation instruction sent by the hot standby system when the abnormal-state module in the main system is detected, wherein the truncation instruction comprises a module identifier and truncation content of the module.
In this embodiment, the hot standby system may detect the state of each module in the main system in real time, where the modules may include: the system comprises environment sensing modules such as a radar module, an image acquisition module and a positioning module, a path planning module, a vehicle self-state acquisition module and a vehicle control module. The hot standby system can adopt an active detection mode and also can subscribe the data released by each module of the main system through a release/subscription mode to perform passive detection. When the hot standby system detects that a certain module of the main system is abnormal in state, a truncation instruction is sent to the control unit, wherein the truncation instruction comprises a module identifier of the module and truncation content, and the truncation content is used for indicating which data needs to be truncated.
S102, the control unit judges whether the truncation instruction belongs to a preset instruction set.
In this embodiment, a preset instruction set is pre-stored in the control unit, where the preset instruction set describes which modules can be truncated and which data can be recovered after being truncated. And after the control unit receives the truncation instruction, analyzing the module identification and the truncation content, and further searching the preset instruction set. In this embodiment, whether the cutoff instruction belongs to the preset instruction set or not may be determined, that is, whether the cutoff instruction is the cutoff instruction sent by the hot standby system or not may be determined, that is, the identity of the hot standby system is verified, so that malicious cutoff of data of the main system by a hacker is avoided, and the security of the unmanned vehicle system is improved. Certainly, in this embodiment, the truncation instruction may also include other authentication information for authenticating the hot standby system, and the control unit performs authentication according to the authentication information.
S103, if the specific data belongs to the preset range, the control unit cuts off the specific data which is sent to the chassis system by the module corresponding to the module identifier in the main system according to the module identifier, wherein the specific data is the data corresponding to the cut-off content.
In this embodiment, when the control unit determines that the received truncation instruction belongs to the preset instruction set, it indicates that the truncation instruction is sent by the hot standby system, and then truncates the specific data sent by the abnormal module of the main system to the chassis system according to the truncation instruction, where the specific data corresponds to the truncation content, for example, for an abnormal module, the specific data may send a data and B data to the chassis system, but the hot standby system detects that the a data sent by the abnormal module is abnormal and the B data is normal, the control unit controls to truncate the abnormal module to send the a data to the chassis system without truncating the B data, and then the chassis system can only receive the B data sent by the abnormal module and does not receive the a data sent by the abnormal module any more.
In the method for controlling the chassis of the unmanned vehicle, when the hot standby system detects that the host system has a module with an abnormal state, the cutoff instruction is sent to the control unit, so that the control unit determines whether the cutoff instruction belongs to the preset instruction set, and if the cutoff instruction belongs to the preset instruction set, the specific data sent to the chassis system by the abnormal module of the host system is cut off according to the cutoff instruction. The method of the embodiment can control the hot standby system to take over the main system to control the chassis system in time when the main system is abnormal, and has higher safety.
On the basis of the above embodiment, further, after S103, the method may further include:
and the control unit controls the hot standby system to start a hot standby module corresponding to the module identifier, takes over the module corresponding to the module identifier in the main system, and sends data corresponding to the cut-off content to the chassis system.
In this embodiment, after the control system intercepts the specific data of the abnormal module in the main system, the control system controls the module corresponding to the hot standby system to start and send the specific data to the chassis system, so that the hot standby system takes over the main system. Of course, the control unit may also directly control the unmanned vehicle to stop or perform other control without controlling the module corresponding to the hot standby system to start, which is not described herein again.
On the basis of the above embodiment, as shown in fig. 2, the method for controlling the chassis system of the unmanned vehicle may further include:
s201, the control unit receives a recovery instruction sent by the hot standby system when the recovery of the state of the intercepted module in the main system is detected to be normal, wherein the recovery instruction comprises a module identifier and recovery content of the module;
s202, the control unit judges whether the recovery instruction belongs to the preset instruction set or not;
and S203, if the specific data belongs to the specific data, the control unit recovers the specific data which is sent to the chassis system by the module corresponding to the module identifier in the main system according to the module identifier, wherein the specific data is the data corresponding to the recovered content.
The present embodiment provides a process of main system recovery, which is similar to the steps of S101 to S203 described above. Specifically, the hot standby system detects the state of each module in the main system in real time, and when detecting that the state of an abnormal module (i.e. a module which is cut off in the main system) is restored to normal, sends a restoration instruction to the control unit, wherein the restoration instruction comprises a module identifier and restoration content of the module; similarly, when receiving the recovery instruction, the control unit judges whether the recovery instruction belongs to a preset instruction set or not, so as to judge whether the recovery instruction is sent by the hot standby system or not, verify the identity of the hot standby system, and improve the safety of the unmanned automobile system. The same can also carry the verification information for the hot standby system identity verification in the recovery instruction. When the control unit judges that the received recovery instruction belongs to the preset instruction set, the recovery instruction is sent by the hot standby system, and then specific data sent to the chassis system by the abnormal module of the main system is recovered according to the recovery instruction. For example, for the abnormal module, the data a and the data B are truncated, but the hot standby system only detects that the data a is recovered to be normal, and the control unit only recovers the data a, but not recovers the data B.
Further, after the recovering, according to the module identifier, the specific data sent to the chassis system by the module in the main system corresponding to the module identifier, the method further includes:
and the control unit controls the hot standby system to stop sending the data corresponding to the recovery content to the chassis system by the hot standby module corresponding to the module identifier.
In this embodiment, after the control unit recovers the specific data of the intercepted module in the main system, the control unit may control the hot-standby module that is currently taken over by the hot-standby system to stop sending the specific data to the chassis system. By the scheme, the control right of the main system to the chassis system can be timely recovered when the main system is recovered.
Fig. 3 is a flowchart of a method for controlling a chassis of an unmanned vehicle according to an embodiment of the present invention. The embodiment provides a chassis control method of an unmanned automobile, wherein an execution main body is a hot standby system, and the method comprises the following specific steps:
s301, the hot standby system detects the states of all modules of the main system.
S302, when the hot standby system detects that any module of the main system is abnormal in state, sending a truncation instruction to the control unit, wherein the truncation instruction comprises a module identifier and truncation content of the module, so that the control unit judges whether the truncation instruction belongs to a preset instruction set, if the truncation instruction belongs to the preset instruction set, truncating specific data sent to a chassis system by a module corresponding to the module identifier in the main system according to the module identifier, wherein the specific data is data corresponding to the truncation content.
The method for controlling the chassis of the unmanned vehicle provided in this embodiment corresponds to the method embodiment of the control unit side described above, and has the same technical effects, and details are not described here.
Further, the method further comprises:
and the hot standby system starts a hot standby module corresponding to the module identifier, takes over the module corresponding to the module identifier in the main system, and sends data corresponding to the cut-off content to the chassis system.
Further, the method further comprises:
when the hot standby system detects that the state of the intercepted module is recovered to be normal, a recovery instruction is sent to the control unit, wherein the recovery instruction comprises a module identifier of the module and recovery content, so that the control unit judges whether the recovery instruction belongs to the preset instruction set, if the recovery instruction belongs to the preset instruction set, specific data sent to the chassis system by the module corresponding to the module identifier in the main system is recovered according to the module identifier, and the specific data is data corresponding to the recovery content.
Further, after the control unit recovers, according to the module identifier, specific data sent to the chassis system by a module in the main system corresponding to the module identifier, the method further includes:
and the hot standby system stops the hot standby module corresponding to the module identification from sending the data corresponding to the recovery content to the chassis system.
The method for controlling the chassis of the unmanned vehicle provided in this embodiment corresponds to the method embodiment of the control unit side described above, and has the same technical effects, and details are not described here.
In the method for controlling the chassis of the unmanned vehicle, when the hot standby system detects that the host system has a module with an abnormal state, the cutoff instruction is sent to the control unit, so that the control unit determines whether the cutoff instruction belongs to the preset instruction set, and if the cutoff instruction belongs to the preset instruction set, the specific data sent to the chassis system by the abnormal module of the host system is cut off according to the cutoff instruction. The method of the embodiment can control the hot standby system to take over the main system to control the chassis system in time when the main system is abnormal, and has higher safety. And the control right of the main system to the chassis system can be timely recovered when the main system is recovered.
Fig. 4 is a structural diagram of a chassis control device of an unmanned vehicle according to an embodiment of the present invention. The chassis control device of the unmanned vehicle may specifically be the control unit in the above-described embodiment. The chassis control device of the unmanned vehicle provided in this embodiment may execute the processing flow provided in the control unit-side chassis control method embodiment, as shown in fig. 4, the chassis control device of the unmanned vehicle includes a receiving module 41, a determining module 42, and a processing module 43.
The receiving module 41 is configured to receive a truncation instruction sent by the hot standby system when a module with an abnormal state is detected in the main system, where the truncation instruction includes a module identifier of the module and truncation content;
a judging module 42, configured to judge whether the truncation instruction belongs to a preset instruction set;
and a processing module 43, configured to intercept, according to the module identifier, specific data sent to the chassis system by a module in the main system corresponding to the module identifier if the specific data is determined to belong to the preset instruction set, where the specific data is data corresponding to the intercepted content.
Further, the processing module 43 is further configured to:
and controlling the hot standby system to start a hot standby module corresponding to the module identifier, taking over the module corresponding to the module identifier in the main system, and sending data corresponding to the cut-off content to the chassis system.
Further, the receiving module 41 is further configured to receive a recovery instruction sent by the hot standby system when it is detected that the state of the intercepted module in the main system is recovered to normal, where the recovery instruction includes a module identifier and recovery content of the module;
the determining module 42 is further configured to determine whether the recovery instruction belongs to the preset instruction set;
the processing module 43 is further configured to, if it is determined that the specific data belongs to the preset instruction set, restore, according to the module identifier, specific data sent to the chassis system by a module in the main system corresponding to the module identifier, where the specific data is data corresponding to the restored content.
Further, the processing module 43 is further configured to:
and controlling the hot standby system to stop sending the data corresponding to the recovery content to the chassis system by the hot standby module corresponding to the module identifier.
The chassis control device for the unmanned vehicle provided by the embodiment of the present invention may be specifically configured to execute the method embodiments provided in fig. 1 and fig. 2, and specific functions are not described herein again.
According to the chassis control device of the unmanned automobile, provided by the embodiment of the invention, when the hot standby system detects that the main system has the module with the abnormal state, the cut-off instruction is sent to the control unit, so that the control unit judges whether the cut-off instruction belongs to the preset instruction set, and if the cut-off instruction belongs to the preset instruction set, the specific data sent to the chassis system by the abnormal module of the main system is cut off according to the cut-off instruction. The method of the embodiment can control the hot standby system to take over the main system to control the chassis system in time when the main system is abnormal, and has higher safety.
Fig. 5 is a structural diagram of a chassis control device of an unmanned vehicle according to an embodiment of the present invention. The chassis control device of the unmanned vehicle can be specifically the hot standby system in the embodiment. The chassis control device of the unmanned vehicle provided in this embodiment may execute the processing flow provided in the chassis control method of the unmanned vehicle on the hot standby system side, as shown in fig. 5, and the chassis control device of the unmanned vehicle includes a detecting module 51 and a sending module 53.
The detection module 51 is configured to detect states of modules of the main system;
a sending module 53, configured to send a truncation instruction to the control unit when detecting that any module of the main system is in an abnormal state, where the truncation instruction includes a module identifier of the module and truncation content, so that the control unit determines whether the truncation instruction belongs to a preset instruction set, and if the truncation instruction belongs to the preset instruction set, truncates specific data sent to a chassis system by a module of the main system corresponding to the module identifier according to the module identifier, where the specific data is data corresponding to the truncation content.
Further, the chassis control device for the unmanned vehicle further comprises:
and the processing module 52 is configured to start the hot standby module corresponding to the module identifier, take over the module corresponding to the module identifier in the main system, and send data corresponding to the truncated content to the chassis system.
Further, the sending module 53 is further configured to:
and when the state of the intercepted module is detected to be recovered to be normal, sending a recovery instruction to the control unit, wherein the recovery instruction comprises a module identifier and recovery content of the module, so that the control unit judges whether the recovery instruction belongs to the preset instruction set, and if the recovery instruction belongs to the preset instruction set, recovering specific data sent to the chassis system by the module corresponding to the module identifier in the main system according to the module identifier, wherein the specific data is data corresponding to the recovery content.
Further, the processing module 52 is further configured to:
and stopping the hot standby module corresponding to the module identification from sending the data corresponding to the recovery content to the chassis system.
The chassis control device of the unmanned vehicle provided by the embodiment of the present invention may be specifically configured to execute the method embodiment provided in fig. 3, and specific functions are not described herein again.
According to the chassis control device of the unmanned automobile, provided by the embodiment of the invention, when the hot standby system detects that the main system has the module with the abnormal state, the cut-off instruction is sent to the control unit, so that the control unit judges whether the cut-off instruction belongs to the preset instruction set, and if the cut-off instruction belongs to the preset instruction set, the specific data sent to the chassis system by the abnormal module of the main system is cut off according to the cut-off instruction. The method of the embodiment can control the hot standby system to take over the main system to control the chassis system in time when the main system is abnormal, and has higher safety.
Fig. 6 is a structural diagram of a control unit according to another embodiment of the present invention. As shown in fig. 6, the present embodiment provides a control unit including: a processor 61; a memory 62; and a computer program.
The computer program is stored in the memory 62 and configured to be executed by the processor 61 to implement the processing procedure provided in the method embodiment on the control unit side in fig. 1 and fig. 2, and specific functions are not described herein again.
More specifically, the control unit further includes a receiver 63 and a transmitter 64, and the receiver 63 and the transmitter 64, the processor 61, and the memory 62 are connected by a bus.
Fig. 7 is a block diagram of a hot standby system according to another embodiment of the present invention. As shown in fig. 7, this embodiment provides a hot standby system, which includes: a processor 71; a memory 72; and a computer program.
The computer program is stored in the memory 72 and configured to be executed by the processor 71 to implement the processing procedure provided in the embodiment of the method for hot standby system side in fig. 3, and specific functions are not described herein again.
More specifically, the hot standby system further includes a receiver 73 and a transmitter 74, and the receiver 73 and the transmitter 74, the processor 71, and the memory 72 are connected by a bus.
It should be noted that, since the present invention is applicable to information interaction between the server and the vehicle-mounted terminal of the unmanned vehicle system, both the server and the vehicle-mounted terminal are provided with the above-mentioned information transmitting device and information receiving device.
Another embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon;
when executed by the processor, the computer program implements the information sending method on the control unit side as shown in fig. 1 and fig. 2, and specific functions are not described herein again.
Another embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon;
when executed by the processor, the computer program implements the information sending method on the hot standby system side as shown in fig. 3, and specific functions are not described herein again.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (20)
1. A chassis control method for an unmanned vehicle, the unmanned vehicle being provided with a main system, a hot standby system and a control unit, the method comprising:
the control unit receives a truncation instruction sent by the hot standby system when detecting that a module with an abnormal state exists in the main system, wherein the truncation instruction comprises a module identifier and truncation content of the module;
the control unit judges whether the truncation instruction belongs to a preset instruction set or not;
if the specific data belongs to the preset range, the control unit intercepts the specific data sent to the chassis system by the module corresponding to the module identifier in the main system according to the module identifier, wherein the specific data is the data corresponding to the intercepted content.
2. The method of claim 1, further comprising:
and the control unit controls the hot standby system to start a hot standby module corresponding to the module identifier, takes over the module corresponding to the module identifier in the main system, and sends data corresponding to the cut-off content to the chassis system.
3. The method of claim 1 or 2, further comprising:
the control unit receives a recovery instruction sent by the hot standby system when the recovery of the state of the intercepted module in the main system is detected to be normal, wherein the recovery instruction comprises a module identifier and recovery content of the module;
the control unit judges whether the recovery instruction belongs to the preset instruction set or not;
if the specific data is the data corresponding to the recovery content, the control unit recovers the specific data sent to the chassis system by the module corresponding to the module identifier in the main system according to the module identifier.
4. The method according to claim 3, further comprising, after the recovering, according to the module identifier, specific data sent to the chassis system by the module in the host system corresponding to the module identifier, the method further comprising:
and the control unit controls the hot standby system to stop sending the data corresponding to the recovery content to the chassis system by the hot standby module corresponding to the module identifier.
5. A control method for a chassis system of an unmanned vehicle is characterized in that the unmanned vehicle is provided with a main system, a hot standby system and a control unit, and the method comprises the following steps:
the hot standby system detects the states of all modules of the main system;
when the hot standby system detects that any module of the main system is abnormal in state, a truncation instruction is sent to the control unit, wherein the truncation instruction comprises a module identifier and truncation content of the module, so that the control unit judges whether the truncation instruction belongs to a preset instruction set or not, if the truncation instruction belongs to the preset instruction set, specific data sent to a chassis system by a module corresponding to the module identifier in the main system is truncated according to the module identifier, and the specific data are data corresponding to the truncation content.
6. The method of claim 5, further comprising:
and the hot standby system starts a hot standby module corresponding to the module identifier, takes over the module corresponding to the module identifier in the main system, and sends data corresponding to the cut-off content to the chassis system.
7. The method of claim 5 or 6, further comprising:
when the hot standby system detects that the state of the intercepted module is recovered to be normal, a recovery instruction is sent to the control unit, wherein the recovery instruction comprises a module identifier of the module and recovery content, so that the control unit judges whether the recovery instruction belongs to the preset instruction set, if the recovery instruction belongs to the preset instruction set, specific data sent to the chassis system by the module corresponding to the module identifier in the main system is recovered according to the module identifier, and the specific data is data corresponding to the recovery content.
8. The method according to claim 7, wherein after the control unit recovers the specific data sent by the module corresponding to the module identifier in the host system to the chassis system according to the module identifier, the method further comprises:
and the hot standby system stops the hot standby module corresponding to the module identification from sending the data corresponding to the recovery content to the chassis system.
9. An unmanned vehicle chassis control apparatus, characterized in that the unmanned vehicle is provided with a main system, a hot standby system, and a control unit, the apparatus comprising:
the system comprises a receiving module and a processing module, wherein the receiving module is used for receiving a truncation instruction sent by the hot standby system when a module with abnormal state is detected in the main system, and the truncation instruction comprises a module identifier and truncation content of the module;
the judging module is used for judging whether the truncation instruction belongs to a preset instruction set or not;
and the processing module is used for intercepting specific data sent to a chassis system by a module corresponding to the module identifier in the main system according to the module identifier if the specific data belongs to the preset instruction set, wherein the specific data is data corresponding to the intercepted content.
10. The apparatus of claim 9, wherein the processing module is further configured to:
and controlling the hot standby system to start a hot standby module corresponding to the module identifier, taking over the module corresponding to the module identifier in the main system, and sending data corresponding to the cut-off content to the chassis system.
11. The apparatus of claim 9 or 10,
the receiving module is further configured to receive a recovery instruction sent by the hot standby system when it is detected that the state of the intercepted module in the main system is recovered to normal, where the recovery instruction includes a module identifier and recovery content of the module;
the judging module is further used for judging whether the recovery instruction belongs to the preset instruction set;
and if the specific data is judged to belong to the preset instruction set, recovering the specific data which is sent to the chassis system by the module corresponding to the module identifier in the main system according to the module identifier, wherein the specific data is the data corresponding to the recovered content.
12. The apparatus of claim 11, wherein the processing module is further configured to:
and controlling the hot standby system to stop sending the data corresponding to the recovery content to the chassis system by the hot standby module corresponding to the module identifier.
13. An unmanned vehicle chassis control apparatus, characterized in that the unmanned vehicle is provided with a main system, a hot standby system, and a control unit, the apparatus comprising:
the detection module is used for detecting the states of all modules of the main system;
and the sending module is used for sending a truncation instruction to the control unit when detecting that any module of the main system is abnormal in state, wherein the truncation instruction comprises a module identifier and truncation content of the module, so that the control unit judges whether the truncation instruction belongs to a preset instruction set or not, if the truncation instruction belongs to the preset instruction set, specific data sent to a chassis system by a module corresponding to the module identifier in the main system is truncated according to the module identifier, and the specific data is data corresponding to the truncation content.
14. The apparatus of claim 13, further comprising:
and the processing module is used for starting the hot standby module corresponding to the module identifier, taking over the module corresponding to the module identifier in the main system, and sending data corresponding to the cut-off content to the chassis system.
15. The apparatus of claim 14, wherein the sending module is further configured to:
and when the state of the intercepted module is detected to be recovered to be normal, sending a recovery instruction to the control unit, wherein the recovery instruction comprises a module identifier and recovery content of the module, so that the control unit judges whether the recovery instruction belongs to the preset instruction set, and if the recovery instruction belongs to the preset instruction set, recovering specific data sent to the chassis system by the module corresponding to the module identifier in the main system according to the module identifier, wherein the specific data is data corresponding to the recovery content.
16. The apparatus of claim 15, wherein the processing module is further configured to:
and stopping the hot standby module corresponding to the module identification from sending the data corresponding to the recovery content to the chassis system.
17. A control unit, comprising:
a memory;
a processor; and
a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method of any one of claims 1-4.
18. A hot standby system, comprising:
a memory;
a processor; and
a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method of any one of claims 5-8.
19. A computer-readable storage medium, having stored thereon a computer program;
the computer program, when executed by a processor, implementing the method of any one of claims 1-4.
20. A computer-readable storage medium, having stored thereon a computer program;
the computer program, when executed by a processor, implementing the method of any one of claims 5-8.
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| CN110053630B (en) * | 2019-06-06 | 2021-09-03 | 百度在线网络技术（北京）有限公司 | Vehicle control method and device |
| CN110471410A (en) * | 2019-07-17 | 2019-11-19 | 武汉理工大学 | Intelligent vehicle voice assisting navigation and safety prompting system and method based on ROS |
| CN111762179B (en) * | 2020-05-11 | 2022-07-12 | 广州文远知行科技有限公司 | Vehicle control method, device, vehicle and computer readable storage medium |
| CN112622930A (en) * | 2020-12-22 | 2021-04-09 | 北京百度网讯科技有限公司 | Unmanned vehicle driving control method, device and equipment and automatic driving vehicle |
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