CN112249000A - System and method for improving running safety of automatic driving vehicle - Google Patents
System and method for improving running safety of automatic driving vehicle Download PDFInfo
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- CN112249000A CN112249000A CN202011195394.2A CN202011195394A CN112249000A CN 112249000 A CN112249000 A CN 112249000A CN 202011195394 A CN202011195394 A CN 202011195394A CN 112249000 A CN112249000 A CN 112249000A
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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
- B60W10/20—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
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- 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
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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
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
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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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/10—Change speed gearings
- B60W2510/1005—Transmission ratio engaged
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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
Abstract
The invention discloses a system and a method for improving running safety of an automatic driving vehicle, and relates to the technical field of chassis control systems. The invention executes rapid and effective vehicle state control operation according to the whole vehicle working condition information, and can be effectively suitable for high-speed and other complex road condition scenes.
Description
Technical Field
The invention relates to the technical field of chassis control systems, in particular to a system and a method for improving the running safety of an automatic driving vehicle.
Background
Safety is currently the most important topic in automotive science, and the design of automobile safety not only includes the manufacture of a chassis, a vehicle body and each key part, but also includes the matching with a driving safety related system. For the safety of the whole vehicle, the most important is the braking system of the whole vehicle, which not only directly affects the safe driving of the driver, but also when the whole vehicle is in an extreme condition, the reliability of the braking system is often the life guard line of the driver and the passengers, so that the safety backup related to the braking is very important.
Currently, two schemes are generally adopted for braking-related safety backup: one is to add a backup brake Controller, and select one from the newly added backup brake Controller and the original brake Controller as the main brake Controller, when one or more of the shift Controller, the power Controller, the steering Controller, the first CAN (Controller Area Network) bus, the second CAN bus, and the gateway fails, or the intelligent Controller enters a silent state, the main brake Controller executes the brake operation; the other method is to add a backup CAN bus and set a backup brake controller on the backup CAN bus, when the original brake controller fails, the intelligent controller starts a brake request to the backup brake controller through a backup network, and the backup brake controller executes brake operation based on the brake request. The two existing schemes ensure the ordered backup of the brake control end, and are different only in the processing method of the failure of the functional module, wherein the scheme is that when the failure of any functional module is detected, the main brake controller receives the fault information of any functional module to execute the brake operation, so that the safety of a vehicle is ensured; and the intelligent controller switches the backup brake controller and the backup network in time according to the state of each controller and the state change of each network, so that the continuous operation of the brake control is ensured.
For the first scheme, once fault information is received, braking operation can be executed, and logic processing is single, so that the first scheme can only meet the functional safety requirement in a low-speed scene or a scene with relatively simple road conditions; for the second scheme, the premise that the brake control is continuously operable is that after the intelligent controller issues a brake request, the backup brake controller and the backup network CAN continuously take the real-time and effective driving data of the whole vehicle, so as to execute a rapid and effective brake operation, but when the central gateway penetrating through the whole vehicle fails, the gear and power related information on the first CAN bus cannot be effectively transmitted to the second CAN bus and the backup CAN bus, and the backup brake controller cannot obtain the real-time data related to the power gear of the whole vehicle, so that the effective brake operation cannot be rapidly executed, and the risk in the scene of high-speed and complex road conditions is increased.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a system and a method for improving the running safety of an automatic driving vehicle, which can execute quick and effective vehicle state control operation according to the working condition information of the whole vehicle and can be effectively suitable for high-speed and other complex road conditions.
In order to achieve the above purpose, the invention provides a system for improving running safety of an automatic driving vehicle, which comprises a first CAN bus and a second CAN bus, wherein the first CAN bus and the second CAN bus are respectively provided with a plurality of controllers, the second CAN bus is provided with a vehicle state controller, the controller arranged on the first CAN bus comprises a backup vehicle state controller, one of the controllers on the first CAN bus or the second CAN bus is connected with the first CAN bus and the second CAN bus, and the controller is used for transmitting working condition information of the whole vehicle between the first CAN bus and the second CAN bus when a central gateway fails.
On the basis of the technical proposal, the device comprises a shell,
the vehicle state controller comprises a brake controller and a steering controller;
the backup vehicle state controller is a backup brake controller or a backup steering controller;
the whole vehicle working condition information comprises whole vehicle power information and gear information.
On the basis of the technical proposal, the device comprises a shell,
the controller arranged on the first CAN bus comprises a gear controller, a power controller and a backup vehicle state controller;
the controller arranged on the second CAN bus comprises a steering controller, a parking controller and a brake controller.
On the basis of the technical proposal, the device comprises a shell,
the intelligent gateway also comprises a central gateway and an intelligent controller;
the first CAN bus is connected with the central gateway and the intelligent controller;
and the second CAN bus is connected with the central gateway and the intelligent controller.
The invention provides a method for improving the running safety of an automatic driving vehicle, which is realized based on the system and comprises the following steps:
making a determination of a host vehicle state controller, and based on the determined host vehicle state controller:
when the main vehicle state controller is a vehicle state controller, if the central gateway is in fault, the controller for transmitting the whole vehicle working condition information transmits the whole vehicle working condition information on the first CAN bus to the second CAN bus, and the main vehicle state controller performs emergency control on the vehicle;
when the main vehicle state controller is a backup vehicle state controller, if the central gateway is in fault, the main vehicle state controller directly acquires the whole vehicle working condition information on the first CAN bus to perform emergency control on the vehicle.
On the basis of the technical proposal, the device comprises a shell,
the whole vehicle working condition information comprises whole vehicle power information and gear information;
the backup vehicle state controller is a backup brake controller or a backup steering controller;
and a brake controller and a steering controller are arranged on the second CAN bus.
On the basis of the above technical solution, when the backup vehicle state controller is a backup brake controller, the determining of the main vehicle state controller is specifically:
the determination of the primary vehicle state controller is made between a backup brake controller on a first CAN bus and a brake controller on a second CAN bus.
On the basis of the technical proposal, the device comprises a shell,
when the backup vehicle state controller is a backup brake controller and the determined main vehicle state controller is a vehicle state controller on a second CAN bus, the main vehicle state controller performs emergency control on the vehicle, specifically: the brake controller on the second CAN bus performs emergency braking on the vehicle;
when the backup vehicle state controller is a backup brake controller and the determined main vehicle state controller is a backup vehicle state controller on the first CAN bus, the main vehicle state controller performs emergency control on the vehicle, specifically: the backup brake controller on the first CAN bus performs emergency braking on the vehicle.
On the basis of the above technical solution, when the backup vehicle state controller is a backup steering controller, the determining of the main vehicle state controller is specifically:
the determination of the primary vehicle state controller is made between a backup steering controller on a first CAN bus and a steering controller on a second CAN bus.
On the basis of the technical proposal, the device comprises a shell,
when the backup vehicle state controller is a backup steering controller and the determined main vehicle state controller is a vehicle steering controller on the second CAN bus, the main vehicle state controller performs emergency control on the vehicle, specifically: a steering controller on the second CAN bus controls the steering of the vehicle;
when the backup vehicle state controller is a backup steering controller and the determined main vehicle state controller is a backup vehicle state controller on the first CAN bus, the main vehicle state controller performs emergency control on the vehicle, specifically: and the backup steering controller on the first CAN bus controls the steering of the vehicle.
Compared with the prior art, the invention has the advantages that: the backup vehicle state controller is arranged on the first CAN bus, one of the backup vehicle state controllers is selected from the existing controllers and is also used as a backup gateway, and the forwarding of the whole vehicle working condition information is carried out through the backup gateway under the condition that the central gateway fails, so that the vehicle state controller or the backup vehicle state controller CAN obtain the whole vehicle working condition information in real time, and the rapid and effective vehicle state control operation is executed according to the whole vehicle working condition information, and the method CAN be effectively applied to complex road condition scenes such as high speed and the like.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a backup vehicle state controller as a backup brake controller according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram illustrating a backup vehicle state controller as a backup steering controller according to an embodiment of the present invention;
FIG. 3 is a flow chart of a method for improving driving safety of an autonomous vehicle in an embodiment of the invention.
Detailed Description
The embodiment of the invention provides a system for improving the running safety of an automatic driving vehicle, which is characterized in that one of the existing controllers is selected to be used as a backup gateway, and the backup gateway is used for forwarding the working condition information of the whole vehicle under the condition that a central gateway fails, so that the vehicle state controller or the backup vehicle state controller can obtain the working condition information of the whole vehicle in real time, and therefore, the system can execute quick and effective vehicle state control operation and can be effectively suitable for high-speed and other complex road condition scenes. The embodiment of the invention correspondingly provides a method for improving the running safety of the automatic driving vehicle.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all 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 application.
Referring to fig. 1, a system for improving driving safety of an autonomous vehicle according to an embodiment of the present invention includes a first CAN bus and a second CAN bus, where the first CAN bus and the second CAN bus are both provided with a plurality of controllers, the controller provided on the first CAN bus includes a backup vehicle state controller, the second CAN bus is provided with a vehicle state controller, and one of the controllers on the first CAN bus or the second CAN bus is connected to both the first CAN bus and the second CAN bus, and the controller is configured to transmit vehicle working condition information between the first CAN bus and the second CAN bus when a central gateway fails. Namely, the controller connected with the first CAN bus and the second CAN bus is also used as a backup gateway to play a role of routing, so that the transmission of the working condition information of the whole vehicle between the first CAN bus and the second CAN bus is carried out through the controller.
In the embodiment of the invention, the vehicle state controller comprises a brake controller and a steering controller; the backup vehicle state controller is a backup brake controller or a backup steering controller; the whole vehicle working condition information comprises whole vehicle power information and gear information. The controller arranged on the first CAN bus comprises a gear controller, a power controller and a backup vehicle state controller; the controller arranged on the second CAN bus comprises a steering controller, a parking controller and a brake controller. A central gateway and an intelligent controller; the first CAN bus is connected with the central gateway and the intelligent controller; and the second CAN bus is connected with the central gateway and the intelligent controller.
Referring to fig. 1, a schematic structural diagram of a system for improving driving safety of an autonomous vehicle according to an embodiment of the present invention when a backup vehicle state controller is a backup brake controller is shown. The backup brake controller is used as an emergency backup after the brake controller fails, but considering the necessity of power and gear related information for brake control and the potential risk that the power and gear related information cannot be transmitted to the network segment where the first brake controller is located after the central gateway fails, one controller is selected from the first CAN bus or the second CAN bus and has the function of the backup gateway, and the controller is not only simultaneously connected with the first CAN bus and the second CAN bus, but also has more direct association with transmission data on the first CAN bus and the second CAN bus. Meanwhile, the backup brake controller is arranged on the first CAN bus within the range that the load of the first CAN bus CAN bear, which is equivalent to the first CAN bus also serving as the backup CAN bus, so that the ordered switching between the main backup brake controller and the main backup network CAN be realized, the continuous operation of the whole vehicle CAN be realized, and the backup brake controller or the brake controller CAN be ensured to obtain the relevant information of the power and the gear of the whole vehicle in real time under the condition that the central gateway fails, thereby executing the rapid and effective brake operation and ensuring the brake under the complex scenes of high speed and the like.
Referring to fig. 2, a schematic structural diagram of a system for improving driving safety of an autonomous vehicle according to an embodiment of the present invention when a backup vehicle state controller is a backup steering controller is shown. One controller is selected from the first CAN bus or the second CAN bus and has the function of a backup gateway, and the controller is not only simultaneously connected with the first CAN bus and the second CAN bus, but also has more direct association with transmission data on the first CAN bus and the second CAN bus. Meanwhile, the backup steering controller is arranged on the first CAN bus within the range that the load of the first CAN bus CAN bear, which is equivalent to the first CAN bus also serving as the backup CAN bus, so that the ordered switching of the main backup steering controller and the main backup network CAN be realized, the continuous operation of the whole vehicle CAN be realized, and the backup steering controller or the steering controller CAN be ensured to obtain the relevant information of the power and the gear of the whole vehicle in real time under the condition that the central gateway is invalid, thereby executing the rapid and effective steering operation.
In the embodiment of the invention, the backup brake controller or the backup steering controller is arranged on the first CAN bus within the bearable range of the load of the first CAN bus, so that the first CAN bus is also used as the backup CAN bus, the reuse rate of network resources is additionally improved, and the cost is reduced.
Referring to fig. 3, an embodiment of the present invention further provides a method for improving driving safety of an autonomous vehicle, which is implemented based on the system for improving driving safety of an autonomous vehicle, and specifically includes the following steps:
s1: making a determination of a primary vehicle state controller and based on the determined primary vehicle state controller, transitioning to S2 when the primary vehicle state controller is a vehicle state controller and to S3 when the primary vehicle state controller is a backup vehicle state controller;
s2: if the central gateway is in fault, the controller for transmitting the whole vehicle working condition information transmits the whole vehicle working condition information on the first CAN bus to the second CAN bus, and the main vehicle state controller performs emergency control on the vehicle;
s3: and if the central gateway has a fault, the main vehicle state controller directly acquires the whole vehicle working condition information on the first CAN bus to perform emergency control on the vehicle.
In the embodiment of the invention, the whole vehicle working condition information comprises whole vehicle power information and gear information; the backup vehicle state controller is a backup brake controller or a backup steering controller; and a brake controller and a steering controller are arranged on the second CAN bus. When the backup vehicle state controller is the backup brake controller, the determining of the main vehicle state controller is specifically: the determination of the primary vehicle state controller is made between a backup brake controller on a first CAN bus and a brake controller on a second CAN bus.
In the embodiment of the present invention, when the backup vehicle state controller is a backup brake controller and the determined main vehicle state controller is a vehicle state controller on the second CAN bus, the main vehicle state controller performs emergency control on the vehicle, specifically: the brake controller on the second CAN bus performs emergency braking on the vehicle; when the backup vehicle state controller is a backup brake controller and the determined main vehicle state controller is a backup vehicle state controller on the first CAN bus, the main vehicle state controller performs emergency control on the vehicle, specifically: the backup brake controller on the first CAN bus performs emergency braking on the vehicle.
In an embodiment of the present invention, when the backup vehicle state controller is a backup steering controller, the determining of the main vehicle state controller is specifically: the determination of the primary vehicle state controller is made between a backup steering controller on a first CAN bus and a steering controller on a second CAN bus. When the backup vehicle state controller is a backup steering controller and the determined main vehicle state controller is a vehicle steering controller on the second CAN bus, the main vehicle state controller performs emergency control on the vehicle, specifically: a steering controller on the second CAN bus controls the steering of the vehicle; when the backup vehicle state controller is a backup steering controller and the determined main vehicle state controller is a backup vehicle state controller on the first CAN bus, the main vehicle state controller performs emergency control on the vehicle, specifically: and the backup steering controller on the first CAN bus controls the steering of the vehicle.
When the backup vehicle state controller is a backup brake controller, one controller is selected from the first CAN bus or the second CAN bus and has the function of a backup gateway, the backup gateway is simultaneously connected with the first CAN bus and the second CAN bus and has more direct association with transmission data on the first CAN bus and the second CAN bus, and a good routing function CAN be achieved between the first CAN bus and the second CAN bus. Meanwhile, the backup gateway is a part of the communication network of the first CAN bus and the second CAN bus and is not an extra controller, so that the cost is not increased additionally. Therefore, on the premise that the central gateway fails, when the brake controller on the second CAN bus is used as the main brake controller, the power and gear related data in the first CAN bus CAN still be routed to the second CAN bus through the backup gateway, so that the braking effect CAN be achieved more timely and effectively, and even unavoidable personal injury CAN be saved in an emergency. When the backup brake controller on the first CAN bus is used as the main brake controller, the backup brake controller is connected to the first CAN bus, and meanwhile, the first CAN bus is also used as the backup CAN bus, and the backup brake controller CAN directly obtain the relevant data of power and gears, so that the brake operation CAN be effectively executed in time.
When the backup vehicle state controller is a backup steering controller, one controller is selected from the first CAN bus or the second CAN bus and has the function of a backup gateway, the backup gateway is simultaneously connected with the first CAN bus and the second CAN bus and has more direct association with transmission data on the first CAN bus and the second CAN bus, and a good routing function CAN be achieved between the first CAN bus and the second CAN bus. Meanwhile, the backup gateway is a part of the communication network of the first CAN bus and the second CAN bus and is not an extra controller, so that the cost is not increased additionally. Therefore, on the premise that the central gateway fails, when the steering controller on the second CAN bus is used as the main steering controller, the power and gear related data in the first CAN bus CAN still be routed to the second CAN bus through the backup gateway, so that the steering is realized more timely and effectively. When the backup steering controller on the first CAN bus is used as the main steering controller, the backup steering controller is connected to the first CAN bus and is also used as the backup CAN bus, and the backup steering controller CAN directly obtain power and gear related data, so that the steering operation CAN be timely and effectively executed.
According to the method for improving the running safety of the automatic driving vehicle, the backup vehicle state controller is arranged on the first CAN bus, one backup gateway is selected from the existing controllers and is used as the backup gateway, the forwarding of the whole vehicle working condition information is carried out through the backup gateway under the condition that the central gateway fails, the fact that the vehicle state controller or the backup vehicle state controller CAN obtain the whole vehicle working condition information in real time is guaranteed, the quick and effective vehicle state control operation is executed according to the whole vehicle working condition information, the method CAN be effectively suitable for high-speed and other complex road condition scenes, meanwhile, on the premise that the load of the first CAN bus CAN be borne, the backup brake controller is arranged on the first CAN bus and is used as the backup CAN bus, the network resource reuse rate is additionally improved, and the whole vehicle cost is reduced.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Claims (10)
1. A system for improving the driving safety of an autonomous vehicle, characterized in that: including first CAN bus and second CAN bus, all be equipped with a plurality of controllers on first CAN bus and the second CAN bus, just be equipped with vehicle state controller on the second CAN bus, the controller that is equipped with on the first CAN bus includes backup vehicle state controller, one of them controller on first CAN bus or the second CAN bus all is connected with first CAN bus and second CAN bus, and this controller is used for carrying out the transmission of whole car operating mode information between first CAN bus and second CAN bus when central gateway trouble.
2. A system for improving the driving safety of an autonomous vehicle as recited in claim 1, wherein:
the vehicle state controller comprises a brake controller and a steering controller;
the backup vehicle state controller is a backup brake controller or a backup steering controller;
the whole vehicle working condition information comprises whole vehicle power information and gear information.
3. A system for improving the driving safety of an autonomous vehicle as recited in claim 2, wherein:
the controller arranged on the first CAN bus comprises a gear controller, a power controller and a backup vehicle state controller;
the controller arranged on the second CAN bus comprises a steering controller, a parking controller and a brake controller.
4. A system for improving the driving safety of an autonomous vehicle as recited in claim 1, wherein:
the intelligent gateway also comprises a central gateway and an intelligent controller;
the first CAN bus is connected with the central gateway and the intelligent controller;
and the second CAN bus is connected with the central gateway and the intelligent controller.
5. A method for improving the driving safety of an automatic driving vehicle is realized based on the system of claim 1, and is characterized by comprising the following steps:
making a determination of a host vehicle state controller, and based on the determined host vehicle state controller:
when the main vehicle state controller is a vehicle state controller, if the central gateway is in fault, the controller for transmitting the whole vehicle working condition information transmits the whole vehicle working condition information on the first CAN bus to the second CAN bus, and the main vehicle state controller performs emergency control on the vehicle;
when the main vehicle state controller is a backup vehicle state controller, if the central gateway is in fault, the main vehicle state controller directly acquires the whole vehicle working condition information on the first CAN bus to perform emergency control on the vehicle.
6. A method of improving the driving safety of an autonomous vehicle as recited in claim 5, wherein:
the whole vehicle working condition information comprises whole vehicle power information and gear information;
the backup vehicle state controller is a backup brake controller or a backup steering controller;
and a brake controller and a steering controller are arranged on the second CAN bus.
7. A method of improving the driving safety of an autonomous vehicle as recited in claim 6, wherein: when the backup vehicle state controller is the backup brake controller, the determining of the main vehicle state controller is specifically:
the determination of the primary vehicle state controller is made between a backup brake controller on a first CAN bus and a brake controller on a second CAN bus.
8. A method for improving the driving safety of an autonomous vehicle as recited in claim 7, wherein:
when the backup vehicle state controller is a backup brake controller and the determined main vehicle state controller is a vehicle state controller on a second CAN bus, the main vehicle state controller performs emergency control on the vehicle, specifically: the brake controller on the second CAN bus performs emergency braking on the vehicle;
when the backup vehicle state controller is a backup brake controller and the determined main vehicle state controller is a backup vehicle state controller on the first CAN bus, the main vehicle state controller performs emergency control on the vehicle, specifically: the backup brake controller on the first CAN bus performs emergency braking on the vehicle.
9. A method of improving the driving safety of an autonomous vehicle as recited in claim 6, wherein: when the backup vehicle state controller is a backup steering controller, the determining of the main vehicle state controller is specifically:
the determination of the primary vehicle state controller is made between a backup steering controller on a first CAN bus and a steering controller on a second CAN bus.
10. A method of improving the driving safety of an autonomous vehicle as recited in claim 9, wherein:
when the backup vehicle state controller is a backup steering controller and the determined main vehicle state controller is a vehicle steering controller on the second CAN bus, the main vehicle state controller performs emergency control on the vehicle, specifically: a steering controller on the second CAN bus controls the steering of the vehicle;
when the backup vehicle state controller is a backup steering controller and the determined main vehicle state controller is a backup vehicle state controller on the first CAN bus, the main vehicle state controller performs emergency control on the vehicle, specifically: and the backup steering controller on the first CAN bus controls the steering of the vehicle.
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| CN202011195394.2A CN112249000A (en) | 2020-10-30 | 2020-10-30 | System and method for improving running safety of automatic driving vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011195394.2A CN112249000A (en) | 2020-10-30 | 2020-10-30 | System and method for improving running safety of automatic driving vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113022588A (en) * | 2021-03-10 | 2021-06-25 | 北京百度网讯科技有限公司 | Control system, control method, device, and storage medium for autonomous vehicle |
| CN113359759A (en) * | 2021-06-24 | 2021-09-07 | 中国第一汽车股份有限公司 | Parking control method and system based on automatic driving, vehicle and storage medium |
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